A device for automatic calibration of coal flow scanning

Abstract

The utility model relates to a kind of coal flow scanning automatic calibration device, belong to mechatronics technical field.The device includes belt conveyor (1), laser radar (2), correction motor (3), PLC controller (4) and fixed support (5).The laser radar (2) and correction motor (3) are installed in the top of belt conveyor (1) and are fixed by fixed support (5), for measuring coal seam section area;Correction motor (3) is coaxially connected with laser radar (2), for driving laser radar (2) rotation;PLC controller (4) is connected with laser radar (2) and correction motor (3), for real-time analysis the measurement data of laser radar (2) and control the rotation direction of correction motor (3).By dynamically adjusting the installation angle of laser radar (2), the change rule of PLC controller (4) based on laser ranging value, deviation between laser radar exit light (hereinafter referred to as exit light) (7) and belt conveyor vertical (6) is automatically identified and calibrated, eliminate the coal flow calculation error caused by installation error.The device effectively improves the measurement accuracy of coal flow regulation system, reduces power waste and equipment failure risk.

Description

Technical Field

[0001] This disclosure relates to an automatic calibration device for coal flow scanning, and pertains to the field of mechatronics technology. Background Technology

[0002] As the core transportation equipment in fully mechanized coal mining faces, scraper conveyors currently generally operate at a fixed speed. This mode has significant drawbacks: when the amount of coal transported exceeds the rated load of the scraper conveyor, it can easily lead to coal pile-up accidents, causing equipment jamming or even shutdown; while when the amount of coal is lower than the design value, the equipment continues to run unloaded, resulting in wasted energy. One solution to this problem is an intelligent control system based on real-time coal flow sensing using lidar (referred to as a coal flow control system).

[0003] In an intelligent control system for real-time coal flow sensing, the light emitted by the lidar should theoretically be perpendicular to the conveyor belt. However, due to errors in the actual installation process, the light emitted by the lidar may deviate from the vertical line of the conveyor belt by a certain angle. This will introduce errors into the coal flow calculation of the coal flow control system. After a certain period of time, such errors will increase energy waste and the risk of equipment failure.

[0004] Therefore, it is necessary to propose a device for automatic calibration of coal flow scanning to solve the above problems. Utility Model Content

[0005] The technical problem solved by this invention is to provide an automatic calibration device that can adjust the coal flow calculation error caused by lidar installation error in coal flow scanning. To solve the above-mentioned technical problems, the automatic calibration device for coal flow scanning provided by this utility model includes: A belt conveyor is used to transport coal; a lidar is installed on the top of the belt conveyor and fixed by a bracket, used to scan the cross-sectional area of ​​the coal seam in real time. A calibration motor, coaxially connected to the lidar, is used to drive the lidar to rotate around the axis to adjust the angle of its emitted light beam; A PLC controller is connected to both the lidar and the calibration motor. It receives ranging data from the lidar and controls the rotation direction and angle of the calibration motor to align the lidar's emitted light beam with the vertical line of the conveyor belt. The PLC controller is configured as follows: 3.1 During the calibration process, the distance measurement value of the belt conveyor under no-load conditions is obtained in real time by driving the lidar to rotate by the calibration motor; 3.2 Based on the trend of the ranging value, determine the minimum ranging value L0 when the laser radar emitted light coincides with the vertical line of the belt conveyor; 3.3 Control the calibration motor to stop rotating to complete the calibration.

[0006] The scanning direction of the lidar is perpendicular to the conveyor belt direction, and it is used to generate coal flow cross-sectional profile data.

[0007] The correction motor is a stepper motor or a servo motor, and its rotation angle accuracy is controlled by the signal from the PLC controller.

[0008] It also includes a mounting bracket for fixing the lidar, calibration motor and PLC controller to the top of the conveyor belt.

[0009] The PLC controller is further configured as follows: 5.1 During the calibration process, if the distance measurement value increases with clockwise rotation, switch to counterclockwise rotation to find the minimum distance measurement value L0; Beneficial effects: This utility model provides an automatic calibration device for coal flow scanning and a method for calibrating the deviation between the laser radar emitted light and the vertical line of the belt conveyor. It can solve the system calculation error caused by the installation error of the laser radar in the coal flow control system, effectively improve the measurement accuracy of the coal flow control system, and reduce energy waste and equipment failure risk. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of a preferred embodiment of the automatic calibration device for coal flow scanning provided by this utility model.

[0011] The following are the labels in the diagram: 1. Belt conveyor, 2. LiDAR, 3. Correction motor, 4. PLC controller, 5. Fixed bracket, 6. LiDAR output beam, 7. Belt conveyor vertical line. Detailed Implementation

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0013] Please refer to the following: Figure 1 ,in, Figure 1 This is a schematic diagram of a preferred embodiment of the automatic coal flow scanning calibration device provided by this utility model. The automatic coal flow scanning calibration device includes: a belt conveyor 1 for transporting coal; a lidar 2 and a calibration motor 3 for controlling the rotation of the lidar 2 are mounted on the top of the belt conveyor 1; the lidar 2 and the calibration motor 3 are connected to a PLC controller 4; the PLC controller 4 can read and calculate the lidar data, which is then used by the calibration motor 3 to rotate the lidar 2 to correct installation errors. A fixing bracket 5 is used to fix the lidar 2, the calibration motor 3, and the PLC controller 4.

[0014] The working principle of the automatic calibration device for coal flow scanning provided by this utility model is as follows: When belt conveyor 1 is in an empty coal state, the distance measured by the lidar is L1. The angle between the emitted light beam 7 and the perpendicular line 6 of belt conveyor 1 is not 0. The PLC controller 4 records the distance L1 at this time.

[0015] After the calibration begins, the following two situations may occur: PLC controller 4 controls calibration motor 3, which drives lidar 2 to rotate clockwise. During this time, L1 changes. If L1 after rotation is greater than L1 before calibration, PLC controller 4 controls calibration motor 3 to stop and then drives lidar 2 to rotate counterclockwise. PLC controller 4 records and compares L1 at different times. Over a period of time, the value of L1 will change from large to small and then from small to large. PLC controller 4 records the minimum value L0 of L1 during this process. When PLC controller 4 detects that L1 has changed from small to large, it controls calibration motor 3 to stop and then drives lidar 2 to rotate clockwise. During the rotation, when PLC controller 4 detects that L1 equals L0, it controls calibration motor 3 to stop rotating, and calibration is completed.

[0016] PLC controller 4 controls calibration motor 3, which drives lidar 2 to rotate clockwise. During this time, L1 changes. If L1 after rotation is less than L1 before calibration, PLC controller 4 controls calibration motor 3 to continue driving lidar 2 to rotate clockwise. PLC controller 4 records and compares L1 at different times. Over a period of time, the value of L1 will change from large to small and then from small to large. PLC controller 4 records the minimum value L0 of L1 during this process. When PLC controller 4 detects that L1 has changed from small to large, it controls calibration motor 3 to stop and then drives lidar 2 to rotate counterclockwise. During the rotation, when PLC controller 4 detects that L1 equals L0, it controls calibration motor 3 to stop rotating, and calibration is completed.

[0017] The two scenarios described above represent all calibration scenarios.

[0018] Compared with related technologies, the automatic calibration device for coal flow scanning has the following advantages: This invention provides an automatic calibration device for coal flow scanning and a method for calibrating the deviation between the laser radar emitted and the vertical line of the conveyor belt. It can solve the system calculation error caused by the installation error of the laser radar in the coal flow control system, effectively improve the measurement accuracy of the coal flow control system, and reduce energy waste and equipment failure risk.

Claims

1. A device for automatic calibration of coal flow scanning, characterized in that, include: Belt conveyor (1), used for conveying coal; The lidar (2) is installed on the top of the belt conveyor (1) and fixed by a fixed bracket (5) for real-time scanning of the cross-sectional area of ​​the coal seam; A calibration motor (3) is coaxially connected to the laser radar (2) and is used to drive the laser radar (2) to rotate around the axis to adjust the angle of its emitted light beam (7); The PLC controller (4) is connected to the laser radar (2) and the correction motor (3) respectively. It is used to receive the ranging data of the laser radar (2) and to align the emitted light (7) of the laser radar (2) with the vertical line of the belt conveyor (1) by controlling the rotation direction and angle of the correction motor (3).

2. The apparatus for automatic calibration of coal flow scanning according to claim 1, characterized in that, The scanning direction of the lidar (2) is perpendicular to the conveying direction of the belt conveyor (1) and is used to generate coal flow profile data.

3. The apparatus for automatic calibration of coal flow scanning according to claim 1, characterized in that, The correction motor (3) is a stepper motor or a servo motor, and its rotation angle accuracy is controlled by the signal of the PLC controller (4).

4. The apparatus for automatic calibration of coal flow scanning according to claim 1, characterized in that, It also includes a fixing bracket (5) for fixing the lidar (2), the calibration motor (3) and the PLC controller (4) to the top of the belt conveyor (1).

5. The apparatus for automatic calibration of coal flow scanning according to claim 1, characterized in that, The determination logic for the minimum ranging value L0 is as follows: when the ranging value changes from decreasing to increasing, the ranging value at the previous moment is L0.

6. The apparatus for automatic calibration of coal flow scanning according to claim 1, characterized in that, The device is suitable for real-time coal flow sensing systems for scraper conveyors or belt conveyors.

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