Mining 3D TOF camera auxiliary device and equipment

Abstract

The utility model relates to the technical field of coal mine intelligent construction and reconstruction, in particular to a mining 3D TOF camera auxiliary device and equipment, which comprises a support frame crossing two sides of a coal mine conveyor, provides support for a 3D TOF camera, and also provides semi-surrounding shielding for the 3D TOF camera; a camera mounting platform is arranged at the top of the support frame and is used for mounting a 3D TOF camera; a height limiting plate is arranged at the coal conveying upstream end of the supporting frame and connected with a first flexible dustproof piece. The coal conveying upstream end of the support frame is connected with a second flexible dustproof sheet; the device is simple in structure, through the collaborative design of the supporting frame, the first flexible dustproof piece, the height limiting plate and the second flexible dustproof piece, dynamic shaping of the coal flow surface and multi-stage all-directional dustproof protection of the 3D TOF camera are achieved, the influence of the mine operation environment on the monitoring precision of the 3D TOF camera is reduced, and the monitoring precision of the 3D TOF camera is improved. The problem that in the prior art, due to the complex mine operation environment, the actual measurement precision of a 3D TOF camera is poor is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of coal mine intelligent construction transformation, specifically to a mine 3D TOF camera auxiliary device and equipment. BACKGROUND

[0002] With the development of new generation information technologies such as 5G, industrial internet, cloud computing, big data, artificial intelligence, etc., taking intelligent construction as an opportunity, the coal industry is promoted to develop in the direction of high-end, intelligence and green. The intelligent construction of coal mine is to deeply integrate new generation information technologies such as Internet of Things, cloud computing, big data, artificial intelligence, automatic control, mobile internet and intelligent equipment with coal development technology and equipment, to build a coal mine intelligent system with comprehensive self-perception, real-time efficient interconnection, autonomous learning, intelligent analysis and decision-making, dynamic prediction and early warning, and precise collaborative control, to realize safe and efficient intelligent operation of the whole process of mine geological guarantee, coal mining, roadway excavation, main and auxiliary transportation, ventilation, drainage, power supply, safety guarantee, separation and transportation, production and operation management. In the intelligent construction of coal mine, real-time monitoring of coal flow of mine belt conveyor is a key technical link to realize precise transportation and energy consumption optimization.

[0003] In the intelligent construction of coal mine, real-time monitoring of coal flow of mine belt conveyor is a key technical link to realize precise transportation and energy consumption optimization. A three-dimensional time-of-flight camera measures the time difference from the emission to the reflection return of an infrared light pulse, calculates the distance between the object and the camera in combination with the speed of light, generates three-dimensional point cloud data, and has the core advantages of non-contact measurement, strong real-time three-dimensional modeling capability, high precision and anti-interference, etc., and gradually becomes the core equipment for coal flow volume monitoring.

[0004] However, in actual production process, due to the complex working conditions such as high dust concentration, strong randomness of coal flow form and large equipment vibration interference in mine operation environment, the actual measurement accuracy of traditional 3D TOF camera is significantly reduced. There are three reasons for this. Firstly, the irregular surface protrusions are easily formed on the coal flow of the conveyor belt due to the impact of the falling material and the accumulation effect, causing distortion of the three-dimensional point cloud data. Secondly, mine dust and coal particles are easily attached to the camera lens and sensor surface, causing optical signal attenuation and noise interference. Thirdly, the existing installation bracket adopts a fixed structure, lacks dynamic shaping of coal flow and multi-dimensional dust prevention collaborative design, and is difficult to adapt to the sudden change of coal flow height and dust environment in the operation of the conveyor belt. Although some improved schemes try to improve the performance through algorithm compensation or local dust cover, they do not fundamentally solve the systematic problems of coal flow surface flatness control and complex environment protection. Therefore, it is urgent to develop a 3D TOF camera precision improvement device integrating coal flow shaping, environment isolation and structural stability optimization to realize intelligent upgrading of mine transportation system. UTILITY MODEL CONTENTS

[0005] In view of the problem of poor actual measurement accuracy of the 3D TOF camera due to the complex mine operation environment in the prior art, the utility model provides a mine 3D TOF camera auxiliary device and equipment.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme to realize it:

[0007] The utility model provides a mine 3D TOF camera auxiliary device, including the support frame of both sides of coal mine conveyer, the top of support frame is provided with camera installation platform for installing 3D TOF camera, the coal conveying upstream end of support frame is provided with height limiting board, height limiting board is connected with first flexible dustproof piece, the coal conveying downstream end of support frame is provided with second flexible dustproof piece along the coal conveying direction.

[0008] Optionally, the height limiting board and the coal conveying upstream end of the support frame are provided with a damping gasket.

[0009] Optionally, the second flexible dustproof piece includes a plurality of flexible dustproof strips, and a buffer gap is arranged between the flexible dustproof strips.

[0010] Optionally, the width of the buffer gap is 15-20mm.

[0011] Optionally, the support frame includes a plurality of support legs, the support legs are arranged on both sides of the coal mine conveyer, an outer frame structure is connected to the support legs, a front top plate and a rear top plate are arranged at the top end of the outer frame structure, and a camera installation platform is arranged at the bottom of the rear top plate.

[0012] Optionally, a holding structure is arranged on the front top plate.

[0013] Optionally, a first elastic clamping mechanism is arranged on the height limiting board for clamping the first flexible dustproof piece, and a second elastic clamping mechanism is arranged at the coal conveying downstream end of the support frame for clamping the second flexible dustproof piece.

[0014] Optionally, the distance from the bottom edge of the height limiting board to the surface of the coal mine conveying belt is 68-75mm.

[0015] Optionally, the vertical distance from the bottom edge of the height limiting board to the lens end of the 3D TOF camera is greater than 75mm.

[0016] The utility model also provides a coal flow real-time monitoring equipment including the above-mentioned mine 3D TOF camera auxiliary device.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] The utility model provides a kind of mine 3D TOF camera auxiliary device, including the support frame of being straddled in the both sides of coal mine conveyor;The top of the support frame is provided with camera installation platform, for installing 3D TOF camera, the support frame provides support for 3D TOF camera simultaneously, also provides half-enclosed shelter for 3D TOF camera, reduce the deposition of coal ash on 3D TOF camera, prevent optical signal attenuation and noise interference caused by mine dust and coal dust particle adhesion;The coal conveying upstream end of the support frame is provided with height limiting plate, the height limiting plate is connected with first flexible dustproof sheet, the setting of height limiting plate can flatten protruding coal, realize coal flow surface dynamic shaping, avoid irregular surface protrusion caused by material impact and accumulation effect to form easily form three-dimensional point cloud data distortion, while the setting of first flexible dustproof sheet, form dynamic seal to coal smoke, prevent dust from invading the inside of support frame half-enclosed structure, further reduce dust accumulation on 3D TOF camera, simultaneously, the physical limit of height limiting plate can also effectively prevent large coal block or foreign matter impact camera, reduce equipment damage risk;The coal conveying downstream end of the support frame is provided with second flexible dustproof sheet along coal conveying direction, the cooperation of second flexible dustproof sheet and first flexible dustproof sheet can realize the dynamic dustproof of the coal flow input end and output end of 3D TOF camera half-enclosed structure, so that coal flow passes through the process, through the dynamic opening and closing of flexible dustproof sheet, reduce the invasion probability of dust, thereby reduce the accumulation of dust on camera and affect the monitoring precision of camera.

[0019] Damping washer is arranged between the height limiting plate and the coal conveying upstream end of support frame, the setting of damping piece can absorb the impact energy of protruding or large coal flow to height limiting plate, reduce the deformation or fracture risk of height limiting plate caused by rigid collision, reduce vibration transmission to support frame and camera installation platform simultaneously, reduce equipment noise.

[0020] The second flexible dustproof sheet includes a plurality of flexible dustproof strips, and buffer gaps are arranged between the flexible dustproof strips. The buffer gaps are arranged to guide dust to settle by using negative pressure generated by the conveyor belt. The flexible dustproof strips can swing independently due to the buffer gaps when the coal flow passes through, so as to avoid jamming or tearing caused by the overall rigid structure.

[0021] The support frame comprises support legs arranged on both sides of the coal mine conveyor, an outer frame structure connected to the support legs, and front and rear top plates arranged at the top end of the outer frame structure; a camera mounting platform is mounted at the bottom of the rear top plate; the support legs are independently mounted on both sides of the conveyor to reduce interference with the operation of the conveyor; the outer frame structure is connected to the support legs by bolts, facilitating disassembly and transportation, reducing the difficulty of on-site installation, and forming a rigid support frame with the front and rear top plates; the load is transmitted to the support legs through the outer frame structure, reducing the vibration of the camera mounting platform, and the detachable connection of the front and rear top plates facilitates the cleaning and maintenance of the 3D TOF camera in the later stage.

[0022] A holding structure is arranged on the front top plate to facilitate the disassembly and displacement of the front top plate, and facilitate the maintenance in the later stage.

[0023] A first elastic clamping mechanism is arranged on the height limiting plate to clamp a first flexible dustproof sheet; a second elastic clamping mechanism is arranged at the downstream end of the support frame of the coal conveyor to clamp a second flexible dustproof sheet; the first flexible dustproof sheet or the second flexible dustproof sheet can be adjusted through the arrangement of the clamping structure, and the applicability of the device is improved.

[0024] The distance from the bottom edge of the height limiting plate to the surface of the coal mine conveyor belt is 68-75 mm, so that the passing rate of coal can be ensured, and the monitoring accuracy of the 3D TOF camera is not affected by large protrusions.

[0025] The vertical distance from the bottom edge of the height limiting plate to the lens end of the 3D TOF camera is greater than 75 mm, so that panoramic collection of the 3D TOF camera lens can be ensured, and the scanning field of view can completely cover the 800-1500 mm bandwidth coal flow section.

[0026] The utility model also provides a coal flow real-time monitoring equipment comprising the mine 3D TOF camera auxiliary device. The equipment integrates three innovations of high-precision 3D sensing, coal flow surface dynamic shaping and multi-stage dustproof isolation protection, solves the pain points of dust pollution, coal block impact and maintenance difficulty in traditional coal flow monitoring, and provides key technical support for intelligent transformation of coal mines. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is an installation structure diagram of the mine 3D TOF camera auxiliary device.

[0028] Figure 2 It is a structure diagram of the mine 3D TOF camera auxiliary device.

[0029] Figure 3 It is a side view of the support frame of the mine 3D TOF camera auxiliary device.

[0030] Figure 4 It is the internal structure view of the support frame of the mine 3D TOF camera auxiliary device.

[0031] Figure 5 It is the front top plate structure view of the mine 3D TOF camera auxiliary device.

[0032] Figure 6 It is the second flexible dustproof sheet structure view of the mine 3D TOF camera auxiliary device.

[0033] Wherein, 1 - support frame, 2 - height limiting plate, 3 - first flexible dustproof sheet, 4 - second flexible dustproof sheet, 5 - damping gasket, 6 - first elastic clamping mechanism, 7 - second elastic clamping mechanism, 8 - 3D TOF camera, 101 - camera mounting platform, 102 - support leg, 103 - outer frame structure, 104 - front top plate, 105 - rear top plate, 106 - holding structure, 401 - flexible dustproof strip, 402 - buffer gap, 601 - elastic clamping sheet, 602 - long bolt, 701 - metal gasket, 702 - tight nail bolt. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below, obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. The components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the utility model.

[0036] It should be noted that: similar signs and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0037] In the description of the embodiments of the utility model, it needs to be explained that, if the terms "upper", "lower", "horizontal", "inner" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship of the utility model product when it is usually placed, it is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0038] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0039] In the description of the embodiments of the utility model, it also needs to be explained that, unless otherwise explicitly specified and limited, if the terms "set", "install", "connect", "connect" appear, they should be understood in a broad sense, for example, they can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication inside two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0040] The utility model will be further described in detail below in combination with specific embodiments, which is an explanation of the utility model rather than a limitation.

[0041] Referring to Figure 1 and Figure 2 The utility model discloses a kind of mine 3D TOF camera auxiliary devices, including support frame 1, height limiting plate 2, first flexible dustproof sheet 3 and second flexible dustproof sheet;

[0042] Referring to Figures 3 to 5The support frame 1 is arranged across the two sides of the coal mine conveyor, and comprises a plurality of support legs 102 arranged on the two sides of the coal mine conveyor. An outer frame structure 103 is connected to the support legs 102. The top end of the outer frame structure 103 is provided with a front top plate 104 and a rear top plate 105. The bottom of the rear top plate 105 is provided with a camera mounting platform 101 for mounting a 3D TOF camera 8. The front top plate 104 is provided with a holding structure 106. The bottom of the support leg 102 is provided with a standardized bolt hole, which is rigidly connected to the rack of the mine belt conveyor through high-strength bolts, and the top is fixed by a bolt set to realize precise alignment with the outer frame structure 103. The outer frame structure 103 adopts a symmetrical frame design, and the two side plates are provided with arrayed bolt mounting holes, which are connected to the front top plate 104 and the rear top plate 105 to form a multi-node locking connection, thereby ensuring the geometric stability of the overall structure under the vibration condition of the conveyor. Preferably, the front top plate 104 is sealed and connected to the front end of the outer frame structure 103 through a hexagonal flange bolt.

[0043] The height limiting plate 2 is arranged at the coal conveying upstream end of the support frame 1, and a damping gasket 5 is arranged between the height limiting plate 2 and the coal conveying upstream end of the support frame 1. The distance from the bottom edge of the height limiting plate 2 to the surface of the coal mine conveyor belt is 68-75 mm. The vertical distance from the bottom edge of the height limiting plate 2 to the lens end of the 3D TOF camera 8 is greater than 75 mm.

[0044] The first flexible dustproof sheet 3 is connected to the height limiting plate 2. Preferably, the height limiting plate 2 is provided with a first elastic clamping mechanism 6 for clamping the first flexible dustproof sheet 3. The first elastic clamping mechanism 6 comprises a plurality of elastic clamping sheets 601 connected to the height limiting plate 2. Long bolts 602 are arranged on the elastic clamping sheets. The first flexible dustproof sheet 3 is arranged between the elastic clamping sheets 601 and the height limiting plate 2, and is clamped by the tightening action of the long bolts 602.

[0045] The coal conveying downstream end of the support frame 1 is provided with a second elastic clamping mechanism 7 for clamping the second flexible dustproof sheet 4. The second elastic clamping mechanism 7 comprises a metal gasket 701 connected to the coal conveying downstream end of the support frame 1 through a bolt. The second flexible dustproof sheet 4 is located between the metal gasket 701 and the coal conveying downstream end of the support frame 1, and is tightened by a tightening bolt 702. Preferably, the first flexible dustproof sheet 3 and / or the second flexible dustproof sheet 4 is a flexible dustproof sheet made of silicone rubber, ethylene-propylene-diene monomer (EPDM) or polyurethane elastomer.

[0046] The second flexible dustproof sheet 4 is arranged at the coal conveying downstream end of the support frame 1, as shown in Figure 6The second flexible dustproof sheet 4 comprises a plurality of flexible dustproof strips 401, and buffer gaps 402 are arranged between the flexible dustproof strips 401, preferably, the width of the buffer gaps 402 is 15-20 mm.

[0047] In use, the staff needs to install the mine 3D TOF camera 8 on the camera mounting platform 101 on the back top plate 105. The camera mounting platform 101 is provided with a precisely machined positioning groove and an anti-loosening bolt hole, the 3D TOF camera 8 is fixed by using a bolt, the stable use of the camera in the operation process of the belt conveyor is ensured, the 3D TOF camera 8 is fixed on the central axis, the complete coverage of the scanning field on the 800-1500 mm bandwidth coal flow section is ensured, and the field completeness of the 3D TOF camera 8 is ensured; when the coal flow is transported, the height mutation of the coal flow on the coal flow is leveled by the height limiting plate 2, and the first flexible dustproof sheet 3 is cooperated to prevent the upstream coal dust from falling into the semi-enclosed structure of the 3D TOF camera 8 and depositing; in the process of coal flow transportation, the 3D TOF camera 8 is intelligently monitored, the second flexible dustproof sheet 4 can effectively prevent the downstream dust from invading, and the use environment of the 3D TOF camera 8 is ensured, and the 3D TOF camera 8 will not be disturbed by the complex environment.

[0048] The utility model also provides a coal flow real -time monitoring equipment, including above -mentioned mine 3D TOF camera auxiliary device. This equipment has integrated high accuracy 3D perception, coal flow surface dynamic shaping, multistage dustproof isolation protection three big innovations, has solved the dust pollution, coal block impact, maintenance difficulty etc. of traditional coal flow monitoring, has provided key technical support for coal mine intelligent transformation.

[0049] In conclusion, the utility model provides a mine 3D TOF camera auxiliary device and equipment, through the cooperation of the height limiting plate 2, the first flexible dustproof sheet 3 and the second flexible dustproof sheet 4, realize coal flow surface dynamic shaping, multistage dustproof isolation and equipment rigid fixed technical effect, provide reliable environment for guaranteeing the precision of 3D TOF camera 8.

[0050] The above-mentioned is only the preferred embodiment of the utility model, and does not use to carry out any limit to the technical scheme of the utility model, and the skilled person in the art should understand that the technical scheme can be several simple modifications and replacements without departing from the spirit and principle of the utility model, and these modifications and replacements also all belong to the protection scope covered in the claims.

Claims

1. A mine 3D TOF camera auxiliary device, characterized in that, The support frame is provided with a camera mounting platform on the top for mounting a 3D TOF camera; a height limiting plate is arranged on the coal conveying upstream end of the support frame, and the height limiting plate is connected with a first flexible dustproof sheet; a second flexible dustproof sheet is arranged on the coal conveying downstream end of the support frame along the coal conveying direction.

2. The mine 3D TOF camera auxiliary device according to claim 1, characterized in that, A damping pad is arranged between the height limiting plate and the coal conveying upstream end of the support frame.

3. The mine 3D TOF camera auxiliary device according to claim 1, characterized in that, The second flexible dustproof sheet comprises a plurality of flexible dustproof strips, and a buffer gap is arranged between the flexible dustproof strips.

4. The mine 3D TOF camera auxiliary device according to claim 3, characterized in that, The width of the buffer gap is 15-20 mm.

5. The mine 3D TOF camera auxiliary device according to claim 1, characterized in that, The support frame comprises a plurality of support legs arranged on both sides of the coal mine conveyor, and an outer frame structure is connected to the support legs, and the top end of the outer frame structure is provided with a front top plate and a rear top plate; the rear top plate is provided with a camera mounting platform.

6. The mine 3D TOF camera auxiliary device according to claim 5, characterized in that, The front top plate is provided with a holding structure.

7. The mine 3D TOF camera auxiliary device according to claim 1, characterized in that, The height limiting plate is provided with a first elastic clamping mechanism for clamping the first flexible dustproof sheet; and the coal conveying downstream end of the support frame is provided with a second elastic clamping mechanism for clamping the second flexible dustproof sheet.

8. The mine 3D TOF camera auxiliary device according to claim 1, characterized in that, The distance from the bottom edge of the height limiting plate to the surface of the coal mine conveyor belt is 68-75 mm.

9. The mine 3D TOF camera auxiliary device according to claim 1, characterized in that, The vertical distance from the bottom edge of the height limiting plate to the lens end of the 3D TOF camera is greater than 75 mm.

10. A coal flow real-time monitoring device, characterized by, The mine 3D TOF camera auxiliary device comprises the support frame. The mine 3D TOF camera auxiliary device comprises the support frame.

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