Method and device for automatically determining the mass of a load transported by a conveyor

Abstract

The present technical solution relates to the field of industry, and more particularly to a method and device for automatically determining the mass of a load transported by a belt conveyor and the mass flow rate of said load (conveyor capacity). The technical result is that of providing automatic measurement of the mass of a load transported by a conveyor. The claimed technical result is achieved by means of a method for automatically determining the mass of a load Ml situated on a conveyor belt, which is implemented with the aid of a computing device and includes the steps of: a) obtaining measurement data of the traction force generated by an electric drive motor of the belt conveyor; b) obtaining conveyor belt acceleration data; c) processing the data obtained in steps a) - b) and at the same time determining the accelerating traction force Fa causing acceleration of the movement of the conveyor belt, determining the acceleration AFa of the belt caused by the accelerating traction force Fa, and determining the mass of the load Ml situated on the conveyor belt of the belt conveyor as: Ml = Fa / AFa - M0, where M0 is the moving mass of the conveyor itself; d) recording the results of the calculations obtained in step c) in the memory of the computing device and / or transmitting the results to an external device.

Description

METHOD AND DEVICE FOR AUTOMATED DETERMINATION OF THE MASS OF CARGO TRANSPORTED BY A CONVEYOR AREA OF TECHNOLOGY

[0001] This technical solution relates to the field of industry, in particular to a method and device for automated determination of the mass of cargo transported by a belt conveyor. LEVEL OF TECHNOLOGY

[0002] Conveyor transport is used for bulk cargo transportation in many industries, including mining, processing, energy, chemicals, and cargo handling. Bulk cargo, whether waste rock, ore, coal, coke, feedstock, concentrate, sinter, pellets, chemicals, or other materials, is transported directly on a conveyor belt from the loading point, typically near the tail drum, to the unloading point, typically near the head / drive drum. When transporting bulk cargo, process control requires objective recording and monitoring of the quantity (mass) of the transported cargo.

[0003] At present, this problem of determining the flow of transported material and the mass of the transported cargo is solved using conveyor scales (CS) (see, for example, https:hw w.thay er scale, scales / cotweyor- Belt-scat (e / ). A belt-scat is a frame structure with a measuring platform, typically made of weighing rollers, built into the location of one or more conveyor rollers to create a measuring point at the system's installation site. The measuring platform is equipped with load cells, typically strain gauges, which generate an electrical signal proportional to the weight of the material in the weighing section (on the platform). If the conveyor is not equipped with a speed sensor, the belt-scat may be equipped with a speed sensor. Belt-scats are divided into two groups based on the principle by which they obtain weighing results: - integrating (continuous weighing) - the work is based on continuous weighing of material M(t) located on a conveyor belt, where a weighing platform is located, mounted in a conveyor frame, the subsequent division of the weighed mass M(t) by the length of the weighing section L gives the value of the linear load p(t), multiplying the linear load p(t) by the speed the movement of the belt V(t) gives the mass flow rate of the cargo Q(t), and its integration over time Q(t) * dt gives the mass of the cargo transported during the integration time; - Summing (periodic weighing) - weighing of a conveyor belt with materials occurs at intervals determined by the operator. Signals about the load weight M (ti) are transmitted to a counting device, where the readings are totaled. If the totalization is performed at intervals during which the belt has advanced a length equal to the weighing section, then such a totalization SM (ti) will yield the mass of the load transported during the totalization period.

[0004] The fundamental difference between the proposed technical solution and existing solutions for CM is that measuring the conveyor's mass flow rate (throughput) and the mass of the cargo transported by the conveyor is not achieved by using a dedicated location on the conveyor where CMs are installed to measure the weight of the transported material on the weighing platform using force sensors that generate an electrical signal proportional to the weight on the platform. Instead, the entire conveyor itself is considered a measuring device, becoming the measuring point. This eliminates the technical need to integrate any CMs into the conveyor design; rather, it is sufficient to obtain data on the belt conveyor's operating parameters. ESSENCE OF THE INVENTION

[0005] The claimed invention allows for solving a technical problem in terms of implementing the possibility of measuring the mass of transported cargo and the mass flow rate of cargo (productivity) without the use of specialized equipment in the form of conveyor scales built into the design of a belt conveyor.

[0006] The technical result is to provide automated measurement of the mass of cargo transported by a conveyor based on its operating parameters.

[0007] An additional technical result is obtaining data on the conveyor performance based on its operating parameters.

[0008] The stated technical result is achieved through the implementation of a method for automated determination of the mass of cargo M г, located on a conveyor belt, performed using a computing device, and containing the stages in which: a) data is obtained from measuring the traction force created by the electric motor of the belt conveyor drive; b) receive the data on the acceleration of the conveyor belt; c) process the received data in steps a) - b), during which the accelerating traction force F is determined a , causing the accelerated movement of the conveyor belt; determine the acceleration Ap а belt caused by the accelerating traction force F a ; determine the mass of the load M г located on a conveyor belt belt conveyor, such as: M г = — - — M о where Mo is the moving mass of the conveyor AP itself; d) the results of the calculations obtained in step c) are recorded in the memory of the computing device and / or transmitted to an external device.

[0009] In one of the particular examples of the implementation of the method, the data of the traction force created by the electric motor of the belt conveyor drive are recorded by a traction force measuring device, which is designed with the possibility of determining the traction force created by the belt conveyor drive based on the measurement of one or more parameters selected from the group: current (I), voltage (U), phase shift angle (φ), power factor (cos φ), total harmonic distortion (THD), power, efficiency, torque, rotation speed, belt speed, or combinations thereof.

[0010] In another particular example of the implementation of the method, the moving mass of the conveyor itself Mo represents the equivalent mass of all rotating parts of the conveyor and the mass of all linearly moving parts of the conveyor. [UN] In another particular example of the implementation of the method at step c) the accelerating traction force F a, which caused the accelerated movement of the conveyor belt, is determined by analyzing the non-stationary modes and / or operating processes of the belt conveyor.

[0012] In another particular example of the implementation of the method, the non-stationary mode and / or the process of operation of the belt conveyor is periodic.

[0013] In another particular example of the implementation of the method, the acceleration data of the conveyor belt is obtained based on the values ​​of the speed of movement of the conveyor belt, measured using a speed measuring device, or the values ​​of the displacement of the conveyor belt, measured using a device for measuring the displacement of the conveyor belt.

[0014] In another particular example of the implementation of the method, the speed measuring device or the conveyor belt displacement measuring device is made contact or contactless.

[0015] In another particular example of the implementation of the method, the speed measuring device or the conveyor belt displacement measuring device is based on an encoder, or a proximity sensor, or a tachometer, or a system operating on the basis of electromagnetic radiation or ultrasound.

[0016] In another particular example of the implementation of the method, the conveyor contains N electric motors, where N is a natural number and N > 1.

[0017] In another particular example of the method implementation, the traction force is measured on all or individual conveyor electric motors.

[0018] In another particular example of the implementation of the method, during the processing at step c), the measured and / or calculated values ​​undergo an averaging or smoothing procedure.

[0019] In another particular example of the implementation of the method, during the processing at step c), the mass flow rate of the cargo Q(t) is additionally calculated based on the mass of the cargo M г .

[0020] In another particular example of the implementation of the method, during the processing at stage c), the mass of the transported cargo M is additionally calculated. п .g. based on the determined mass of cargo M г .

[0021] In another particular example of the implementation of the method, at step c), the processing of the measured and / or calculated values ​​obtained at steps a) - b) occurs in time or frequency representation.

[0022] In another particular example of the implementation of the method, at step c), a Fourier transform or Fourier series expansion is used to obtain a frequency representation of the measured and / or calculated values.

[0023] In another particular example of the implementation of the method, at step c) when processing in frequency representation, as values ​​of F a and Ag аthe values ​​of the amplitudes of the traction force and acceleration of the conveyor belt corresponding to the same frequency or the amplitudes of the traction force and acceleration of the conveyor belt corresponding to the same harmonic in the frequency representation are taken.

[0024] In another particular example of the implementation of the method, the external device is one of: a monitor, an interactive screen, a computer, a laptop, a tablet, a smartphone, a smart wearable device, a removable data carrier, a belt conveyor control controller, or a belt conveyor control system.

[0025] In another particular example of the method implementation, the computing device is connected to the belt conveyor control system in one of the following ways: via relay outputs, via the Modbus protocol, or via Profibus or Profinet networks.

[0026] In another particular example of the implementation of the method, at step c), the computing device additionally generates a signal to stop the belt conveyor, transmitted to the belt conveyor control system, if M г above the established threshold value corresponding to the conveyor overload.

[0027] In another particular example of the implementation of the method, the GUI is implemented on an external device and / or on a computing device.

[0028] In another particular example of the implementation of the method, the computing device is additionally configured with the possibility of configuring it and / or monitoring the result of its operation using an external device.

[0029] In another particular example of the implementation of the method, a video stream is additionally generated with an image of the surface of the conveyor belt, obtained from a video camera.

[0030] In another particular example of the implementation of the method, the computing device additionally generates an alarm signal to notify the belt conveyor operator of the presence of an overload of the belt conveyor, transmitted to an external device and / or a sound and / or light warning device, if M г above the established threshold.

[0031] The stated technical result is also achieved through a device for automated determination of the mass of cargo M г , located on a conveyor belt, containing at least one processor and at least one memory associated with the processor, containing machine-readable instructions, wherein the device is configured to: receive data on the measurement of the traction force created by the electric motor of the conveyor belt drive, and data on the acceleration of the conveyor belt; process the received data, during which the following occurs: determining the accelerating traction force F a, causing accelerated movement of the conveyor belt; determination of acceleration A а belt caused by the accelerating traction force F a ; determination of the mass of cargo M г , located on the conveyor belt of the belt conveyor, as: M г = — - — M о , where Mo is the moving mass of the conveyor AP itself; record the calculation results in the memory of the computing device and / or transmit them to an external device. BRIEF DESCRIPTION OF DRAWINGS

[0032] Fig. 1 illustrates the general appearance of the claimed solution.

[0033] Fig. 2 illustrates a block diagram of the claimed method.

[0034] Fig. 3 illustrates a graph of the traction force pulsation caused by the torque pulsation of the electric motor.

[0035] Fig. 4 General view of the computing device. IMPLEMENTATION OF THE INVENTION

[0036] Fig. 1 shows a general view of the claimed solution (100). As shown in Fig. 1, the solution consists in creating an automated method for determining the mass of the transported cargo (105), in particular, ore, rocks and other types of material fed onto the belt (101) through the loading hopper (104). The movement of the conveyor belt (101) is carried out by rotating the head (drive) (102) and tail (103) drums, there may be several drive drums, they are driven by electric motors (111), which in turn are started using a control controller (not shown).

[0037] The claimed solution utilizes one or more devices for measuring the traction force (106) of electric motors (111), which are mounted on belt conveyor elements and / or on elements connected thereto, such as a conveyor frame (110), or are implemented remotely with data exchange provided via a data transmission channel. The conveyor may comprise N electric motors (111), where N is a natural number and N > 1. In this case, the traction force is measured on all or individual electric motors (111) of the conveyor.

[0038] The traction force data generated by the electric motor (111) of the belt conveyor drive are recorded by the traction force measuring device (106), which ensures the determination of the traction force generated by the belt conveyor drive based on the measurement of, for example, one or more parameters such as: current (I), voltage (U), phase shift angle (φ), power factor (cos φ), total harmonic distortion (THD), active power, inactive power, reactive power, useful power, net power, average power, consumed power, efficiency, torque, rotational speed, belt speed or combinations thereof.

[0039] In this solution (100), at least one measuring device (107) is also used, which allows measuring the speed or displacement of the conveyor belt (101). The measuring device (107) can also allow obtaining the acceleration data of the conveyor belt (101) based on the speed parameters of the conveyor belt, or the displacement parameters of the conveyor belt (101). Either a separate device for measuring the speed or devices for measuring the displacement parameters of the belt, or a set of such devices installed together on the conveyor (100) can be used. In a particular case, the acceleration data based on the speed or displacement can also be implemented directly on the computing device (108).

[0040] The conveyor belt speed or displacement measuring device (107) may be contact or contactless. The conveyor belt speed or displacement measuring device (107) may be based on an encoder, a proximity sensor, a tachometer, or a system operating using electromagnetic radiation or ultrasound.

[0041] Data recorded by devices (106, 107) is transmitted via a data transmission channel to a computing device (108) for subsequent processing. The computing device (108) may be, for example, a computer, a computing unit, a single-board computer, a system-on-a-chip (SoC), etc.

[0042] A wired and / or wireless connection may be used as a data transmission channel, for example, a connection via a physical connection (USB, LAN, RS-232, etc.), or via a wireless connection (Bluetooth, BLE, WLAN, etc.). The computing device (108) may be implemented in a single housing with a traction force measuring device (106) and / or a conveyor belt speed or displacement measuring device (107).

[0043] The computing device (108) is connected to an external device (109), which is typically a computer, server, or control panel, which stores data on the state of the conveyor belt and subsequently transmits information on the operation of the conveyor and the mass of the transported load (105) to end users (112), for example, a conveyor operator or maintenance personnel. In one embodiment, the external device (109) may be act as a belt conveyor controller or belt conveyor control system.

[0044] An external device (109) is connected to the computing device (108) via a wired or wireless data transmission channel similar to those previously indicated. The external device (109) may be, for example, a monitor, interactive screen, computer, laptop, tablet, smartphone, smart wearable device, removable storage medium, belt conveyor controller, or belt conveyor control system.

[0045] In the case of connecting the computing device (108) to the belt conveyor control system, in the event of detection of an overload of the belt conveyor, which may lead to a disruption of its operation, a signal is generated to stop the belt conveyor, which is transmitted to the belt conveyor control system.

[0046] In this case, the computing device (108) can generate an alarm signal to notify the operator (112) of the belt conveyor about the presence of an overload of the belt conveyor, transmitted to an external device (109) and / or a sound and / or light notification device.

[0047] The external device (109) and the computing device (108) may contain a graphical user interface (GUI) for displaying the results of certain information, as well as remote control capabilities.

[0048] The computing device (U8) is additionally configured with the possibility of configuring it and / or tracking the result of the analysis of the operation of the conveyor in terms of the mass of the transported load (105) using an external device (109).

[0049] Additionally, one or more cameras can be installed on the conveyor, forming a video stream with an image of the surface of the conveyor belt (101), received from the video camera.

[0050] Fig. 2 shows a method (200) for calculating the mass of a load located on a conveyor belt (101). In the first stage (201), information is collected by the computing device (108) from devices (106, 107), during which data on the traction force created by the electric motor (111) of the conveyor belt drive and data on the acceleration of the conveyor belt are obtained for further analysis.

[0051] Next, at step (202), based on the data obtained, the accelerating traction force F is determined. a , causing the accelerated movement of the conveyor belt (101). In this case, the belt (101) at this moment may contain load, and no. The traction force F during conveyor acceleration consists of the traction force FCT required for stationary operation of the conveyor at a constant speed (F CT is equal to the resistance force to the movement of the conveyor belt on the conveyor F CO np) and accelerating traction force F a : F = F CT + Fa (1).

[0052] Traction force F CT required for stationary operation of the conveyor at a constant speed is determined when the conveyor is operating at a constant speed, for example, based on the torque (KM) on the drive drum (KM = F CT x R, where R is the radius of the drive drum) or based, for example, on the useful power of the conveyor drive electric motor W (useful power is equal to the active power multiplied by the efficiency of the electric motor) and the speed of the conveyor belt V, since W = F CT x V, then F CT = W / V.

[0053] The traction force F during acceleration will consist of F CT HF a , in connection with which, having measured the traction force F, only for the mode of accelerated movement of the conveyor belt and having subtracted F C T, determined earlier for stationary operation of the conveyor at a constant speed, we can obtain the value F a : F a = F - F CT (2).

[0054] At the same time, by measuring the speed of the conveyor belt in the acceleration mode and differentiating it, one can obtain the acceleration caused by the accelerating traction force F a .

[0055] At step (203) the acceleration AЬ is determined. а tape (101), caused by the accelerating traction force F a . In this case, the tape (101) may or may not contain cargo at this moment.

[0056] Belt conveyor operation always involves non-stationary modes, such as acceleration, braking, or periodic jerks caused by pulsations in the electric motor's torque (111) due to imperfections in its operating mode, or other transient processes caused by imperfections in the belt conveyor's operation. During non-stationary belt conveyor operation, components of the traction force F appear. a, which cause accelerated movement of the conveyor belt with or without a load if the belt is empty. The acceleration value is obtained by differentiating the measured speed value or by differentiating the conveyor belt displacement twice. By measuring these accelerating traction forces F a and the accelerations AЬ caused by them а and using Newton's 2nd law m=F / a we can calculate the total moving mass of the conveyor M, which consists of the mass cargo located on belt M г and the moving mass Mo of the conveyor itself, which in turn consists of the mass of all linearly moving parts of the conveyor, and above all, this is the mass of the conveyor belt, and the equivalent mass of the rotating parts of the conveyor, which primarily include conveyor rollers, conveyor drums, the rotor of the electric motor, rotating elements of the transmission and gearbox of the conveyor drive, rotating elements of the cleaners and other rotating parts of the conveyor. Thus, M = M г + Mo.

[0057] By processing the obtained data, it is possible to determine the total moving mass of the conveyor M as: M = M г + Mo = F a / A Fa . In this case, M r = F a / A Fa - M0(3).

[0058] Considering the empty running mode (empty conveyor belt, i.e. without load, when M г = 0) the calculation of the mass of Mo will have the following form: M0= F a / A Fa (4) where F a HA Fa measured for an empty conveyor.

[0059] Mo depends weakly on time (it may change slightly due to wear of the belt and other moving elements of the conveyor) and it can be considered a conditionally constant value, therefore it can be measured infrequently, for example, at each start of the conveyor.

[0060] Next, a calculation is performed based on the relationship (4) of the mass of Mo. The conveyor belt acceleration value (101) can be obtained by differentiating the conveyor belt speed or by double differentiating the conveyor belt displacement. In turn, the conveyor belt speed and displacement can be recorded by both contact and non-contact speed or displacement measurement devices, operating, for example, based on an encoder, proximity sensor, tachometer, or Doppler sensors operating on electromagnetic radiation or ultrasonic waves. A non-contact optical speed and displacement sensor operating on the principle of raster spatial filtering of the object image can also be used, for example, the ISD-3 sensor. or a laser speed and displacement sensor that operates on the principle of laser interference, such as a sensor R g oj denaogo- p uti / etc.

[0061] To determine Mo, one can also take advantage of the imperfections in the electric motor operating mode due to the presence of torque pulsations. As shown in Fig. 3, the average value of the traction force Fo (303) is equal to the resistance force to movement conveyor belt F CO np, and the pulsation of the torque and, accordingly, the traction force are periodic sine-like oscillations around the average value of the traction force Fo.

[0062] An excess of traction force above the average value, which is equal to the conveyor belt's resistance, causes its acceleration, while a drop below the average value leads to a predominance of the resistance forces to conveyor belt movement and, consequently, to its deceleration. Periodic acceleration and deceleration of the belt is recorded by measuring the speed or displacement and calculating the acceleration by differentiating the speed or by double differentiation of the displacement, which yields the induced acceleration pulsation. The amplitude of the pulsation (301) of the traction force F can be taken as the acceleration component of the traction force. a , and as the induced accelerations Ar а take the amplitude of the pulsations caused by the accelerations of the conveyor belt when the conveyor is running empty (there is no transported load on the conveyor belt, M г = 0). By dividing the amplitude of the pulsations of the traction force by the amplitude of the pulsations of the caused accelerations, according to relation (4), the calculation of Mo is performed.

[0063] Also as F values a and Ar а the corresponding instantaneous values ​​of deviation from the average value of pulsation or the range (Peak-Peak / Peak to Reacc) of the corresponding pulsations of the tractive force (302) and the induced acceleration of the conveyor belt, or other quantities characterizing the variability of the pulsations of the tractive force and the induced acceleration relative to their average values, for example, the standard deviation (RMS) from the average value of the pulsation of the tractive force and the induced acceleration of the conveyor belt in a periodic non-stationary mode or during the operation of the belt conveyor, can be taken.

[0064] Unlike Mo, the mass of the load lying on the conveyor belt M гis a significantly variable value, and to calculate the mass flow rate and transported mass of the transported cargo, it must be measured frequently. Therefore, using acceleration or deceleration of the conveyor during startup or shutdown is not suitable for its measurement, since in operating mode, the conveyor speed is maintained at a constant speed and there is no possibility of stopping and starting it. In such a situation, non-stationary periodic transient processes in the operation of the belt conveyor around the steady-state operating mode are used, for example, the torque pulsation of the belt conveyor's electric motor drive. Acceleration forces F a and the corresponding accelerations of the conveyor belt Ar а . but already with cargo M г on a conveyor belt caused by transient processes Torque pulsations on the electric motor of the belt conveyor drive are determined in the same way as described above for determining the mass of Mo (Fig. 3).

[0065] At step (204), the mass of the load M is determined. г , located on the conveyor belt of the belt conveyor, as: M г = — - — M о . As F a and Ar а the corresponding instantaneous values ​​of deviation of the traction force and acceleration of the conveyor belt from their average value in the periodic non-stationary mode or in the process of operation of the belt conveyor, or the magnitude of the amplitude (301), or the range (Peak-Peak / Peak to Peak) (302), or the standard deviation (RMS) of the traction force and acceleration of the conveyor belt from their average value in the periodic non-stationary mode or in the process of operation of the belt conveyor, or another characteristic of the variability of the deviation of the traction force and acceleration of the conveyor belt from their average value in the periodic non-stationary mode or in the process of operation of the belt conveyor, are taken as LRa.

[0066] As an example of a periodic non-stationary operating mode of a belt conveyor, we can consider the case of harmonic oscillations (pulsations) of the torque of the electric motor of the belt conveyor drive and, accordingly, the traction force F and the speed of the conveyor belt V: F = Fo + F aMn * cos (co * t) (5) V = Vo + V aMn * sin (co * t) (6) where, Fo and Vo are the average values ​​around which the oscillation (pulsation) of the corresponding quantities occurs (the average values ​​can be considered conditionally constant quantities with a high degree of accuracy over a short period of measurement time, comparable to the pulsation period), F aMn and V aM n is the amplitude of oscillations (pulsations) of the corresponding quantities, ш is the frequency of oscillations (pulsations).

[0067] The velocity is differentiated with respect to time to obtain the acceleration: A = Uyamp * co * cos (co * t) = A амп * cos (co * t) (7). Then the amplitude of oscillations (pulsations) of the caused acceleration: A амп V а mp * so

[0068] To determine the mass of the load M г , located on the conveyor belt, according to formula (3) as the accelerating force F a For example, the amplitude F is taken aMn (301) or the amplitude (double amplitude) of RF oscillations (pulsations) of the traction force (302), and as acceleration A Fa the amplitude is taken according to formula (8) or the range (double amplitude) RA = Rv * <» oscillations (pulsations) of the induced acceleration, where Rv is the amplitude (double amplitude) of oscillations (pulsations) of the conveyor belt speed: M r = F aMn / A амп - Mo = (F aMn / V aM n) * l / ro -Mo (9) Mr. R F / RA- M0= (R F / Rv) * 1 / ю -M o (10).

[0069] The frequency of oscillations (pulsations) of the torque and all dynamic characteristics is proportional to the speed of rotation of the electric motor and, accordingly, the average speed of the conveyor belt Vo, tk. амп « Vo: со = k * Vo (11). where k is the proportionality coefficient, depending on the conveyor parameters and, above all, on the number of phases and poles of the electric motor, the diameter of the drive drum and the gear ratio of the gearbox.

[0070] In turn, the amplitude F aMn and the range R F fluctuations (pulsations) of the traction force can be determined based on the amplitude P амп and the amplitude Rp of the oscillation (pulsation) of the active power, the efficiency of the electric motor and the average speed of the conveyor belt Vo Vo), since the traction force F is determined through the active power P, efficiency and conveyor belt speed V, as F = P * efficiency / V: Ramp = Ramp * Efficiency / Vo (12) R F = R P* Knfl / Vo (13).

[0071] Substituting relations (11), (12) and (13) into relations (9) and (10) we determine the option for calculating the mass of the load M г , located on a conveyor belt, in which: M г = (R ам p / Uamp) * 1 / U0 2 * Efficiency / k -M0(14) M г = (Rp / R v ) * 1 / Vo 2 * Efficiency / k-Mo (15).

[0072] Calculated mass of cargo M г , located on a conveyor belt, depends on time. Knowing the dependence of the mass of the load on the belt on time M г (t), can be calculated the value of mass flow rate versus time Q(t) and the mass of transported cargo M п.г . for a certain time.

[0073] The mass flow rate can be determined in several ways. The first method is to determine the mass flow rate using the averaged linear distribution density of the load on the conveyor belt, pt(t), which is equal to the mass of the load on the belt, M. г (t) divided by the length L of the conveyor belt along the conveyor belt route from the loading point to the unloading point: p L (t) = M г (t) / L (16).

[0074] By multiplying the average linear density of the cargo on the conveyor belt рь(t) by the speed of the conveyor belt V(t), the mass flow rate of the transported cargo can be calculated: Q (t) = M r (t) x V(t) / L(17).

[0075] Another method for determining the mass flow rate is based on obtaining the mass flow rate Q(t) of the transported cargo as a solution to the system of integral equations (18) and (19) relating the mass of the cargo on the belt M г (t) and the value of mass flow rate Q(t): M r(t) Q(t) * dt from tT(t) to t (18) L = J' V(t) * dt from tT(t) to t (19) where L is the geometric parameter of the conveyor, determining the length of the conveyor belt along the conveyor route from the loading point to the unloading point. Based on equation (19), one can determine the time interval T(t), which is required for the conveyor belt to move the length L from the loading point of the belt conveyor to the unloading point of the belt conveyor. This time interval may depend on time, since in general the speed of the conveyor belt may change during the operation of the belt conveyor.

[0076] In the particular case where the conveyor belt speed is constant, i.e. V(t) = V = const, the system of equations (18) and (19) will essentially be reduced to a single equation (18), since the solution to equation (19) will be the trivial relationship T(t) = T = L / V and the calculation of the mass flow rate Q(t) will be reduced to the solution of a single equation: M r(t) = JQ(t) * dt from tL / V to t (20).

[0077] Another method for determining the mass flow rate is based on obtaining the mass flow rate Q(t) of the transported cargo as a solution to a system of differential-integral equations equivalent to the system of equations (18) and (19), which also relate the mass of the cargo on the belt M г (t) and the value of mass flow rate Q(t): dM r / dt = Q(t) - Q(tT(t)) (21 ) LV(t) * dt from tT(t) to t (22)

[0078] For the special case when the conveyor belt speed is constant V(t) = V = const, the system of equations (21) and (22) is again reduced, in essence, to a single equation (21), since the solution to equation (22) will again be the trivial relationship T(t) = T = L / V and the calculation of the mass flow rate Q(t) will similarly be reduced to the solution of a single equation: dM r / dt = Q(t) - Q(tL / V) (23).

[0079] The mass of transported cargo can be calculated in two ways: integrating and summing. With the integrating method, the mass of cargo transported over time t is determined by integrating the mass flow rate Q(t) over time: Mn.r.(t) = JQ(t) * dt from 0 to t (22).

[0080] With the summation method, the determination of the mass of the transported cargo during the time t, during which the conveyor belt has moved N times the length L of the conveyor belt along the route of the belt conveyor from the loading point to the unloading point, is given by N-fold summation of the mass of the cargo on the belt M r (ti) at intervals of time during which the conveyor belt has advanced the length L of the conveyor belt along the belt conveyor route from the loading point to the unloading point: Mp.g. (t) = 2 M г (ti) for i from 1 to N (23).

[0081] The received information about the mass of cargo M гas a result of performing step (204) by the computing device (108) at step (205) it is stored in its memory and can also be transmitted via the data transmission channel to the external device (109).

[0082] When performing steps (202 - 204), the measured and / or calculated values ​​may undergo an averaging or smoothing procedure to avoid noise artifacts obtained during measurements and subsequent calculations.

[0083] In one particular implementation example, the external device (109) may be a belt conveyor control system. In this case, the computing device (108) is connected to the belt conveyor control system in one of the following ways: via relay outputs, via the Modbus protocol, or via Profibus or Profinet networks.

[0084] When performing step (205), the computing device (Ю8) additionally generates a signal to stop the belt conveyor, transmitted to the belt conveyor control system, if M г , determined at step (204), is above the set threshold value corresponding to the conveyor overload. This makes it possible to implement an additional safety criterion during the operation of the belt conveyor (100), by generating an alarm signal to notify the operator (112) of the belt conveyor about the presence of an overload of the belt conveyor. The signal can be transmitted to an external device (109) and / or a sound and / or light notification device, if M г above the established threshold.

[0085] Additionally, one or more video cameras can be installed on the conveyor (100), which makes it possible to form a video stream with an image of the surface of the conveyor belt, and use this as an additional factor in determining the mass of the transported cargo and the degree of loading of the conveyor belt.

[0086] Fig. 4 shows a general example of a computing device (400), for example, a computing unit (computing module), a computer, a server, a laptop, a smartphone, a SoC (System-on-a-Chip), etc., which can be used for the full or partial implementation of the claimed solution, as well as, in particular, for the implementation of devices (108, 109). In the general case, the device (400) contains such components as: one or more processors (401), at least one random access memory (402), a persistent data storage means (403), input / output interfaces (404) including relay outputs for connection to belt conveyor motion control controllers, an I / O means (405), and network interaction means (406).

[0087] The processor (401) of the device performs the basic computing operations necessary for the functioning of the device (400) or the functionality of one or more of its components. The processor (401) executes the necessary machine-readable commands contained in the RAM (402).

[0088] Memory (402) is typically implemented as RAM and contains the necessary software logic to provide the required functionality. Data storage (403) can be implemented as HDD, SSD, RAID array, network storage, flash memory, optical storage (CD, DVD, MD, Blue-Ray discs), etc. Data storage (403) enables long-term storage of various types of information, such as request processing history (logs), user identifiers, camera data, images, etc.

[0089] Interfaces (404) are standard means for connecting and working with computing devices. Interfaces (404) may represent, for example, relay connections, USB, RS232 / 422 / 485 or others, RJ45, LPT, UART, COM, HDMI, PS / 2, Lightning, FireWire, etc. for work, including, via Modbus protocols and Probfibus networks. The choice of interfaces (404) depends on the specific design of the device (400), which can be a computing unit (computing module), for example, based on a CPU (one or more processors), a microcontroller, etc., a personal computer, a mainframe, a server cluster, a thin client, a smartphone, a laptop, etc., as well as connected third-party devices.

[0090] The following can be used as I / O data means (405): keyboard, joystick, display (touch display), projector, touchpad, mouse, trackball, light pen, speakers, microphone, etc.

[0091] The network interaction means (406) are selected from a device that provides network reception and transmission of data, for example, an Ethernet card, a WLAN / Wi-Fi module, a Bluetooth module, a BLE module, an NFC module, an IrDa module, an RFID module, a GSM modem, etc. With the help of the means (406), the organization of data exchange is ensured via a wired or wireless data transmission channel, for example, a WAN, PAN, LAN, Intranet, Internet, WLAN, WMAN or GSM, a quantum data transmission channel, satellite communications, etc. The components of the device (400), as a rule, are connected via a common data transmission bus.

[0092] These application materials present a preferred disclosure of the implementation of the claimed technical solution, which should not be used as limiting other, particular embodiments of its implementation that do not go beyond the scope of the requested scope of legal protection and are obvious to specialists in the relevant field of technology.

Claims

FORMULA 1. Method for automated determination of cargo mass M г , located on a conveyor belt, performed with the help of a computing device, and containing the steps of: a) obtaining measurement data of the traction force created by the electric motor of the conveyor belt drive; b) obtaining data on the acceleration of the conveyor belt; c) processing the obtained data in steps a) - b), during which the accelerating traction force F is determined a , causing the accelerated movement of the conveyor belt; determine the acceleration Ap а belt caused by the accelerating traction force F a ; determine the mass of the load M г located on a conveyor belt belt conveyor, such as: M г = — - — M о where Mo is the moving mass of the conveyor AP itself; d) the results of the calculations obtained in step c) are recorded in the memory of the computing device and / or transmitted to an external device.

2. The method according to paragraph 1, characterized in that the data of the traction force created by the electric motor of the belt conveyor drive are recorded by a traction force measuring device, which is designed with the possibility of determining the traction force created by the belt conveyor drive based on the measurement of one or more parameters selected from the group: current (I), voltage (U), phase shift angle (φ), power factor (cos φ), total harmonic distortion (THD), power, efficiency, torque, rotation speed, belt speed, or combinations thereof.

3. The method according to paragraph 1, characterized in that the moving mass of the conveyor itself Mo represents the equivalent mass of all rotating parts of the conveyor and the mass of all linearly moving parts of the conveyor.

4. The method according to item 1, characterized in that at step c) the accelerating traction force F a, which caused the accelerated movement of the conveyor belt, is determined by analyzing the non-stationary modes and / or operating processes of the belt conveyor.

5. The method according to paragraph 4, characterized in that the non-stationary mode and / or the process of operation of the belt conveyor is periodic.

6. The method according to claim 1, characterized in that the data on the acceleration of the conveyor belt are obtained on the basis of the values ​​of the speed of movement of the conveyor belt, measured using a speed measuring device, or the values ​​of the linear displacement of the conveyor belt, measured using a device for measuring the displacement of the conveyor belt.

7. The method according to paragraph 6, characterized in that the device for measuring the speed or the device for measuring the displacement of the conveyor belt is made contact or contactless.

8. The method according to paragraph 6, characterized in that the device for measuring the speed or the device for measuring the displacement of the conveyor belt is based on an encoder, or a proximity sensor, or a tachometer, or a system operating on the basis of electromagnetic radiation or ultrasound.

9. The method according to item 1 is characterized by the fact that the conveyor contains N electric motors, where N is a natural number and N > 1.

10. The method according to item 9 is characterized by the fact that the traction force is measured on all or individual conveyor electric motors.

11. The method according to item 1 is characterized by the fact that during the processing at stage c), the measured and / or calculated values ​​undergo an averaging or smoothing procedure.

12. The method according to item 1 is characterized by the fact that during the processing at stage c), the mass flow rate of the cargo Q(t) is additionally calculated based on the mass of the cargo M. г .

13. The method according to item 1, characterized in that during the processing at stage c), the mass of the transported cargo M is additionally calculated. п .g. based on the determined mass of cargo M г .

14. The method according to item 1, characterized in that at step c), the processing of the measured and / or calculated values ​​obtained at steps a) - b) occurs in time or frequency representation.

15. The method according to item 14, characterized in that at step c) a Fourier transform or Fourier series expansion is used to obtain a frequency representation of the measured and / or calculated values.

16. The method according to item 14, characterized in that at step c) during processing in frequency representation, as values ​​of F a and Ar аthe values ​​of the amplitudes of the traction force and acceleration of the conveyor belt corresponding to the same frequency or the amplitudes of the traction force and acceleration of the conveyor belt corresponding to the same harmonic in the frequency representation are taken.

17. The method according to claim 1, characterized in that the external device is one of: a monitor, an interactive screen, a computer, a laptop, a tablet, a smartphone, a smart wearable device, a removable data carrier, a belt conveyor control controller, or a belt conveyor control system.

18. The method according to claim 1, characterized in that the computing device is connected to the belt conveyor control system in one of the following ways: via relay outputs, via the Modbus protocol or Profibus or Profinet networks.

19. The method according to claim 18, characterized in that at step c) the computing device additionally generates a signal for stopping the belt conveyor, transmitted to the belt conveyor control system, if M г above the established threshold value corresponding to the conveyor overload.

20. The method according to claim 1, characterized in that the GUI is implemented on an external device and / or on a computing device.

21. The method according to claim 1, characterized in that the computing device is additionally configured with the possibility of configuring it and / or monitoring the results of its operation using an external device.

22. The method according to paragraph 1, characterized in that a video stream is additionally formed with an image of the surface of the conveyor belt, obtained from a video camera.

23. The method according to claim 1, characterized in that the computing device additionally generates an alarm signal to notify the belt conveyor operator about the presence of an overload of the belt conveyor, transmitted to an external device and / or a sound and / or light warning device, if M г above the established threshold.

24. Device for automated determination of cargo mass M г , located on a conveyor belt, containing at least one processor and at least one memory associated with the processor, containing machine-readable instructions, wherein the device is configured to: receive data measuring the traction force created by the electric motor of the conveyor belt drive, and data on the acceleration of the conveyor belt; perform processing of the received data, during which the following occurs: determining the accelerating traction force F a , which caused the conveyor belt to move faster; definition of acceleration Ap а belt caused by the accelerating traction force F a ; determination of the mass of cargo M г , located on the conveyor belt of the belt conveyor, as: M г = — - — M о , where Mo is the moving mass of the conveyor AP itself; record the calculation results in the memory of the computing device and / or transmit them to an external device.

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