CN107101683A - A kind of coal flow monitoring system based on laser radar and velocity information - Google Patents
A kind of coal flow monitoring system based on laser radar and velocity information Download PDFInfo
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- CN107101683A CN107101683A CN201710454336.9A CN201710454336A CN107101683A CN 107101683 A CN107101683 A CN 107101683A CN 201710454336 A CN201710454336 A CN 201710454336A CN 107101683 A CN107101683 A CN 107101683A
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- coal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/66—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by measuring frequency, phase shift or propagation time of electromagnetic or other waves, e.g. using ultrasonic flowmeters
- G01F1/661—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by measuring frequency, phase shift or propagation time of electromagnetic or other waves, e.g. using ultrasonic flowmeters using light
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- Optical Radar Systems And Details Thereof (AREA)
- Measuring Volume Flow (AREA)
Abstract
The invention discloses a kind of coal flow monitoring system based on laser radar and velocity information, including ribbon conveyer, it is used to above the ribbon conveyer obtaining the two-dimensional laser radar of coal stream upper section contour curve, is used at the lower belt of ribbon conveyer obtaining the velocity sensor of the belt speed of service, the coal flow rate calculation terminal of calculating for completing coal flow by Integration Solving.The present invention has merged laser radar technique and image processing techniques, can automatic measurement go out the coal flow of Belt Conveyors Underground Coal Mine, be that the calculating of Belt Conveyors Underground Coal Mine coal flow provides the necessary technical support, had great significance for coal traffic statistics.
Description
Technical field
The present invention relates to coal production status monitoring field, and in particular to a kind of coal based on laser radar and velocity information
Flow monitoring system.
Background technology
Belt Conveyors Underground Coal Mine coal flow monitoring is the premise of mine automation production and control, therefore underground coal mine
Belt conveying machine-made egg-shaped or honey-comb coal briquets flow monitoring is very necessary.Therefore the coal flow monitoring system based on laser radar and velocity information is utilized,
The coal flow of ribbon conveyer is monitored in real time, according to the monitoring result of coal flow, surge bunker tail gates aperture makes belt
Conveyer does not stop, does not run goods, uniform flow, for realize ribbon conveyer flow automatic monitoring and feeding system it is automatic
Control has great significance.
At present, using the coal flow monitoring system based on laser radar and velocity information, the country still belongs to precedent, current belt
Conveying machine-made egg-shaped or honey-comb coal briquets flow monitoring, which is relied primarily on, weighs, it is impossible to obtain coal flow information in real time.Therefore research is based on laser radar
There is very important practical value with the coal flow monitoring system of velocity information.
The content of the invention
To solve the above problems, the invention provides a kind of coal flow monitoring system based on laser radar and velocity information
System, Belt Conveyors Underground Coal Mine coal flow information can be obtained in real time, the automatic prison for realizing ribbon conveyer flow
Survey is automatically controlled there is provided necessary technical support with feeding system.
To achieve the above object, the technical scheme taken of the present invention is：
A kind of coal flow monitoring system based on laser radar and velocity information, including ribbon conveyer, in addition to
Two-dimensional laser radar, above the ribbon conveyer, for obtaining coal stream upper section contour curve；
Velocity sensor, at the lower belt of ribbon conveyer, for obtaining the belt speed of service, i.e. coal flow velocity
Degree；
Coal flow rate calculation terminal, for the coal stream upper section according to belt cargo basal area and the transmission of two-dimensional laser radar
Contour curve, calculates the sectional profile curve lin for obtaining coal stream；And according to the sectional profile curve lin and speed of acquired coal stream
The coal flow velocity degrees of data of sensor transmission is integrated solution, so as to complete the calculating of coal flow.
2nd, the coal flow monitoring system as claimed in claim 1 based on laser radar and velocity information, it is characterised in that：
The coal flow rate calculation monitoring system completes the monitoring of coal flow by following steps：
S1, by velocity sensor obtain coal flow velocity degree v (t), while pass through laser radar obtain coal stream laser radar window
Message ceases, and obtains coal stream upper section contour curve according to acquired coal stream laser radar window information；
S2, according to belt cargo basal area schematic diagram, obtain coal and flow down sectional profile curve lin；
S3, that the coal obtained by the coal stream upper section profile and step S2 obtained by step S1 is flowed down to sectional profile curve lin head and the tail is right
Title connects and composes coal flow section closed outline；
S4, the coal flow section closed outline according to obtained by step S3 calculate closed outline area S (t)；
S5, the integral and calculating for completing by below equation coal flow during T moment：
Wherein, v (t)：Coal flow velocity degree；S(t)：The closed outline area in coal flow section, dt is the integration to the time, V
(t) * dt, are exactly displacement, are exactly length information, area S (t) and V (t) * dt product is exactly volume
The invention has the advantages that：
Belt conveying machine-made egg-shaped or honey-comb coal briquets flow can be monitored in real time, the automatic monitoring for realizing ribbon conveyer flow
The support that provides the necessary technical is automatically controlled with feeding system, with significant economic benefit and higher engineer applied valency
Value.
Brief description of the drawings
Fig. 1 constitutes for a kind of system of coal flow monitoring system based on laser radar and velocity information of the embodiment of the present invention
Block diagram.
Fig. 2 is a kind of workflow of the coal flow monitoring system based on laser radar and velocity information of the embodiment of the present invention
Figure.
Fig. 3 is belt cargo basal area schematic diagram in the embodiment of the present invention.
Fig. 4 be the embodiment of the present invention in served as coal amount it is smaller when, i.e. when the boundary point a, b of coal do not cross B points, coal flow
The closed outline area schematic diagram in section.
Fig. 5 be the embodiment of the present invention in served as coal amount it is larger when, i.e. the boundary point a, b of coal cross B points, coal flow section
Closed outline area schematic diagram.
Embodiment
In order that objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
Describe in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As shown in figure 1, the embodiments of the invention provide a kind of coal flow monitoring system based on laser radar and velocity information
System, including ribbon conveyer, in addition to
Two-dimensional laser radar, above the ribbon conveyer, for obtaining coal stream upper section contour curve；
Velocity sensor, at the lower belt of ribbon conveyer, for obtaining the belt speed of service, i.e. coal flow velocity
Degree；
Coal flow rate calculation terminal, for the coal stream upper section according to belt cargo basal area and the transmission of two-dimensional laser radar
Contour curve, calculates the sectional profile curve lin for obtaining coal stream；And according to the sectional profile curve lin and speed of acquired coal stream
The coal flow velocity degrees of data of sensor transmission is integrated solution, so as to complete the calculating of coal flow.
As shown in Fig. 2 the coal flow rate calculation monitoring system completes the monitoring of coal flow by following steps：
S1, by velocity sensor obtain coal flow velocity degree v (t), while pass through laser radar obtain coal stream laser radar window
Message ceases, and obtains coal stream upper section contour curve according to acquired coal stream laser radar window information；
S2, according to belt cargo basal area schematic diagram, as shown in figure 3, obtaining coal flows down sectional profile curve lin；
S3, that the coal obtained by the coal stream upper section profile and step S2 obtained by step S1 is flowed down to sectional profile curve lin head and the tail is right
Title connects and composes coal flow section closed outline；
S4, the coal flow section closed outline according to obtained by step S3 calculate closed outline area S (t)；
S5, the integral and calculating for completing by below equation coal flow during T moment：
Wherein, v (t)：Coal flow velocity degree；S(t)：The closed outline area in coal flow section.
The step S3 specifically includes following steps：
The integral and calculating coal flow section closed outline of coal flow calculates disk wheel profile surface when completing T moment by below equation
Product S (t) calculation formula：
As shown in figure 4, served as coal amount it is smaller when, i.e. when the boundary point a, b of coal do not cross B points, the envelope in coal flow section
Close contour area：
X ∈ [a, b]
The sectional profile curve lin boundary point on coal stream that a, b can be obtained by laser radar, boundary point changes with time t.
As shown in figure 5, served as coal amount it is larger when, i.e. the boundary point a, b of coal cross B points, the closed outline in coal flow section
Area：
X ∈ [a, b]
S1=1/2 × (- B-a)2tanθ
S2=1/2 × (b-B)2tanθ
Therefore,
The sectional profile curve lin boundary point on coal stream that a, b can be obtained by laser radar, boundary point changes with time t.
Laser radar technique and image processing techniques have been merged in this specific implementation, can automatic measurement go out coal mine lower band formula
The coal flow of conveyer, is that the calculating of Belt Conveyors Underground Coal Mine coal flow provides the necessary technical support, for coal flow
Statistics has great significance.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (2)
1. a kind of coal flow monitoring system based on laser radar and velocity information, including ribbon conveyer, it is characterised in that：Also
Including
Two-dimensional laser radar, above the ribbon conveyer, for obtaining coal stream upper section contour curve；
Velocity sensor, at the lower belt of ribbon conveyer, for obtaining the belt speed of service, i.e. coal flow velocity degree；
Coal flow rate calculation terminal, for the coal stream upper section profile according to belt cargo basal area and the transmission of two-dimensional laser radar
Curve, calculates the sectional profile curve lin for obtaining coal stream；And according to the sectional profile curve lin and velocity pick-up of acquired coal stream
The coal flow velocity degrees of data of device transmission is integrated solution, so as to complete the calculating of coal flow.
2. the coal flow monitoring system as claimed in claim 1 based on laser radar and velocity information, it is characterised in that：It is described
Coal flow rate calculation monitoring system completes the monitoring of coal flow by following steps：
S1, coal flow velocity degree v (t) obtained by velocity sensor, believed while passing through laser radar and obtaining coal stream laser radar window
Breath, and coal stream upper section contour curve is obtained according to acquired coal stream laser radar window information；
S2, according to belt cargo basal area schematic diagram, obtain coal and flow down sectional profile curve lin；
S3, the coal obtained by the coal stream upper section profile and step S2 obtained by step S1 is flowed down to sectional profile curve lin head and the tail symmetrically connected
Connect composition coal flow section closed outline；
S4, the coal flow section closed outline according to obtained by step S3 calculate closed outline area S (t)；
S5, the integral and calculating for completing by below equation coal flow during T moment：
<mrow>
<mi>V</mi>
<mo>=</mo>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<mi>T</mi>
</msubsup>
<mi>S</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>v</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>dt</mi>
<mo>;</mo>
</mrow>
Wherein, v (t)：Coal flow velocity degree；S(t)：The closed outline area in coal flow section.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353850A (en) * | 2018-12-04 | 2019-02-19 | 辽宁工程技术大学 | A kind of intelligent loading system in fire dress station |
| CN109665284A (en) * | 2018-11-14 | 2019-04-23 | 北京工业职业技术学院 | Rubber conveyer load monitoring instrument and system |
| CN109781196A (en) * | 2019-02-14 | 2019-05-21 | 苏州万闻信息工程有限公司 | A kind of contactless method for measuring mass flow on belt conveyor |
| CN109856631A (en) * | 2019-02-27 | 2019-06-07 | 中国矿业大学 | Coal method is put in a kind of intelligence based on top coal amounts of thickness variation real-time monitoring |
| CN109901192A (en) * | 2019-03-18 | 2019-06-18 | 西安科技大学 | Coal stream detection system and its detection method based on laser scanning imaging |
| CN110161518A (en) * | 2019-05-29 | 2019-08-23 | 北京华电力拓能源科技有限公司 | A kind of volume measuring system and method for drag conveyor |
| CN110726998A (en) * | 2019-10-24 | 2020-01-24 | 西安科技大学 | Method for measuring mining subsidence basin in mining area through laser radar scanning |
| CN111266177A (en) * | 2020-02-24 | 2020-06-12 | 新乡市中誉鼎力软件科技股份有限公司 | Visual identification-based broken stone transmission control system and method for mine exploitation |
| CN111266178A (en) * | 2020-02-24 | 2020-06-12 | 新乡市中誉鼎力软件科技股份有限公司 | Radar detection-based broken stone transmission control system and method for mine exploitation |
| CN111453310A (en) * | 2020-04-22 | 2020-07-28 | 南京大学 | Coal mine scraper conveyor load height detection method based on laser radar |
| CN111638513A (en) * | 2020-06-08 | 2020-09-08 | 山东科技大学 | Coal flow measuring system and method based on millimeter wave radar |
| CN111747062A (en) * | 2019-09-03 | 2020-10-09 | 南京北路自动化系统有限责任公司 | Coal flow detection method based on surface laser radar |
| CN112561887A (en) * | 2020-12-18 | 2021-03-26 | 中国矿业大学 | Belt conveyor coal flow binocular vision measurement method based on deep migration learning |
| CN112896990A (en) * | 2021-03-17 | 2021-06-04 | 中信重工开诚智能装备有限公司 | Mining explosion-proof coal quantity detection system and method |
| CN112945323A (en) * | 2019-11-26 | 2021-06-11 | 大唐环境产业集团股份有限公司 | Coaling flow detection method |
| CN113295226A (en) * | 2021-05-19 | 2021-08-24 | 中冶南方工程技术有限公司 | Non-contact measuring method for flow of belt conveyor |
| CN113562429A (en) * | 2021-08-11 | 2021-10-29 | 中煤科工集团上海有限公司 | Belt conveyor speed regulation control system and method based on load distribution |
| CN113879805A (en) * | 2021-10-26 | 2022-01-04 | 北京华能新锐控制技术有限公司 | Coal chute coal blockage identification system |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109665284A (en) * | 2018-11-14 | 2019-04-23 | 北京工业职业技术学院 | Rubber conveyer load monitoring instrument and system |
| CN109353850A (en) * | 2018-12-04 | 2019-02-19 | 辽宁工程技术大学 | A kind of intelligent loading system in fire dress station |
| CN109781196A (en) * | 2019-02-14 | 2019-05-21 | 苏州万闻信息工程有限公司 | A kind of contactless method for measuring mass flow on belt conveyor |
| CN109856631A (en) * | 2019-02-27 | 2019-06-07 | 中国矿业大学 | Coal method is put in a kind of intelligence based on top coal amounts of thickness variation real-time monitoring |
| CN109856631B (en) * | 2019-02-27 | 2020-12-11 | 中国矿业大学 | Intelligent coal caving method based on real-time monitoring of thickness variation of top coal |
| CN109901192A (en) * | 2019-03-18 | 2019-06-18 | 西安科技大学 | Coal stream detection system and its detection method based on laser scanning imaging |
| CN110161518A (en) * | 2019-05-29 | 2019-08-23 | 北京华电力拓能源科技有限公司 | A kind of volume measuring system and method for drag conveyor |
| CN111747062B (en) * | 2019-09-03 | 2021-06-15 | 南京北路智控科技股份有限公司 | Coal flow detection method based on surface laser radar |
| CN111747062A (en) * | 2019-09-03 | 2020-10-09 | 南京北路自动化系统有限责任公司 | Coal flow detection method based on surface laser radar |
| CN110726998B (en) * | 2019-10-24 | 2020-08-07 | 西安科技大学 | Method for measuring mining subsidence basin in mining area through laser radar scanning |
| CN110726998A (en) * | 2019-10-24 | 2020-01-24 | 西安科技大学 | Method for measuring mining subsidence basin in mining area through laser radar scanning |
| CN112945323A (en) * | 2019-11-26 | 2021-06-11 | 大唐环境产业集团股份有限公司 | Coaling flow detection method |
| CN111266177A (en) * | 2020-02-24 | 2020-06-12 | 新乡市中誉鼎力软件科技股份有限公司 | Visual identification-based broken stone transmission control system and method for mine exploitation |
| CN111266178A (en) * | 2020-02-24 | 2020-06-12 | 新乡市中誉鼎力软件科技股份有限公司 | Radar detection-based broken stone transmission control system and method for mine exploitation |
| CN111266177B (en) * | 2020-02-24 | 2022-03-22 | 新乡市中誉鼎力软件科技股份有限公司 | Visual identification-based broken stone transmission control system and method for mine exploitation |
| CN111266178B (en) * | 2020-02-24 | 2022-03-22 | 新乡市中誉鼎力软件科技股份有限公司 | Radar detection-based broken stone transmission control system and method for mine exploitation |
| CN111453310A (en) * | 2020-04-22 | 2020-07-28 | 南京大学 | Coal mine scraper conveyor load height detection method based on laser radar |
| CN111638513A (en) * | 2020-06-08 | 2020-09-08 | 山东科技大学 | Coal flow measuring system and method based on millimeter wave radar |
| CN112561887A (en) * | 2020-12-18 | 2021-03-26 | 中国矿业大学 | Belt conveyor coal flow binocular vision measurement method based on deep migration learning |
| CN112896990A (en) * | 2021-03-17 | 2021-06-04 | 中信重工开诚智能装备有限公司 | Mining explosion-proof coal quantity detection system and method |
| CN113295226A (en) * | 2021-05-19 | 2021-08-24 | 中冶南方工程技术有限公司 | Non-contact measuring method for flow of belt conveyor |
| CN113562429A (en) * | 2021-08-11 | 2021-10-29 | 中煤科工集团上海有限公司 | Belt conveyor speed regulation control system and method based on load distribution |
| CN113879805A (en) * | 2021-10-26 | 2022-01-04 | 北京华能新锐控制技术有限公司 | Coal chute coal blockage identification system |
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Application publication date: 20170829 |