CN109250424B - Equipment cooperative automatic control method based on belt conveyor load distribution - Google Patents
Equipment cooperative automatic control method based on belt conveyor load distribution Download PDFInfo
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- CN109250424B CN109250424B CN201811041181.7A CN201811041181A CN109250424B CN 109250424 B CN109250424 B CN 109250424B CN 201811041181 A CN201811041181 A CN 201811041181A CN 109250424 B CN109250424 B CN 109250424B
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/10—Sequence control of conveyors operating in combination
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Abstract
The invention relates to a method based onThe equipment cooperative automatic control method for load distribution of the belt conveyor comprises the following steps: calculating and acquiring the full-line load distribution data of the belt conveyor; determining the starting safety distance L of the belt conveyor according to the basic control information of the belt conveyor and the upstream belt conveyorsafe_stAnd a stopping safety distance Lsafe_sp(ii) a When the belt conveyor is started and no load exists in the safe distance interval, the belt conveyor has a coal flow starting condition, otherwise, the belt conveyor does not have the coal flow starting condition; when the coal flow is started, if the material reaches the stop safe distance interval and the downstream belt conveyor is not normally started, the belt conveyor should be immediately stopped. The invention has the functions of automatic control, unattended operation and the like, reduces manual intervention, ensures the reliable operation of the system, can realize energy conservation and consumption reduction, and improves the production efficiency.
Description
The technical field is as follows:
the invention relates to the technical field of safety of coal mine belt type transportation monitoring systems, in particular to an equipment cooperative automatic control method based on load distribution of a belt type conveyor.
Background art:
the belt conveyor is high in coal conveying efficiency, is main equipment for mine coal flow transportation, and brings higher and higher requirements on the process and the intelligent degree of an on-site coal flow control system along with the increasing automation degree of coal mine production.
The belt conveyor transportation monitoring system in the current market can simply control the start and stop of the belt conveyor, but has the defects of poor safety, high energy consumption, easy abrasion of equipment and the like on site. The reasons for these problems are complicated, but most of the factors are that the material distribution along the belt conveyor is not fully understood, so that coal piling or long-time idling is easily caused during starting and stopping, and normal production of mines is affected. For example, although frequency converters have been installed in many sites, they are only used as soft starts because the load conditions of current belt conveyors are not known. The rubber belt conveyor runs at a high speed in the running process under the states of no load, light load and heavy load, and unnecessary abrasion and power consumption are generated on the motor, the speed reducer, the roller, the carrier roller, the rubber belt and other equipment during no load and light load, so that the service life of the equipment is shortened.
The invention content is as follows:
the invention aims to provide an equipment cooperative automatic control method based on belt conveyor load distribution, which aims at overcoming the defects of the prior art, is provided with an intelligent load distribution detection device, can give out the total load of the whole belt conveyor, can detect the load distribution condition, and gives out a cooperative algorithm based on load distribution on the occasion of overlapping multiple belt conveyors, so that the method is safer, more accurate and more efficient compared with the prior coal-following flow control strategy, and can realize unmanned operation management of the belt conveyor on the basis, reduce the potential safety hazard to the maximum extent and improve the efficiency of a transportation line.
In order to achieve the purpose, the equipment cooperative automatic control method based on the load distribution of the belt conveyor comprises the following steps:
1) calculating and acquiring the full-line load distribution data of the belt conveyor;
2) determining belt conveyors based on basic control information of the present belt conveyor and upstream belt conveyorsStarting safety distance L of machinesafe_stAnd a stopping safety distance Lsafe_sp；
3) When the belt conveyor is started and no load exists in the safe distance interval, the belt conveyor has a coal flow starting condition, otherwise, the belt conveyor does not have the coal flow starting condition;
4) when the coal flow is started, if the material reaches the stop safe distance interval and the downstream belt conveyor is not normally started, the belt conveyor should be immediately stopped.
Load detection device is installed at the tail discharge point of belt conveyor, and the device implements the load information who acquires this point through ultrasonic transducer range finding, divide into the multistage with belt conveyor, and the material volume passes through the range finding integral to every section, turns into the load capacity of material, installs speedtransmitter simultaneously on belt conveyor, and the material distribution data that whole belt conveyor can be calculated to cooperation belt conveyor displacement.
The calculation and acquisition of the whole-line load distribution data of the belt conveyor are realized through a load detection device, and the load detection device can provide the load distribution data of the single belt conveyor in the whole or partial length range; the material information of the measuring point is measured by an ultrasonic probe; load distribution is achieved by mounting the hall probe on a belt conveyor.
According to the basic control information of the belt conveyor and the upstream belt conveyor, the starting safe distance and the stopping safe distance of the belt conveyor can be determined and used as a control reference basis when the downstream coal flow is started. At the time of coal-stream starting, determining the sequential starting condition of the current specific belt conveyor C1, and assuming the starting safe load segment serial number S of the belt conveyor C1 in the coal stream linesafe_st_C1On a belt conveyor CX located upstream thereof, C1 has no downstream start condition if CX is not present, and is called a downstream guide belt conveyor of C1 if CX is present. None of the belt conveyors of all belt conveyors between belt conveyor C1 and CX (not including C1 and CX) had a down-coal start condition. The activation safety zone for definition C1 is the shipment length of all forward leading belt conveyors of C1 and the front S of CXsafe_st_C1Section C1 coal stream start-up conditions are C1 Start safe zone no load. If the condition is satisfied, C1 has a coal-stream start condition; otherwise C1 does not have a coal-stream start-up condition. This condition is also used to determine whether the stream of CX has reached the start-up safety zone of C1.
At the beginning of the start of the belt conveyor C1, the distance from the stream on the belt conveyor C2, which is started upstream of the belt conveyor C1, to the discharge point of C2 is greater than the length Lsafe_stEnsuring that C1 has been activated when the stream reaches the discharge point of C2, Lsafe_stI.e., the start safety distance of belt conveyor C1.
The distance from the stream on the belt conveyor C2, which is activated upstream of the belt conveyor C1 before it reaches the activated state, to the discharge point of C2, if less than the length Lsafe_spThen C2 must be stopped to ensure that the stream does not accumulate at the discharge point, Lsafe_spI.e., the stopping safety distance of belt conveyor C2.
After the technical scheme is adopted, the invention has the following positive effects:
(1) the system can collect and monitor material information of the belt conveyor, adjust the operation of the belt conveyor according to the material implementation information, ensure the normal operation of the belt conveyor, has the functions of automatic control, unattended operation and the like, reduces manual intervention, and ensures the reliable operation of the system;
(2) on the occasion of the combined operation of the multi-belt conveyor, the invention can judge the operation condition of the conveying line, and the coal-following flow starting of the belt conveyor is carried out under the condition that the condition allows, thereby realizing energy conservation and consumption reduction and improving the production efficiency.
Description of the drawings:
FIG. 1 is a schematic view of a load distribution of a belt conveyor;
FIG. 2 is a schematic diagram of the start safety distance and stop safety distance of the belt conveyor when the upstream belt conveyor is sufficiently long;
FIG. 3 is a schematic diagram of the start safety distance and stop safety distance of an upstream belt conveyor at a medium-length isochronal belt conveyor;
fig. 4 is a schematic diagram of the start safety distance and the stop safety distance of the belt conveyor when the upstream belt conveyor is short.
The specific implementation mode is as follows:
the following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention more readily understood by those skilled in the art, and thus will more clearly and distinctly define the scope of the invention.
The invention provides an equipment cooperation automatic control method based on belt conveyor load distribution, which comprises the following steps:
1) calculating and acquiring the full-line load distribution data of the belt conveyor;
2) determining the starting safety distance L of the belt conveyor according to the basic control information of the belt conveyor and the upstream belt conveyorsafe_stAnd a stopping safety distance Lsafe_sp；
3) When the belt conveyor is started and no load exists in the safe distance interval, the belt conveyor has a coal flow starting condition, otherwise, the belt conveyor does not have the coal flow starting condition;
4) when the coal flow is started, if the material reaches the stop safe distance interval and the downstream belt conveyor is not normally started, the belt conveyor should be immediately stopped.
① detecting and calculating belt conveyer load distribution information
The load detection device is generally arranged near a blanking point of the belt conveyor and consists of four parts, namely an ultrasonic probe, a Hall probe, a signal processing board and a display. The ultrasonic probe is used for measuring the material height of a single point on the belt conveyor; the Hall probe is used for measuring the displacement of the belt conveyor; and processing the signals collected by the probe through the signal processing board to obtain load distribution data.
1) Measuring installation point materials
The load detection device is used for memorizing a distance measurement initial value when the belt is empty through ultrasonic distance measurement, the load detection device is divided into four grades according to the existence of materials and respectively corresponds to the empty, the small, the medium and the full loads, and in the underground coal mine, the load is divided into the four grades so as to meet the requirements of most fields.
2) Method for measuring load on belt conveyor
Considering the application and use of the load distribution detector, the detector approximately quantifies the load on the current belt conveyor by measuring the height and width of the material (weighted average of the two). The belt conveyor is divided into a plurality of sections, the load capacity of the materials is approximately quantized through integration on the material quantity on each section, and finally the load capacity of the whole conveyor is obtained through multi-section summation.
3) Distance signal acquisition of belt conveyor
The load distribution of a dynamic belt conveyor is realized by mounting a speed sensor on the belt conveyor. The distance that the belt conveyor travels when the speed sensor roller moves for one circle is known, the running distance of the belt conveyor can be measured by acquiring the number of turns of the speed sensor roller through the signal processing board, and the load distribution can be estimated by matching with the distance measuring height.
② determination of presence or absence of load
The load detection means may provide load distribution data over all or part of the length of the single belt conveyor. Let the length of the belt conveyor C1 be LC1The load detection device collects ND(configurable, typically 10, 20, 30, etc.) segment by segment length LDThe load information of (2). The values of the single-segment load d are 0, 1, 2 and 3, which respectively represent no load, light load, middle load and full load, and the load distribution diagram of the belt conveyor is shown in figure 1. Let each section of load be d (1)c1、……、d(ND)c1Then the total load from the x-th segment to the y-th segment is:
and the load average from the x-th section to the y-th section is:
from this, the total load and the average load of the belt conveyor C1 are:
the belt conveyor C1 satisfies the condition without load:
wherein d isL_C1Is the no-load threshold value, if
Less than this value, C1 may be determined to be unloaded.
③ start safe distance and stop safe distance
Starting safety distance of belt conveyor: when the belt conveyor C1 starts to start, the distance from the material flow on the belt conveyor C2 which is started upstream to the discharge point of C2 must be greater than a certain length Lsafe_stTo ensure that C1 has been activated when the stream reaches the discharge point of C2, Lsafe_stI.e., the start safety distance of belt conveyor C1.
Stop safety distance of belt conveyor: the distance from the stream on the belt conveyor C2, which is activated upstream of the belt conveyor C1 before it reaches the activated state, to the discharge point of C2, if less than a certain length Lsafe_spThen C2 must be stopped to ensure that the stream does not accumulate at the discharge point, Lsafe_spI.e., the stop safety distance of belt conveyor C2.
④ calculation of safe distance drop points
(1) The upstream belt conveyor being of sufficient length
Assume now that the shipping length L of belt conveyor C2 immediately upstream of belt conveyor C1C2Enough starting safety distance L capable of covering C1safe_st_C1. The rated belt speed of the belt conveyor C2 is set as VC2The belt conveyors C1, C2 are started for a period of time (a period of time for transition from a stopped state to a started state, including a start notice process andstart-up procedure) are respectively Tst_C1、Tst_C2The stop periods (the periods for switching from the activated state to the deactivated state) are Tsp_C1、Tsp_C2. The start safety distance of the belt conveyor C1 is:
Lsafe_st_C1＝VC2×(Tst_C1+Tsp_C2)×αsafe_st_margin(5)
wherein, αsafe_st_marginFor starting the safety margin coefficient, the value is slightly larger than 1;
the stop safety distance of belt conveyor C2 is:
Lsafe_sp_C2＝VC2×Tsp_C2×αsafe_sp_margin(6)
wherein, αsafe_sp_marginIn order to stop the safety margin coefficient, the value is slightly larger than 1.
Since the belt conveyor C2 has a sufficient shipping length, from the beginning of the 1 st stage (discharge point) of the load thereon to the Ssafe_st_C1The length at the beginning of the segment may reach or exceed the starting safety distance L of the belt conveyor C1safe_st_C1Then S issafe_st_C1Start security payload segment sequence number for C1:
Ssafe_st_C1＝ceil(Lsafe_st_C1/LD_C2)+1 (7)
wherein ceil () is a ceiling function, LD_C2The length of the load segment arranged on the C2 load detection device is shown.
From the start of the 1 st stage of the load of the belt conveyor C2 to the Ssafe_sp_C2The length at the beginning of the segment may reach or exceed the stopping safety distance L of C2safe_sp_C2Then S issafe_sp_C2Stop safe load segment sequence number of C2:
Ssafe_sp_C2＝ceil(Lsafe_sp_C2/LD_C2)+1 (8)
in this case, the belt conveyor start safety distance and stop safety distance are as shown in fig. 2.
(2) Insufficient length of upstream belt conveyor
Suppose the belt conveyor C2 has not been shipped long enough, butThe upstream belt conveyor C3 of belt conveyor C2 has a sufficient shipping length such that the safe distance L for C1 to startsafe_st_C1Will cover the start safety load segment sequence number S of C2 and C3, C1 at the same timesafe_st_C1Will be located at C3.
If C2 shipment length LC2Satisfies the following conditions:
LC2≥LD_C2×Ssafe_sp_C2(9)
i.e., the C2 shipment length reaches the stop safety distance of C2, the start safety distance of the belt conveyor C1 is:
Lsafe_st_C1＝(VC3×(Tst_C1+Tsp_C2－Ttrans_C2)+LC2)×αsafe_st_margin(10)
wherein, Ttrans_C2Shipment length for C2 (length of flow through full shipment length on C2):
Ttrans_C2＝LC2/VC2(11)
the sequence number of the start safe load segment of C1 on C3 is:
Ssafe_st_C1＝ceil((Lsafe_st_C1－LC2)/LD_C3)+1 (12)
in this case, the belt conveyor start safety distance and stop safety distance are as shown in fig. 3.
If C2 shipment length LC2Satisfies the following conditions:
LC2＜LD_C2×Ssafe_sp_C2(13)
i.e., the C2 shipment length does not reach the stop safety distance of C2, there is no stop safety distance for belt conveyor C2, only C3:
Lsafe_sp_C3＝VC3×Tsp_C3×αsafe_sp_margin(14)
the starting safety distance of C1 is:
Lsafe_st_C1＝(VC3×(Tst_C1+Tsp_C3－Ttrans_C2)+LC2)×αsafe_st_margin(15)
the sequence number of the start safe load segment of C1 on C3 is:
Ssafe_st_C1＝ceil((Lsafe_st_C1－LC2)/LD_C3)+1 (16)
in this case, the belt conveyor start safety distance and stop safety distance are as shown in fig. 4.
If the upstream belt conveyor C3 shipment length of belt conveyor C2 still fails to cover the start-up safety distance of C1, then the upstream belt conveyor C4 of C3 is retested for satisfaction until a belt conveyor CX meeting the conditions is found in the coal flow line.
⑤ coal-flow starting condition of belt conveyor
Assume the start safe load segment sequence number S of belt conveyor C1 in the coal flow linesafe_st_C1On a belt conveyor CX located upstream thereof, C1 has no downstream start condition (downstream start condition) if CX is not present, and is called a downstream guide belt conveyor CX 1 if CX is present.
All belt conveyors between belt conveyors C1 and CX (not including C1 and CX) were defined as C1, and all were not equipped with a coal stream start-up condition.
The activation safety zone for definition C1 is the shipment length of all forward leading belt conveyors of C1 and the front S of CXsafe_st_C1Section, the coal stream start-up conditions for C1 are start-up safe zone no load for C1:
wherein D isLThe maximum coal stacking load allowed by C1 is generally taken as a judgment threshold for judging whether the load exists in the starting safety zone.
If the condition is satisfied, C1 has a coal-stream start condition; otherwise C1 does not have a coal-stream start-up condition. This condition is also used to determine whether the stream of CX has reached the start-up safety zone of C1.
In the case where the C1 upstream belt conveyor shipment length discussed above is sufficient, CX being the immediately upstream belt conveyor C2 of C1, the C1 trip conditions are:
D(1,Ssafe_st_C1)C2＜DL(18)
assuming that the belt conveyor C1 has full streamlet start conditions, the operating state of C1 would normally be started before the stream on the streamlet guide belt conveyor CX has reached the shutdown safety zone of CX. The conditions for determining the arrival of the stream at the shutdown safety zone of the CX are:
D(1,Ssafe_sp_CX)CX＜DL(19)
wherein D isLTo determine S before CXsafe_sp_CXThe segment has a threshold for the presence of a load.
If the stream reaches the shutdown safety zone of the CX and C1 does not complete the startup, then C2 should be immediately shutdown to prevent coal piling.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (4)
1. A device cooperation automatic control method based on belt conveyor load distribution is characterized by comprising the following steps:
1) calculating and acquiring the full-line load distribution data of the belt conveyor;
2) determining the starting safety distance L of the belt conveyor according to the basic control information of the belt conveyor and the upstream belt conveyorsafe_stAnd a stopping safety distance Lsafe_spThe method of determining the sequential start-up condition of the current belt conveyor C1 is as follows: assume the starting safety load segment sequence number S of belt conveyor C1 in the coal flow linesafe_st_C1On a belt conveyor CX located upstream thereof, C1 has no downstream start condition if CX is not present, or C1 if CX is present, and between belt conveyors C1 and CXThe belt conveyors of all belt conveyors do not have the coal-following flow starting condition, and the starting safety zone of the C1 is defined as the loading length of all the forward belt conveyors of the C1 and the serial number S of the front starting safety load segment of the CXsafe_st_C1In the section, the coal-stream starting condition of C1 is that the starting safety zone of C1 is not loaded, if the condition is satisfied, the C1 has the coal-stream starting condition, otherwise, the C1 does not have the coal-stream starting condition;
3) when the belt conveyor is started and no load exists in the safe distance interval, the belt conveyor has a coal flow starting condition, otherwise, the belt conveyor does not have the coal flow starting condition;
4) when the coal flow is started, if the material reaches the stop safe distance interval and the downstream belt conveyor is not normally started, the belt conveyor should be immediately stopped.
2. The cooperative automatic control method of equipment based on belt conveyor load distribution according to claim 1, characterized in that: in the step 1), the calculation and the acquisition of the whole-line load distribution data of the belt conveyor are realized through a load detection device, and the load detection device can provide the load distribution data of the single belt conveyor in the whole or partial length range; the material information of the measuring point is measured by an ultrasonic probe; load distribution is achieved by mounting the hall probe on a belt conveyor.
3. The cooperative automatic control method of equipment based on belt conveyor load distribution according to claim 1, characterized in that: at the beginning of the start of the belt conveyor C1, the distance from the stream on the belt conveyor C2, which is started upstream of the belt conveyor C1, to the discharge point of C2 is greater than the length Lsafe_stEnsuring that C1 has been activated when the stream reaches the discharge point of C2, Lsafe_stI.e., the start safety distance of belt conveyor C1.
4. The cooperative automatic control method of equipment based on belt conveyor load distribution according to claim 2, characterized in that: before the belt conveyor C1 reaches the activated state, its upstream is activatedIf less than the length L, the distance from the discharge point of C2 to the flow on the belt conveyor C2safe_spThen C2 must be stopped to ensure that the stream does not accumulate at the discharge point, Lsafe_spI.e., the stopping safety distance of belt conveyor C2.
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| CN106115222B (en) * | 2016-08-25 | 2018-05-11 | 胡宏亮 | Mine shaft conveyance system is along the adaptive start and stop method of inverse coal stream |
| CN107487583B (en) * | 2017-06-28 | 2019-11-01 | 中煤科工集团上海有限公司 | A kind of energy-saving control device and its method of Coal mine transportation system |
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