CN113671895A - Mine is drop shaft self-adaptation ore drawing system in pit - Google Patents
Mine is drop shaft self-adaptation ore drawing system in pit Download PDFInfo
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- CN113671895A CN113671895A CN202110970682.9A CN202110970682A CN113671895A CN 113671895 A CN113671895 A CN 113671895A CN 202110970682 A CN202110970682 A CN 202110970682A CN 113671895 A CN113671895 A CN 113671895A
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- 238000001514 detection method Methods 0.000 claims abstract description 39
- 230000003137 locomotive effect Effects 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 24
- 238000013135 deep learning Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000013528 artificial neural network Methods 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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Abstract
The invention discloses a self-adaptive ore drawing system for an underground ore pass of a mine, which comprises a detection system, a control system, an electric locomotive for drawing a mine car and a vibration ore drawing machine, wherein a detection camera uninterruptedly acquires video images of the mine car on a track and transmits the acquired video images to an integrated micro host; the integrated micro host obtains the loading state of the mine car and transmits the loading state of the mine car to the control system through the communication module; and after receiving the loading state of the mine car transmitted by the detection system, outputting a corresponding equipment operation control signal according to the loading state of the mine car, and transmitting the control signal to the PLC controller of the electric locomotive and the controller on the vibratory ore drawing machine by using the communication module. The system realizes unmanned operation of underground transportation ore drawing positions, realizes self-adaptive ore drawing of the underground ore pass of the mine, avoids potential safety hazards of underground operation of personnel, and improves the efficiency and the safety of transportation operation.
Description
Technical Field
The invention relates to the technical field of underground mine equipment, in particular to an underground mine drop shaft self-adaptive ore drawing system.
Background
At present, when ore is drawn in an ore pass, an ore drawing mode of single remote control operation is usually adopted, when an electric locomotive pulls a mine car to run to the ore drawing port of the ore pass, a driver of the electric locomotive simultaneously gives the place to the ore drawing worker, and the electric locomotive is remotely controlled to advance and vibrate the ore drawing port to start and stop to complete ore drawing by hand remote control.
Above-mentioned operation flow is because whole flow scheduling control can be accomplished to single personnel, but operating personnel still need accomplish the ore drawing operation in the pit, because ore drawing environment ore dust is very big, ore drawing inefficiency still has very big potential safety hazard, is unfavorable for the mine rail transportation intellectuality in the pit.
Disclosure of Invention
The invention aims to provide a self-adaptive ore drawing system for an underground ore pass of a mine, which realizes unmanned operation of the underground transportation ore drawing part, realizes self-adaptive ore drawing of the underground ore pass of the mine, avoids potential safety hazards of underground operation of personnel, and improves the efficiency and safety of transportation operation.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a mine is drop shaft self-adaptation ore drawing system in pit, the system includes detecting system, control system, the electric locomotive and the vibration ore drawing machine that pull the mine car, wherein:
the detection system comprises a detection camera and an integrated micro host, wherein the detection camera continuously collects video images of the mine car on the track and transmits the collected video images to the integrated micro host;
the integrated micro host computer analyzes the transmitted video image by operating a target detection program to obtain the loading state of the mine car, and transmits the loading state of the mine car to the control system through a communication module;
control system includes always controlling the host computer, installs PLC controller on the electric locomotive, installs controller, the communication module on the vibration ore drawing machine, wherein:
the main control host is respectively connected with the electric locomotive PLC controller and the controller on the vibration ore drawing machine, outputs corresponding equipment operation control signals according to the loading state of the mine car after receiving the loading state of the mine car transmitted by the detection system, and transmits the control signals to the electric locomotive PLC controller and the controller on the vibration ore drawing machine by using a communication module;
when the mine car is in no-load state, the PLC controller of the electric locomotive controls the starting and stopping of the electric locomotive after receiving the control signal, and the mine car is dragged to stop below the ore drawing port of the vibratory ore drawing machine; after the controller on the vibratory ore drawing machine receives the control signal, the controller controls the opening of the ore drawing port baffle of the vibratory ore drawing machine, and the automatic ore drawing is carried out on the mine car parked below the ore drawing port;
when the mine car reaches the full loading capacity of the preset mine car, the controller on the vibration ore drawing machine controls the baffle of the ore drawing port of the vibration ore drawing machine to be closed, and the PLC controller of the electric locomotive controls the electric locomotive to be opened to draw the mine car to continuously advance.
According to the technical scheme provided by the invention, the system realizes unmanned operation of underground transportation ore drawing positions, realizes self-adaptive ore drawing of the underground ore pass of the mine, avoids potential safety hazards of underground operation of personnel, and improves the efficiency and safety of transportation operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a mine underground ore pass self-adaptive ore drawing system provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of an integrated detection control box according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all embodiments, and this does not limit the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of an overall structure of an adaptive ore drawing system for a mine underground ore pass according to an embodiment of the present invention, where the system includes a detection system, a control system, an electric locomotive for drawing a mine car, and a vibratory ore drawing machine, where:
the detection system comprises a detection camera and an integrated micro host, wherein the detection camera continuously collects video images of the mine car on the track and transmits the collected video images to the integrated micro host; the integrated micro host computer analyzes the transmitted video image by operating a target detection program to obtain the loading state of the mine car, and transmits the loading state of the mine car to the control system through a communication module;
control system includes always controlling the host computer, installs PLC controller on the electric locomotive, installs controller, the communication module on the vibration ore drawing machine, wherein:
the main control host is respectively connected with the electric locomotive PLC controller and the controller on the vibration ore drawing machine, outputs corresponding equipment operation control signals according to the loading state of the mine car after receiving the loading state of the mine car transmitted by the detection system, and transmits the control signals to the electric locomotive PLC controller and the controller on the vibration ore drawing machine by using a communication module;
when the mine car is in no-load state, the PLC controller of the electric locomotive controls the starting and stopping of the electric locomotive after receiving the control signal, and the mine car is dragged to stop below the ore drawing port of the vibratory ore drawing machine; after the controller on the vibratory ore drawing machine receives the control signal, the controller controls the opening of the ore drawing port baffle of the vibratory ore drawing machine, and the automatic ore drawing is carried out on the mine car parked below the ore drawing port;
when the mine car reaches the full loading capacity of the preset mine car, the controller on the vibration ore drawing machine controls the baffle of the ore drawing port of the vibration ore drawing machine to be closed, and the PLC controller of the electric locomotive controls the electric locomotive to be opened to draw the mine car to continuously advance.
In a specific implementation, the loading state of the mine car comprises Full load (Full) and Empty load (Empty); the target detection program operated by the integrated micro host is a target detection algorithm based on a deep learning convolution neural network, the deep learning convolution neural network is a deep learning algorithm written by python and used for detecting an actual target and extracting characteristic classification, and specifically, a single-stage algorithm is adopted for cutting collected video images and performing image convolution frame by frame to extract target characteristics. The average processing speed of each frame of image is 0.6s, the feasibility of field practice of a detection system is guaranteed by a high-speed and high-efficiency detection algorithm, and conditions are created for subsequent communication control of ore pass self-adaptive ore drawing.
In addition, the process of judging whether the mine car reaches the full capacity of preset mine car specifically is:
the method is similar to the water level marking judgment method, the ore height is linearly divided on the inner wall of the mine car, and when the target detection program is used for judging that the ore loading capacity exceeds the set height, the mine car is considered to reach the preset full loading capacity.
In order to avoid that a certain position on the horizontal plane is far higher than the set height, and other positions do not reach the set height, the horizontal detection camera can be further installed on the hopper plane of the mine car, the upper plane of the hopper is detected through the horizontal detection camera, when loaded ore exceeds the maximum plane height, the ore overflow phenomenon is considered to be generated, and at the moment, the mine car is also judged to reach the preset full-load capacity of the mine car.
Furthermore, the intelligent detection algorithm can be used for counting the large ores discharged from the ore drawing port of the vibratory ore drawing machine, the sequence of the large ores entering the mine car is set, and the ores are placed into the mine car from small to large, so that the process of judging the ore loading capacity is optimized.
In a specific implementation, the detection system, the control system, and the communication module can be integrated in a detection control box to improve the integration degree and the control efficiency of the system, as shown in fig. 2, which is a schematic structural diagram of the detection control box according to an embodiment of the present invention, in which: 1 is an integrated box metal shell; 2 is a communication module (in the figure, a wireless router); 3, a detection camera; 4 is an integrated micro-host; and 5, a camera detection window. The detection control box can be integrally moved and arranged.
In a specific implementation, the adopted communication module comprises: a wireless communication device connected with the electric locomotive, and a wired communication device connected with the vibratory ore drawing machine.
The wireless communication equipment establishes a wireless local area network environment in the ore pass ore drawing area, and the electric locomotive PLC controller and the integrated micro host are connected into the same network, so that wireless communication comparable to the transmission speed of a wired network can be completed.
In the specific implementation, the system can adopt a gradient running mode, namely when detecting that the mine car firstly reaches the position below the vibration ore drawing port, the vibration ore drawing machine is started to run, and when the preset full-load capacity of the mine car is reached, the mine car is started to advance; when the second empty-load mine car is detected to reach the ore drawing port, the vibration ore drawing machine starts ore drawing again, and so on.
The integrated micro host machine can adopt a memory of 32GB, select a Ruilong R5-3550H central processing unit, integrate a Window operating system, can be electrified and automatically started, and run a target detection algorithm, and other terminal devices with the same processing capacity in the prior art can also meet the requirements.
The frame rate of the video collected by the detection camera is 30bps, the resolution ratio is 4K, and the detection camera is connected with the detection core computer rod through a USB.
It is noted that those skilled in the art will recognize that embodiments of the present invention are not described in detail herein.
In summary, the system according to the embodiment of the present invention has the following advantages:
1. unmanned operation at the underground transportation ore drawing position is realized, potential safety hazards of underground operation of personnel are avoided, and the transportation operation efficiency and safety are improved;
2. the target detection algorithm of the deep learning convolutional neural network is applied to mine underground transportation, so that mine application of high and new technologies is realized, and the intelligent construction level of a mine is improved;
3. the system can realize unified control on the equipment in the area, check underground equipment control and communication time delay, realize automatic operation and monitoring of equipment operation, improve the working efficiency and reduce the labor intensity;
4. the method can realize a systematic cooperative operation mode, complete the model selection, integration and optimization of equipment, and accord with the system construction in the complex environment of underground transportation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Claims (7)
1. The utility model provides a mine is drop shaft self-adaptation ore drawing system in pit which characterized in that, the system includes detecting system, control system, pulls the electric locomotive and the vibration ore drawing machine of mine car, wherein:
the detection system comprises a detection camera and an integrated micro host, wherein the detection camera continuously collects video images of the mine car on the track and transmits the collected video images to the integrated micro host;
the integrated micro host computer analyzes the transmitted video image by operating a target detection program to obtain the loading state of the mine car, and transmits the loading state of the mine car to the control system through a communication module;
control system includes always controlling the host computer, installs PLC controller on the electric locomotive, installs controller, the communication module on the vibration ore drawing machine, wherein:
the main control host is respectively connected with the electric locomotive PLC controller and the controller on the vibration ore drawing machine, outputs corresponding equipment operation control signals according to the loading state of the mine car after receiving the loading state of the mine car transmitted by the detection system, and transmits the control signals to the electric locomotive PLC controller and the controller on the vibration ore drawing machine by using a communication module;
when the mine car is in no-load state, the PLC controller of the electric locomotive controls the starting and stopping of the electric locomotive after receiving the control signal, and the mine car is dragged to stop below the ore drawing port of the vibratory ore drawing machine; after the controller on the vibratory ore drawing machine receives the control signal, the controller controls the opening of the ore drawing port baffle of the vibratory ore drawing machine, and the automatic ore drawing is carried out on the mine car parked below the ore drawing port;
when the mine car reaches the full loading capacity of the preset mine car, the controller on the vibration ore drawing machine controls the baffle of the ore drawing port of the vibration ore drawing machine to be closed, and the PLC controller of the electric locomotive controls the electric locomotive to be opened to draw the mine car to continuously advance.
2. The adaptive ore drawing system for a mine downhole chute according to claim 1, wherein the loading state of said mine car includes full load and empty load;
the target detection program operated by the integrated micro host is a target detection algorithm based on a deep learning convolution neural network, the deep learning convolution neural network is a deep learning algorithm written by python and used for detecting an actual target and extracting characteristic classification, and specifically, a single-stage algorithm is adopted for cutting collected video images and performing image convolution frame by frame to extract target characteristics.
3. The mine downhole drop shaft self-adaptive ore drawing system according to claim 1, wherein the process of judging whether the mine car reaches the preset full capacity of the mine car specifically comprises:
and linearly dividing the height of the ore on the inner wall of the mine car, and judging that the loading capacity of the ore exceeds the set height by using an object detection program, and considering that the mine car reaches the preset full loading capacity of the mine car.
4. The mine downhole ore pass adaptive ore drawing system of claim 3,
the mine car is characterized in that a horizontal detection camera is installed on a car hopper plane of the mine car, the upper plane of the car hopper is detected through the horizontal detection camera, when loaded ores exceed the maximum plane height, the ore overflow phenomenon is considered to occur, and the mine car is judged to reach the preset full-load capacity of the mine car at the moment.
5. The mine downhole ore pass adaptive ore drawing system of claim 3,
and counting the large ores discharged from the ore drawing port of the vibration ore drawing machine, and setting the sequence of the large ores entering the mine car, so that the optimization of the process of judging the ore loading capacity is realized.
6. The mine downhole ore pass adaptive ore drawing system of claim 1,
the adopted communication module comprises: a wireless communication device connected with the electric locomotive, and a wired communication device connected with the vibratory ore drawing machine.
7. The mine downhole ore pass adaptive ore drawing system according to claim 1, wherein the detection system, the control system and the communication module can be integrated in one detection control box.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110970682.9A CN113671895A (en) | 2021-08-23 | 2021-08-23 | Mine is drop shaft self-adaptation ore drawing system in pit |
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| CN202110970682.9A CN113671895A (en) | 2021-08-23 | 2021-08-23 | Mine is drop shaft self-adaptation ore drawing system in pit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260911A (en) * | 2021-12-15 | 2022-04-01 | 云南昆钢电子信息科技有限公司 | Automatic sampling control system and method for deep well mining robot |
| CN114281078A (en) * | 2021-12-15 | 2022-04-05 | 云南昆钢电子信息科技有限公司 | Unmanned control system of mine underground ore conveying electric locomotive |
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2021
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| CN114281078A (en) * | 2021-12-15 | 2022-04-05 | 云南昆钢电子信息科技有限公司 | Unmanned control system of mine underground ore conveying electric locomotive |
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