CN109592346A - A method of the mining transportation device intelligence speed regulation based on machine vision - Google Patents
A method of the mining transportation device intelligence speed regulation based on machine vision Download PDFInfo
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- CN109592346A CN109592346A CN201811439617.8A CN201811439617A CN109592346A CN 109592346 A CN109592346 A CN 109592346A CN 201811439617 A CN201811439617 A CN 201811439617A CN 109592346 A CN109592346 A CN 109592346A
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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
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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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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- Mechanical Engineering (AREA)
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Abstract
The method for the mining transportation device intelligence speed regulation based on machine vision that the invention discloses a kind of, flame-proof type camera shooting group is made of horizontal flame-proof type video camera and vertical flame-proof type video camera, the side of elevating conveyor is arranged in horizontal flame-proof type video camera, the surface of elevating conveyor is arranged in vertical flame-proof type video camera, the horizontal flame-proof type video camera and vertical flame-proof type video camera are in the same plane perpendicular to elevating conveyor, the LED beacon is four, and elevating conveyor fuselage two sides are symmetrically arranged in four LED beacons；Horizontal flame-proof type video camera and vertical flame-proof type video camera are connect with remote computer control centre, and remote computer control centre connect with transportation system's controller.The moment conveying coal amount that the present invention is measured according to image taking adjusts drag conveyor and the elevating conveyor speed of service, it is in belt conveyor moment conveying coal amount always in system moment conveying coal amount critical field, prevents belt conveyor from idle running, coal piling occur, situations such as spreading, sideslip.
Description
Technical field
The present invention relates to a kind of intelligent speed-regulating method, specifically a kind of mining transportation device intelligence tune based on machine vision
The method of speed.
Background technique
On coal mine fully-mechanized mining working, the transport of coal charge is mainly by drag conveyor, elevating conveyor and belt conveyor three
Between cooperate and completed.Coalcutter cutting coal charge produced, is transported on elevating conveyor, through reprinting by drag conveyor
It is transported on belt conveyor after machine transhipment, is finally transported on ground.
On current coal mine fully-mechanized mining working, since drag conveyor, elevating conveyor and belt conveyor are in the mistake of operation
Speed remains unchanged in journey, when the coal amount of coalcutter institute's cutting production changes, has led to drag conveyor and is transported
Defeated coal amount changes, and the coal amount being then transported on elevating conveyor changes, the coal being finally delivered on belt conveyor
It measures also unstable.Since drag conveyor, elevating conveyor and belt conveyor continuously convey coal charge, and belt conveyor
The range that moment conveys coal amount will be small than drag conveyor and elevating conveyor, to guarantee that entire transportation system remains normal work
Make, it is consistent that the critical field of the moment conveying coal amount of transportation system should convey coal amount critical field with the moment of belt conveyor.
When elevating conveyor moment conveying coal amount is greater than the maximum value of system moment conveying coal amount critical field, then belt conveyor is easy
A series of problems, such as existing coal piling, spreading, sideslip, greatly reduce the working performance and service life of belt conveyor.In addition such as
When elevating conveyor moment conveys minimum value of the coal amount less than system moment conveying coal amount critical field, then belt conveyor can be wasted
Operating condition is delivered, to reduce the coal charge freight volume of coal mine entirety.
Summary of the invention
The mining transportation equipment intelligence based on machine vision that in view of the above existing problems in the prior art, the present invention provides a kind of
Can speed regulation method, the elevating conveyor moment coal amount measured according to image taking to the speed of service of drag conveyor and elevating conveyor into
Row adjustment, so that it is in belt conveyor moment conveying coal amount always in system moment conveying coal amount critical field, anti-stop-band
There is situations such as idle running, coal piling, spreading, sideslip in formula conveyer.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of complete fortune of coal mine based on machine vision
In transfer device intelligent speed-governing system, including flame-proof type camera shooting group, LED beacon, transportation system's controller and remote computer control
The heart, flame-proof type camera shooting group are made of horizontal flame-proof type video camera and vertical flame-proof type video camera, and horizontal flame-proof type video camera is set
Set in the side of elevating conveyor, vertical flame-proof type video camera is arranged in the surface of elevating conveyor, the horizontal flame-proof type video camera and
Vertical flame-proof type video camera is in the same plane perpendicular to elevating conveyor, and the LED beacon is four, four LED beacons pair
The setting of title is in elevating conveyor fuselage two sides；In horizontal flame-proof type video camera and the control of vertical flame-proof type video camera and remote computer
The heart is connected, and remote computer control centre is connected with transportation system's controller.
Further, the flame-proof type camera shooting group and LED beacon are arranged at the one third of transfer conveyor tail.
Further, the horizontal flame-proof type video camera and vertical flame-proof type video camera are same model video camera.
A method of the mining transportation device intelligence speed regulation based on machine vision, specific steps are as follows:
A, established standards coal-supplying amount range and the standard speed of service of corresponding belt conveyor is determined first；Then
The speed of service of drag conveyor is divided into a gear to five gears, each gear speed of service is from a gear to five gears according to arithmetic progression
Incremented by successively, the speed of service of elevating conveyor and drag conveyor is consistent；The operation of three gears of drag conveyor and elevating conveyor
Speed is consistent with the standard speed of service of belt conveyor；
B, coal charge is in conveying on elevating conveyor and coverage Jing Guo flame-proof type camera shooting group, horizontal flame-proof type video camera with
Vertical flame-proof type video camera carries out the acquisition of image information in synchronization to coal charge respectively, and obtained image information is passed through
Industrial Ethernet is transferred to remote computer control centre；
C, acquired image information obtains reprinting by remote computer control centre after image procossing in step B
Machine moment conveys the value of coal amount, is compared by the critical field for conveying coal amount with system moment, and elevating conveyor moment is conveyed coal
Amount is divided into three kinds of coal amount states, a small amount of coal charge state, normal coal charge state and excess coal charge state；
D, the speed of service of drag conveyor and elevating conveyor is adjusted according to three kinds of coal amount states in step C, then flame proof
Type camera shooting group carries out coal charge shooting again, determines whether elevating conveyor moment conveying coal amount adjusted is in system moment conveying coal
It is adjusted in the critical field of amount and again, until so that the moment of belt conveyor is conveyed coal amount is in moment conveying coal amount
In critical field, specific judgment method are as follows:
If the elevating conveyor moment conveying coal amount that I, image is reflected is less than the minimum of system moment conveying coal amount critical field
Value is in a small amount of coal charge state, then remote computer control centre sends speed-raising instruction, transport system to transportation system's controller
System controller control drag conveyor and elevating conveyor are adjusted the speed, and the speed of service of drag conveyor and elevating conveyor is improved one
Gear；
If the elevating conveyor moment conveying coal amount that II, image is reflected is in system moment conveying coal amount critical field, i.e.,
In normal coal charge state, then the speed of drag conveyor and elevating conveyor remains unchanged；
If the elevating conveyor moment conveying coal amount that III, image is reflected is greater than the maximum of system moment conveying coal amount critical field
Value is in excess coal charge state, then remote computer control centre sends reduction of speed instruction, transport system to transportation system's controller
System controller control drag conveyor and elevating conveyor are adjusted the speed, and the speed of drag conveyor and elevating conveyor is reduced a shelves
The elevating conveyor moment conveying coal amount of position, flame-proof type camera shooting group shooting after reduction of speed a to gear is still greater than system moment conveying coal amount mark
When the maximum value of quasi- range, by manually promptly being regulated and controled.
Further, specific image processing method in the step B are as follows:
A, the coal charge horizontal view obtained by horizontal flame-proof type video camera will obtain after binaryzation and filtering processing
Horizontal view in image between two LED beacons handled by image difference and extract coal charge prospect, exist along the elevating conveyor direction of motion
100 parts are uniformly divided between two LED beacons, extracts the foreground area of every portion, in conjunction with the image of shooting and the reality of shooting
Proportionate relationship between area calculates every actual area value of portion, is denoted as S1, S2 ... S100 respectively；
B, the coal charge top view obtained by vertical flame-proof type video camera, after binaryzation and filtering processing, by what is obtained
The image that four LED beacons are constituted in top view is handled by image difference and extracts coal charge prospect, along the elevating conveyor direction of motion
100 parts will be uniformly divided between two LED beacons, extract the left edge length of every a prospect, image and bat in conjunction with shooting
The proportionate relationship between real area taken the photograph calculates the actual (tube) length angle value of every portion, is denoted as L1, L2 ... L100 respectively；
It c, will be from 100 parts of area value S1 obtained in horizontal view, S2 ... S100, respectively and obtained in the top view
100 parts of length value L 1, L2 ... L100 are corresponding to be multiplied, and obtain 100 bulking values is added, to obtain being taken in image information
The elevating conveyor moment coal amount of band.
Compared with prior art, flame-proof type camera shooting group, LED beacon, transportation system's controller and remote computer of the present invention
The mode that control centre combines, by flame-proof type camera shooting group shoot elevating conveyor moment convey coal amount, and then with system moment
The critical field of conveying coal amount is compared.If excess coal charge state, then adjusting drag conveyor and elevating conveyor reduces by one
Gear；If a small amount of coal charge state, then adjusts drag conveyor and elevating conveyor promotes a gear；If being in normal coal charge shape
State is then adjusted without gear.Therefore the present invention conveys coal amount by the moment of detection elevating conveyor, and prediction belt conveyor will
The coal charge state being in, adjusts the speed of service of scratch board conveyor and elevating conveyor in time, so that belt conveyor moment be made to convey
Coal amount is in always in the critical field of moment conveying coal amount, prevents belt conveyor from idle running, coal piling, spreading, sideslip etc. occur
Situation.In addition in such a way that machine vision carries out the monitoring of coal charge amount, the volume letter for the measurement object that machine vision can be convenient
Breath, it is particularly possible to the freight volume of the continuous bulk material of automatic measurement, this is that other traditional measurement methods cannot compare, and
Since what machine vision carried out is measured as non-contact measurement, thus this measuring device its with long service life, measurement effect
Good advantage.
Detailed description of the invention
Fig. 1 is general arrangement schematic of the invention；
Fig. 2 is that flame-proof type camera shooting group and LED beacon arrange top view in the present invention；
Fig. 3 is that flame-proof type camera shooting group and LED beacon arrange horizontal view in the present invention；
Fig. 4 is the image procossing schematic diagram of horizontal flame-proof type video camera shooting in the present invention；
Fig. 5 is the image procossing schematic diagram of vertical flame-proof type video camera shooting in the present invention；
Fig. 6 is work flow diagram of the invention.
In figure: 1, drag conveyor, 2, remote computer control centre, 3, transportation system's controller, 4, horizontal flame-proof type
Video camera, 5, vertical flame-proof type video camera, 6, elevating conveyor, 7, belt conveyor, 8, LED beacon.
Specific embodiment
The invention will be further described below.
As shown in Figures 1 to 5, a kind of coal mine Transportation in assemBled state device intelligence speed-regulating system based on machine vision, including every
Quick-fried type camera shooting group, LED beacon 8, remote computer control centre 2 and transportation system's controller 3, flame-proof type camera shooting group by level every
The side of elevating conveyor 6, vertical flame proof is arranged in quick-fried type video camera 4 and vertical flame-proof type video camera 5, horizontal flame-proof type video camera 4
The surface of elevating conveyor 6 is arranged in type video camera 5, and the horizontal flame-proof type video camera 4 and vertical flame-proof type video camera 5 are in same
One perpendicular in the plane of elevating conveyor 6, and the LED beacon 8 is four, and four LED beacons 8 are symmetrically arranged in 6 machine of elevating conveyor
Body two sides；Horizontal flame-proof type video camera 4 and vertical flame-proof type video camera 5 are connected with remote computer control centre 2, long-range to count
Suan Ji control centre 2 is connected with transportation system controller 3.
Further, the flame-proof type camera shooting group and LED beacon 8 are arranged at the one third apart from 6 tail of elevating conveyor.
Setting the reason of this position there are two, first is that the working environment of elevating conveyor will be got well compared with drag conveyor, dust, electromagnetism,
The factors such as light are small to Image Acquisition and transmission interference；Second is due to having the regular hour to prolong from Image Acquisition to speed regulating control
Late, this needs certain delay distance, so as to relatively accurately control the moment conveying coal for being transported to belt conveyor
Amount.
Further, the horizontal flame-proof type video camera 4 and vertical flame-proof type video camera 5 are same model video camera
As shown in fig. 6, a kind of method of the mining transportation device intelligence speed regulation based on machine vision, specific steps are as follows:
A, established standards coal-supplying amount range and the standard speed of service of corresponding belt conveyor 7 is determined first；Institute
It states standard speed and is in 1m/s between 2m/s, the speed of service of drag conveyor 1 is then divided into a gear to five gears, each gear
The position speed of service is incremented by successively according to arithmetic progression from a gear to five gears, and the speed of service of elevating conveyor 6 and drag conveyor 1 is kept
Unanimously；The three gear speeds of service of drag conveyor 1 and elevating conveyor 6 are consistent with the standard speed of service of belt conveyor 7；
B, coal charge is in conveying on elevating conveyor 6 and the coverage Jing Guo flame-proof type camera shooting group, horizontal flame-proof type video camera 4
Carry out the acquisition of image information, and the image information that will be obtained to coal charge in synchronization respectively with vertical flame-proof type video camera 5
Remote computer control centre 2 is transferred to by Industrial Ethernet；
C, acquired image information obtains reprinting by remote computer control centre 2 after image procossing in step B
6 moment of machine conveys the value of coal amount, is compared by the critical field for conveying coal amount with system moment, and 6 moment of elevating conveyor is conveyed
Coal amount is divided into three kinds of coal amount states, a small amount of coal charge state, normal coal charge state and excess coal charge state；
D, according in step C three kinds of coal amount states adjustment drag conveyor 1 and elevating conveyor 6 the speed of service, then every
Quick-fried type camera shooting group carries out coal charge shooting again, and it is defeated to determine whether 6 moment of elevating conveyor conveying coal amount adjusted is in system moment
It is adjusted in the critical field for the amount of delivering coal and again, until so that the moment of belt conveyor 7 is conveyed coal amount is in moment conveying
In the critical field of coal amount, specific judgment method are as follows:
If 6 moment of the elevating conveyor conveying coal amount that I, image is reflected is less than the minimum of system moment conveying coal amount critical field
Value is in a small amount of coal charge state, then remote computer control centre 2 sends speed-raising instruction, transport to transportation system's controller 3
System controller 3 controls drag conveyor 1 and elevating conveyor 6 is adjusted the speed, by the speed of service of drag conveyor 1 and elevating conveyor 6
Improve a gear；
If 6 moment of the elevating conveyor conveying coal amount that II, image is reflected is in system moment conveying coal amount critical field, i.e.,
In normal coal charge state, then the speed of drag conveyor 1 and elevating conveyor 6 remains unchanged；
If 6 moment of the elevating conveyor conveying coal amount that III, image is reflected is greater than system moment conveying coal amount critical field most
Big value, that is, be in excess coal charge state, then remote computer control centre 2 sends reduction of speed instruction, fortune to transportation system's controller 3
Defeated system controller 3 controls drag conveyor 1 and elevating conveyor 6 is adjusted the speed, and the speed of drag conveyor 1 and elevating conveyor 6 is dropped
6 moment of the elevating conveyor conveying coal amount of a low gear, flame-proof type camera shooting group shooting after reduction of speed a to gear is still greater than system moment
When conveying the maximum value of coal amount critical field, by manually promptly being regulated and controled.
Further, specific image processing method in the step B are as follows:
A, the coal charge horizontal view obtained by horizontal flame-proof type video camera 4 will obtain after binaryzation and filtering processing
Horizontal view in image between two LED beacons 8 handled by image difference and extract coal charge prospect, along 6 direction of motion of elevating conveyor
100 parts are uniformly divided between two LED beacons 8, extracts the foreground area of every portion, in conjunction with the image of shooting and the reality of shooting
Proportionate relationship between interphase product, calculates every actual area value of portion, is denoted as S1, S2 ... S100 respectively；
B, the coal charge top view obtained by vertical flame-proof type video camera 5, after binaryzation and filtering processing, by what is obtained
The image that four LED beacons 8 are constituted in top view is handled by image difference and extracts coal charge prospect, along 6 side of moving of elevating conveyor
To 100 parts will be uniformly divided between LED beacon 8, the left edge length of every a prospect, image and bat in conjunction with shooting are extracted
The proportionate relationship between real area taken the photograph calculates the actual (tube) length angle value of every portion, is denoted as L1, L2 ... L100 respectively；
It c, will be from 100 parts of area value S1 obtained in horizontal view, S2 ... S100, respectively and obtained in the top view
100 parts of length value L 1, L2 ... L100 are corresponding to be multiplied, and obtain 100 bulking values is added, to obtain being taken in image information
The elevating conveyor moment coal amount of band.
Claims (4)
1. a kind of method of the mining transportation device intelligence speed regulation based on machine vision, which is characterized in that specific steps are as follows:
A, established standards coal-supplying amount range and the standard speed of service of corresponding belt conveyor (7) is determined first；Then
The speed of service of drag conveyor (1) is divided into a gear to five gears, each gear speed of service is from a gear to five gears according to equal difference
Ordered series of numbers is incremented by successively, and the speed of service of elevating conveyor (6) and drag conveyor (1) is consistent；Drag conveyor (1) and elevating conveyor
(6) the three gear speeds of service are consistent with the standard speed of service of belt conveyor (7)；
B, coal charge is in conveying on elevating conveyor (6) and the coverage Jing Guo flame-proof type camera shooting group, horizontal flame-proof type video camera (4)
It carries out the acquisition of image information to coal charge in synchronization respectively with vertical flame-proof type video camera (5), and obtained image is believed
Breath is transferred to remote computer control centre (2) by Industrial Ethernet；
C, acquired image information obtains elevating conveyor by remote computer control centre (2) after image procossing in step B
(6) value of moment conveying coal amount, is compared by the critical field for conveying coal amount with system moment, and elevating conveyor (6) moment is defeated
The amount of delivering coal is divided into three kinds of coal amount states, a small amount of coal charge state, normal coal charge state and excess coal charge state；
D, according in step C three kinds of coal amount states adjustment drag conveyor (1) and elevating conveyor (6) the speed of service, then every
Quick-fried type camera shooting group carries out coal charge shooting again, determines whether elevating conveyor adjusted (6) moment conveying coal amount is in system moment
It conveys in the critical field of coal amount and is adjusted again, until so that the moment of belt conveyor (7) is conveyed coal amount is in moment
In the critical field for conveying coal amount, specific judgment method are as follows:
If elevating conveyor (6) the moment conveying coal amount that I, image is reflected is less than the minimum of system moment conveying coal amount critical field
Value is in a small amount of coal charge state, then remote computer control centre (2) sends speed-raising instruction to transportation system's controller (3),
Transportation system's controller (3) control drag conveyor (1) and elevating conveyor (6) are adjusted the speed, by drag conveyor (1) and elevating conveyor
(6) the speed of service improves a gear；
If elevating conveyor (6) the moment conveying coal amount that II, image is reflected is in system moment conveying coal amount critical field, that is, locate
In normal coal charge state, then the speed of drag conveyor (1) and elevating conveyor (6) remains unchanged；
If elevating conveyor (6) the moment conveying coal amount that III, image is reflected is greater than the maximum of system moment conveying coal amount critical field
Value is in excess coal charge state, then remote computer control centre (2) sends reduction of speed instruction to transportation system's controller (3),
Transportation system's controller (3) control drag conveyor (1) and elevating conveyor (6) are adjusted the speed, by drag conveyor (1) and elevating conveyor
(6) speed reduces a gear, and elevating conveyor (6) the moment conveying coal amount of flame-proof type camera shooting group shooting after reduction of speed a to gear is still
When conveying the maximum value of coal amount critical field greater than system moment, by manually promptly being regulated and controled.
2. the working method of the mining transportation intelligent speed-governing system based on machine vision according to claim 1, feature
It is, specific image processing method in the step B are as follows:
A, the coal charge horizontal view obtained by horizontal flame-proof type video camera (4), after binaryzation and filtering processing, by what is obtained
Image in horizontal view between two LED beacons (8) is handled by image difference extracts coal charge prospect, along elevating conveyor (6) movement side
100 parts are uniformly divided between two LED beacons (8), extracts the foreground area of every portion, image and shooting in conjunction with shooting
Real area between proportionate relationship, calculate every actual area value of portion, be denoted as S1, S2 ... S100 respectively；
B, the coal charge top view obtained by vertical flame-proof type video camera (5) is bowed after binaryzation and filtering processing by what is obtained
The image that four LED beacons (8) are constituted in view is handled by image difference and extracts coal charge prospect, is moved along elevating conveyor (6)
Direction will be uniformly divided into 100 parts between LED beacon (8), extract the maximum length of every a prospect, in conjunction with shooting image with
Proportionate relationship between the real area of shooting calculates the actual (tube) length angle value of every portion, is denoted as L1, L2 ... L100 respectively；
C, will from 100 parts of area value S1 obtained in horizontal view, S2 ... S100, respectively with 100 parts obtained in the top view
Length value L 1, L2 ... L100 is corresponding to be multiplied, and obtain 100 bulking values are added, thus entrained by obtaining in image information
Coal charge amount.
3. a kind of method of mining transportation device intelligence speed regulation based on machine vision according to claim 2, feature
It is, the flame-proof type camera shooting group and LED beacon (8) are arranged at the one third apart from elevating conveyor (6) tail.
4. a kind of method of mining transportation device intelligence speed regulation based on machine vision according to claim 2, feature
It is, the horizontal flame-proof type video camera (4) and vertical flame-proof type video camera (5) are same model video camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811439617.8A CN109592346A (en) | 2018-11-29 | 2018-11-29 | A method of the mining transportation device intelligence speed regulation based on machine vision |
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| CN201811439617.8A CN109592346A (en) | 2018-11-29 | 2018-11-29 | A method of the mining transportation device intelligence speed regulation based on machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561662A (en) * | 2019-08-27 | 2019-12-13 | 江苏睿博环保设备有限公司 | Intelligent reclaimed rubber feeding method and device |
| CN111689173A (en) * | 2020-06-17 | 2020-09-22 | 北京建工资源循环利用投资有限公司 | Feeding control method, device and system for material pile |
| CN112158560A (en) * | 2020-09-29 | 2021-01-01 | 贵州中科维视智能科技有限公司 | AI chain bed intelligent process control system and control method |
-
2018
- 2018-11-29 CN CN201811439617.8A patent/CN109592346A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561662A (en) * | 2019-08-27 | 2019-12-13 | 江苏睿博环保设备有限公司 | Intelligent reclaimed rubber feeding method and device |
| CN111689173A (en) * | 2020-06-17 | 2020-09-22 | 北京建工资源循环利用投资有限公司 | Feeding control method, device and system for material pile |
| CN111689173B (en) * | 2020-06-17 | 2022-02-01 | 北京建工资源循环利用投资有限公司 | Feeding control method, device and system for material pile |
| CN112158560A (en) * | 2020-09-29 | 2021-01-01 | 贵州中科维视智能科技有限公司 | AI chain bed intelligent process control system and control method |
| CN112158560B (en) * | 2020-09-29 | 2021-12-28 | 贵州中科维视智能科技有限公司 | AI chain bed intelligent process control system and control method |
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Application publication date: 20190409 |