Track type laser coal checking device

Abstract

The utility model relates to a rail type laser coal checking device, and relates to the technical field of coal storage management, the rail type laser coal checking device comprises a rail arranged above a coal stacking area, a walking beam arranged on the rail in a sliding manner, and a laser scanning module arranged on the walking beam and used for carrying out laser scanning recording on the coal stacking area, the track is provided with a driving assembly used for driving the walking beam to slide along the track and measuring the position of the walking beam, and a processing device used for processing data scanned by the laser scanning module. The driving assembly drives the walking beam to slide along the track, the position of the walking beam is monitored in real time, meanwhile, the laser scanning module conducts laser scanning on the coal stacking area, the scanning result is transmitted into the processing device to be processed, and therefore accurate metering with comprehensive coverage on the large-area and high-density coal stacking area is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal storage management, and in particular to a rail-mounted laser coal inventory device. BACKGROUND

[0002] In a large open-pit coal mine or a coal storage site, workers need to monitor the stacking of coal in real time to improve inventory management efficiency. Therefore, workers often need to detect the coal inventory to realize real-time monitoring of the stacking of coal.

[0003] Traditional coal inventory management relies on manual measurement, which is not only time-consuming and labor-intensive, but also difficult to ensure accuracy, especially in large-scale coal storage sites. This method obviously cannot meet the needs of modern enterprise management. In recent years, automated detection equipment, including but not limited to ultrasonic sensors, radar sensors, and laser scanners, can improve the speed and accuracy of detection to some extent, but also has its own limitations.

[0004] Ultrasonic sensors are widely used for preliminary measurement due to their low cost, but their resolution is low and they are easily affected by environmental noise, resulting in large measurement errors. Although radar sensors have high penetration and anti-interference performance, their accuracy is still limited in complex coal accumulation environments. Laser scanners have gradually become the mainstream choice due to their high accuracy and fast response, but most laser scanners are handheld or vehicle-mounted, which has poor deployment flexibility and high maintenance costs. In addition, most existing automatic detection systems lack effective data analysis tools, which reduces the utilization rate of raw data and affects the quality of final decisions.

[0005] Although various automated detection methods on the market have improved the efficiency of coal inventory management to some extent, there are still some obvious shortcomings, mainly including high equipment cost, complex operation, and weak data processing capacity. Especially for large-area and high-density coal stacking areas, how to achieve comprehensive coverage and accurate measurement is still a major challenge. CONTENT OF THE INVENTION

[0006] In order to achieve comprehensive coverage and accurate measurement of large-area and high-density coal stacking areas, the present application provides a rail-mounted laser coal inventory device.

[0007] The rail-mounted laser coal inventory device provided by the present application adopts the following technical solutions:

[0008] The rail type laser disc coal device comprises a rail arranged above a coal stacking area, a walking beam arranged to slide on the rail, a laser scanning module arranged on the walking beam and used for laser scanning recording of the coal stacking area, a driving assembly arranged on the rail and used for driving the walking beam to slide along the rail and measuring the position of the walking beam, and a processing device used for processing data scanned by the laser scanning module.

[0009] By adopting the above technical scheme, the driving assembly drives the walking beam to slide along the rail and monitors the position of the walking beam in real time, and the laser scanning module performs laser scanning on the coal stacking area, and the scanning result is transmitted into the processing device for processing, so that accurate measurement of the coal stacking area with large area and high density is realized.

[0010] Further, the driving assembly comprises:

[0011] A plurality of groups of rollers are arranged on the walking beam, and the plurality of groups of rollers are in rolling abutment with the rail and enable the walking beam to slide along the rail.

[0012] A driving motor is arranged on the walking beam and used for driving the rollers to rotate and driving the walking beam to slide along the rail.

[0013] A first laser range finder is arranged on one end of the rail and used for detecting the position of the walking beam.

[0014] By adopting the above technical scheme, the driving motor drives the rollers to rotate on the rail, thereby driving the walking beam to slide on the rail, and the first laser range finder monitors the position of the walking beam in real time, thereby changing the position of the laser scanning module, and scanning of a larger range of the coal stacking area is realized.

[0015] Further, the laser scanning module comprises:

[0016] A laser scanner is arranged on the walking beam and used for laser scanning of the coal stacking area.

[0017] A data acquisition unit is arranged on the walking beam and electrically connected with the laser scanner, and the data acquisition unit is used for collecting scanning information of the laser scanner and converting the scanning information into digital signals.

[0018] By adopting the above technical scheme, the laser scanner is used for laser scanning of the coal stacking area, and the data acquisition unit converts the collected scanning information into digital signals, so as to facilitate transmission of the scanning information into the processing device.

[0019] Further, a group of laser scanning modules are arranged on both ends of the walking beam, and a scanning window of the laser scanner is vertically downward.

[0020] By adopting the technical scheme, the two groups of laser scanning modules on both sides of the walking beam improve the scanning range of the walking beam, and the scanning window is downward, which facilitates the laser irradiation on the coal and then the reflection to the laser scanning module, so as to improve the accuracy of laser scanning.

[0021] Further, the walking beam is provided with an adjusting assembly for adjusting the position of the laser scanning module, and the adjusting assembly comprises:

[0022] A transverse frame is slidably arranged on the walking beam along the axis direction of the walking beam, and the laser scanning module is arranged on the transverse frame.

[0023] A driving member is arranged on the transverse frame and is used to drive the transverse frame to slide on the walking beam.

[0024] A second laser range finder is arranged on the walking beam and is used to detect the position of the transverse frame.

[0025] By adopting the technical scheme, the driving member drives the transverse frame to slide on the walking beam, thereby changing the position of the laser scanning device on the walking beam, so as to scan different positions of the coal stacking area. The second laser range finder detects the position of the transverse frame, changes the position of the laser scanner, and then the driving assembly drives the walking beam to reciprocate, thereby scanning different positions of the coal stacking area, so as to scan a larger coal stacking area.

[0026] Further, a plurality of tracks are arranged at intervals above the coal stacking area, and the plurality of tracks are each provided with a walking beam independent of each other.

[0027] By adopting the technical scheme, a plurality of tracks are arranged above the coal stacking area, and then the laser scanning modules on the plurality of walking beams collectively scan the coal stacking area, thereby facilitating the simultaneous coverage of a larger coal yard, reducing the number of round trips of the walking beam, and thereby shortening the operation cycle.

[0028] Further, an infrared camera is arranged on both sides of the walking beam, and the infrared camera is used to assist the laser scanner in environmental perception.

[0029] By adopting the technical scheme, the infrared camera is used to assist the laser scanner in environmental perception, thereby enhancing the robustness of the system, and the coal unloading task can be successfully completed even in insufficient light.

[0030] Further, the processing device comprises:

[0031] A central processing unit is used to process the digital information converted by the data acquisition unit.

[0032] The centralized control room network box is used for communication connection between the information processed by the central processor and an external server.

[0033] By adopting the technical scheme, the central processor processes the digital signal converted by the data acquisition unit and the measurement data of the first laser range finder, so as to form a three-dimensional image of the coal stacking area and calculate the volume, and then the centralized control room network box communicates the final result with other terminal devices, so as to facilitate the transmission of the measured data.

[0034] In summary, the present application has at least one of the following beneficial technical effects:

[0035] 1. The first laser range finder monitors the position of the walking beam in real time by driving the walking beam to slide along the track by the driving motor, and the laser scanner scans the coal stacking area, and the scanning result is converted by the data acquisition unit and transmitted into the central processor, so as to realize accurate measurement of the large-area and high-density coal stacking area.

[0036] 2. The driving member drives the transverse frame to slide on the walking beam, thereby changing the position of the laser scanner on the walking beam, and the driving motor drives the walking beam to slide, so as to realize comprehensive scanning of the coal stacking area, and the position of the laser scanner is determined by the cooperation of the first laser range finder and the second laser range finder, so as to facilitate the processing device to process the information scanned by the laser scanner.

[0037] 3. A plurality of tracks are arranged above the coal stacking area, and the laser scanning modules on the plurality of walking beams collectively scan the coal stacking area, so as to facilitate covering a larger area of the coal yard at the same time, reduce the number of round trips of the walking beam, and shorten the operation cycle. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a track-type laser coal stacking device structure schematic diagram of embodiment 1 of the present application;

[0039] Figure 2 is an enlarged schematic diagram of part A in Figure 1

[0040] Figure 3 is a track-type laser coal stacking device structure schematic diagram of embodiment 2 of the present application;

[0041] Figure 4 is an enlarged schematic diagram of part B in Figure 3

[0042] Figure 5 is a track-type laser coal stacking device structure schematic diagram of embodiment 3 of the present application. ​​

[0043] Fig. 1 is a track; 11 is a guide rail; 2 is a walking beam; 3 is a driving assembly; 31 is a roller; 32 is a driving motor; 33 is a first laser range finder; 4 is a laser scanning module; 41 is a laser scanner; 42 is a data acquisition unit; 5 is an infrared camera; 6 is an adjusting assembly; 61 is a transverse moving frame; 62 is a driving piece; 63 is a second laser range finder. DETAILED DESCRIPTION

[0044] The following will be described in detail with reference to the accompanying drawings Figures 1-5 The application is further described in detail.

[0045] The embodiment of the application discloses a track type laser disc coal device.

[0046] Embodiment 1

[0047] Referring to Figure 1 A track type laser disc coal device, comprising a track 1 arranged above a coal stacking area, a walking beam 2 slidingly arranged on the track 1, a laser scanning module 4 arranged on the walking beam 2 and used for laser scanning and recording the coal stacking area, a driving assembly 3 arranged on the track 1 and used for driving the walking beam 2 to slide along the track 1 and measuring the position of the walking beam 2, and a processing device used for processing data scanned by the laser scanning module 4.

[0048] Referring to Figure 1 A group of tracks 1 are arranged above the coal stacking area, the group of tracks 1 is composed of two guide rails 11 which are arranged at intervals and on both sides above the coal stacking area, the walking beam 2 is slidingly arranged on the track 1, and the two ends of the walking beam 2 are slidingly arranged on the two guide rails 11 respectively.

[0049] Referring to Figure 1 and Figure 2 The driving assembly 3 comprises a roller 31, a driving motor 32 and a first laser range finder 33, the roller 31 is arranged in multiple groups, the multiple groups of rollers 31 are arranged at intervals and on the bottom of the walking beam 2, the roller 31 is in rolling abutment with the guide rail 11, so that the walking beam 2 can slide along the guide rail 11, and multiple groups of rollers 31 are arranged on the two ends of the walking beam 2, so that the walking beam 2 can slide stably on the track 1; the driving motor 32 is fixedly arranged on the walking beam 2, and is used for driving the roller 31 to rotate, so as to drive the walking beam 2 to slide on the track 1; the first laser range finder 33 is fixedly arranged on one end of the guide rail 11, the first laser range finder 33 emits a group of lasers which are parallel to the axis of the guide rail 11, the lasers are irradiated on the walking beam 2 and reflected, so as to detect the distance between the walking beam 2 and the laser range finder, and further monitor the position of the walking beam 2.

[0050] Referring to Figure 1, the laser scanning module 4 is arranged on the walking beam 2, the laser scanning module 4 comprises a laser scanner 41 and a data acquisition unit 42, the laser scanner 41 is fixedly installed on the lower surface of the walking beam 2, the laser scanner 41 is used for laser scanning on the coal stacking area, the laser scanner 41 is located on the lower surface of the walking beam 2 close to the front end side, the laser scanner 41 is used for emitting and receiving laser signals, and data reflected by the coal pile surface is acquired;In order to improve the scanning detection effect of the laser scanner 41, the scanning window of the laser scanner 41 is vertically installed on the walking beam 2;The data acquisition unit 42 is fixedly installed on the walking beam 2, the data acquisition unit 42 is electrically connected with the laser scanner 41, the data acquisition unit 42 is used for collecting scanning information of the laser scanner 41, and the data acquisition unit 42 converts the collected scanning information into digital signals, so that the scanning information is conveniently transmitted into a processing device for information processing.

[0051] Referring to Figure 1 Because the coal yard is wide and the coal stacking height is high, a group of laser scanning modules 4 are arranged on both ends of the walking beam 2, the scanning information of the two groups of laser scanning modules 4 is combined through the data acquisition unit 42, and the overlapping part is removed, so that the scanning range of the walking beam 2 is improved.

[0052] Referring to Figure 1 Infrared cameras 5 are arranged on both sides of the walking beam 2, the infrared cameras 5 are used for assisting the laser scanner 41 to perceive the environment and enhance the robustness of the system, and especially in the case of insufficient light, the coal discarding task can also be successfully completed.

[0053] Referring to Figure 1 The processing device comprises a central processing unit and a centralized control room network box, the central processing unit is used for processing the digital signals converted by the data acquisition unit 42 and the measurement data of the first laser range finder 33, the central processing unit is built-in with a special algorithm, can process a large amount of received data at high speed, form a three-dimensional image and calculate the volume;The centralized control room network box is used for communication connection between the information processed by the central processing unit and an external server, and the centralized control room network box serves as a data transmission center, and through internal photoelectric converters, switches and other equipment, communication connection between the central processing unit and the external server or other terminal equipment is realized.

[0054] The working principle of the embodiment 1 of the application is as follows:

[0055] The walking beam 2 is driven to slide along the track 1 through the driving motor 32, the position of the walking beam 2 is monitored in real time through the first laser range finder 33, and the coal stacking area is scanned through the laser scanner 41, the scanning result is converted through the data acquisition unit 42 and then transmitted into the central processing unit, so that the large-area and high-density coal stacking area is comprehensively covered and accurately measured.

[0056] Embodiment 2

[0057] With reference to Figure 3 and Figure 4 The difference between this embodiment and embodiment 1 is that the walking beam 2 is also provided with the adjusting assembly 6 for adjusting the position of the laser scanning module 4, the adjusting assembly 6 comprises a transverse moving frame 61, a driving member 62 and a second laser range finder 63, the transverse moving frame 61 is slidably installed on the walking beam 2 along the axis direction of the walking beam 2, the laser scanning module 4 is fixedly installed on the transverse moving frame 61, and the laser scanner 41 slides relative to the axis direction of the walking beam 2 along with the transverse moving frame 61; the driving member 62 is fixedly installed on the transverse moving frame 61, and the driving member 62 is used to drive the transverse moving frame 61 to slide on the walking beam 2; the second laser range finder 63 is fixedly installed on the walking beam 2, the second laser range finder 63 is electrically connected with the data acquisition unit 42, the second laser range finder 63 is used to detect the position of the transverse moving frame 61, so as to realize real-time monitoring of the position of the laser scanner 41, and the position of the laser scanner 41 is determined through the cooperation of the first laser range finder 33 and the second laser range finder 63, so as to facilitate the flexibility of the laser scanner 41.

[0058] With reference to Figure 3 and Figure 4 By changing the position of the laser scanner 41, then driving the walking beam 2 to reciprocatingly and circularly move through the driving assembly 3, different positions of the coal stacking area are scanned, so as to scan the larger coal stacking area.

[0059] The working principle of the embodiment 2 of the application is as follows:

[0060] The transverse moving frame 61 is driven to slide on the walking beam 2 through the driving member 62, so as to change the position of the laser scanner 41 on the walking beam 2, and the walking beam 2 is driven to slide through the driving motor 32, so as to realize comprehensive scanning of the coal stacking area, and the position of the laser scanner 41 is determined through the cooperation of the first laser range finder 33 and the second laser range finder 63, so as to facilitate the processing device to process the information scanned by the laser scanner 41.

[0061] Embodiment 3

[0062] With reference to Figure 5 The difference between this embodiment and embodiment 2 is that a plurality of groups of tracks 1 are arranged at intervals above the coal stacking area, the walking beams 2 are arranged on the plurality of groups of tracks 1 and are independent of each other, the laser scanning modules 4 are arranged on the walking beams 2, the laser scanning modules 4 on the plurality of groups of independent walking beams 2 are used to perform laser scanning in the specified area, so as to facilitate covering a larger coal yard at the same time, reduce the number of reciprocating movements of the walking beams 2, and shorten the operation cycle.

[0063] The working principle of the embodiment 3 of the application is as follows:

[0064] By setting multiple groups of rails 1 above the coal stacking area, and then the laser scanning modules 4 on the multiple groups of walking beams 2 jointly scan the coal stacking area, thereby facilitating the simultaneous coverage of a larger area of the coal yard, reducing the round-trip frequency of the walking beams 2, and thereby shortening the operation cycle.

[0065] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, so: any equivalent changes made in structure, shape, principle, etc. according to the present application should be covered within the protection scope of the present application.

Claims

1. A track-type laser coal disc device, characterized by: The invention comprises a track (1) arranged above a coal stacking area, a walking beam (2) slidingly arranged on the track (1), a laser scanning module (4) for laser scanning and recording the coal stacking area provided on the walking beam (2), a driving component (3) provided on the track (1) for driving the walking beam (2) to slide along the track (1) and measure the position of the walking beam (2), and a processing device for processing data scanned by the laser scanning module (4).

2. The track-type laser coal processing device according to claim 1, characterized in that: The driving assembly (3) comprises: Rollers (31), wherein a plurality of groups of rollers (31) are arranged on the walking beam (2), and the plurality of groups of rollers (31) are in rolling contact with the track (1) and enable the walking beam (2) to slide along the track (1); A drive motor (32), the drive motor (32) being arranged on the walking beam (2) and used to drive the roller (31) to rotate and drive the walking beam (2) to slide along the track (1); A first laser rangefinder (33) is provided on one end of the track (1) and is used to detect the position of the walking beam (2).

3. The track-type laser coal processing device according to claim 1, characterized in that: The laser scanning module (4) comprises: a laser scanner (41), the laser scanner (41) being arranged on the walking beam (2) and used for laser scanning the coal stacking area; A data acquisition unit (42) is provided on the walking beam (2) and is electrically connected to the laser scanner (41). The data acquisition unit (42) is used to collect scanning information of the laser scanner (41) and convert it into a digital signal.

4. The track-type laser coal processing device according to claim 3, characterized in that: A group of laser scanning modules (4) are provided on both ends of the walking beam (2), and the scanning window of the laser scanner (41) is vertically downward.

5. The track-type laser coal processing device according to claim 3, characterized in that: An adjustment component (6) for adjusting the position of the laser scanning module (4) is provided on the walking beam (2), and the adjustment component (6) comprises: A transverse frame (61), the transverse frame (61) is slidably arranged on the walking beam (2) along the axis direction of the walking beam (2), and the laser scanning module (4) is arranged on the transverse frame (61); A driving member (62), the driving member (62) being arranged on the transverse frame (61) and being used to drive the transverse frame (61) to slide on the walking beam (2); A second laser rangefinder (63) is provided on the walking beam (2) and is used to detect the position of the transverse frame (61).

6. The track-type laser coal processing device according to claim 1, characterized in that: A plurality of groups of tracks (1) are arranged at intervals above the coal stacking area, and each of the plurality of groups of tracks (1) is provided with independent walking beams (2).

7. The track-type laser coal processing device according to claim 1, characterized in that: Infrared cameras (5) are provided on both sides of the walking beam (2), and the infrared cameras (5) are used to assist the laser scanner (41) in performing environmental perception.

8. The track-type laser coal processing device according to claim 3, characterized in that: The processing device comprises: A central processing unit, the central processing unit being used to process the digital information converted by the data acquisition unit (42); The network box in the control room is used to connect the information processed by the central processor to communicate with the external server.

Images