CN112027565A - Belt deviation alarming scram method for belt edge detection - Google Patents
Belt deviation alarming scram method for belt edge detection Download PDFInfo
- Publication number
- CN112027565A CN112027565A CN202011042400.0A CN202011042400A CN112027565A CN 112027565 A CN112027565 A CN 112027565A CN 202011042400 A CN202011042400 A CN 202011042400A CN 112027565 A CN112027565 A CN 112027565A
- Authority
- CN
- China
- Prior art keywords
- belt
- laser scanner
- edge
- laser
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
-
- 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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a belt deviation alarming scram method for belt edge detection, which adopts a belt deviation detection system based on laser transverse scanning belt edge ranging, wherein a laser scanner A, a laser scanner B and a conveyor belt are in the same plane and are used for obtaining the transverse distance between a belt edge and a belt roller edge bracket; the laser scanning data can be sent to the Ethernet by the serial port processor to realize remote transmission; the upper computer realizes real-time calculation of the offset angle and the offset in the process of off tracking of the online belt according to the data measured by the laser scanner A, B; the audible and visual alarm and the emergency stop device make corresponding judgment and processing after data processing of an upper computer, and the operation of the audible and visual alarm and the emergency stop device is controlled. The invention makes up the current situation that no high-precision non-contact belt conveyor real-time deviation detection system exists in the field. The invention has the advantages of simple and convenient measurement, strong anti-interference capability, high detection precision and strong real-time property, and is not influenced by the external environment to the material distribution measurement.
Description
Technical Field
The invention relates to a belt deviation alarming and sudden stopping method for belt edge detection.
Background
The conveyer belt receives extensive application in industrial transportation, however belt conveyor is at the operation in-process, often can take place the conveyer belt off tracking phenomenon, not only arouses that the material spills or the belt edge wearing and tearing, still can cause conveyer belt fracture, burning loss even cause the conflagration in serious time. This will directly affect the service life of the conveyor belt, even cause the coal transportation line to stop running, affect the safety production and cause great economic loss. Therefore, the belt deviation detection device has important significance in timely and accurately detecting the belt deviation. Most belt deviation detection devices on the market detect deviation in a contact mode, when a conveying belt does not deviate, the edge of the conveying belt is not in contact with a side stop roller of a correction device, and the correction device keeps an original state and does not act; when the conveyer belt takes place the off tracking, the conveyer belt edge will extrude and be cylinder side fender roller and produce thrust, otherwise cylinder side fender roller can give the conveyer belt-individual barrier force, thereby play the effect of stopping the conveyer belt off tracking or pushing it back to the normal position, and can play more when heavily carrying and correcting the off tracking effect, nevertheless when the heavy load carries or empty load carries the barrier force that cylinder side fender roller gives the belt big when not heavily carrying, this barrier force plays the effect of stopping the belt off tracking, sometimes does not play the effect of pushing the belt back to the normal position, make the belt edge hug closely cylinder side fender roller motion. Therefore, the degree of automation is low, and the production efficiency is affected. In addition, the transverse deviation of the conveying belt is detected based on an infrared technology, an infrared detection environment needs to be cleaned frequently, and the fact that no sundries exist between a detector and the conveying belt is guaranteed. And the deviation of the conveyer belt is corrected by misinformation aiming at the deviation of the article out of the conveyer belt, and finally the conveyer belt is deviated, so the stability is poor.
In view of the above, a new non-contact detection system is needed to solve the above problems in order to prolong the service life of the conveyor belt.
Disclosure of Invention
The invention aims to provide a belt deviation alarming scram method for belt edge detection, which is simple and convenient to measure, simple in structure, low in cost and strong in anti-jamming capability.
The technical solution of the invention is as follows:
a belt deviation alarming scram method for belt edge detection is characterized in that: the conveyor belt deviation detection system based on laser transverse scanning belt edge ranging is adopted, and comprises a laser scanner A and a laser scanner B which are respectively positioned on a belt support beside a carrier roller at the lower end and the upper end of a conveyor belt and are positioned in the same plane with the conveyor belt, so that the laser scanner is perpendicular to the section of the edge of the belt to scan a sector area, and the scanning ranging range is ensured to be larger than the thickness of the conveyor belt, so that the transverse distance between the belt edge and the belt roller edge support can be obtained; the laser scanning data can be sent to the Ethernet by the serial port processor to realize remote transmission; the upper computer calculates two-dimensional coordinate points at two ends of the belt edge in real time according to the data measured by the laser scanner A, B, converts the two-dimensional coordinate points into a real-time two-dimensional function image of the belt edge, and realizes the real-time calculation of the offset angle and the offset in the process of off tracking of the online belt; the audible and visual alarm and the emergency stop device make corresponding judgment and processing after data processing by an upper computer, and control the operation of the audible and visual alarm and the emergency stop device;
the working method comprises the following steps:
step 1: initialization: the method comprises the steps that a laser scanner A collects a current frame variable k which is 1, i which is 1,2, …, N is the number of sections of the edge of a belt collected by the laser scanner A in unit time T, and the unit time T and the frequency f of the laser scanner are defined by the unit time T and the frequency f of the laser scannerspeedDetermining the size (N ═ T · f)speed) (ii) a Acquiring detection start or stop time from start and stop of the laser scanner A, B;
step 2: simultaneously starting the laser scanner A, B to work, recording a data scanning value of the laser scanner A, B when t is 0, wherein the data scanning value is specified as a standard value, and receiving and recording the data by the upper computer;
and step 3: the laser scanner A, B continues to scan to obtain real-time data of the edge section of the belt, and the upper computer receives and records the real-time information data of the edge section of the belt in unit time T;
and 4, step 4: fusing standard parameter values and real-time belt edge section data information to obtain two-dimensional laser point cloud data of the edge sections of the upper and lower ends of the belt;
and 5: performing two-dimensional rectangular coordinate conversion on the two-dimensional laser point cloud data of the edge sections of the upper end and the lower end of the belt to obtain two-dimensional coordinate data of the edge sections of the upper end and the lower end of the belt;
step 6: establishing a belt edge image equation by using a least square method, and simultaneously establishing a belt edge image standard equation Y1 and an inner leather belt edge image time equation Y2 in unit time T;
the image edge equation is obtained by regression analysis based on a least square method, and in order to synthesize the influence of all scanning points on the edge equation, the regression equation is set as y ═ b + kx; wherein x is the abscissa of each point obtained by scanning by the laser scanner A, B, y is the ordinate of each point, k is the slope of the fitting straight line, and b is the intercept of the fitting straight line; and dividing the detection points into a laser scanner A and a laser scanner B which scan each frame number in a unit time T to obtain coordinate points which are divided into 2 groups: x is the number of1,x2,…,xM，y1,y2,…,yMThe horizontal and vertical coordinates obtained by scanning by the laser scanner A, B in the previous T/2 time; and xM+1,xM+2,…,xN,yM+1,yM+2,…,yNI.e. the horizontal and vertical coordinates obtained by scanning by the laser scanner A, B within the later T/2 time; respectively establishing an observation equation:
the following processes are respectively added to obtain:
when N is 2M, the regression coefficient can be obtained
And 7: calculating a belt offset angle theta and an offset lambda according to simultaneous equations Y1 and Y2;
obtaining k and b values through the steps, and irradiating laserAll the frame number coordinate points scanned by the scanner A and the laser scanner B in the unit time T are divided into two groups, namely the coordinate point x scanned by the laser scanner A1,x2,…,xMCoordinate point x scanned by laser scanner BM+1,xM+2,…,xN(ii) a The maximum value and the minimum value in the coordinate values are cut off, and the average value of the rest coordinate points is obtained, namely the average value is
The offset is known as: offset of lower end belt
Offset of upper belt
Deviation angle: θ ═ acr tan k |;
and 8: comparing and analyzing the obtained data, judging whether the conveyor belt deviates, if so, judging which degree of deviation occurs, and starting an alarm and emergency stop device;
if the offset is lambda1、λ2＝0&When theta is 0, the belt is not deviated;
if the offset is 0<λ1、λ2<H，H＝10％M，&0<θ<When the temperature is 5 degrees, the belt is slightly deviated, and the audible and visual alarm is started; m is the width of the belt;
if the offset is lambda1、λ2>H&θ>When the angle is 5 degrees, the belt is severely deviated, and the emergency stop device is started.
The concrete conversion method of the step 5 comprises the following steps: l, L 'is the distance between the laser emission center point of the laser scanner and the point on the thickness of the side surface of the belt, and the included angle between the connecting line between the laser emission center of the alpha laser scanner and the point on the thickness of the side surface of the belt and the horizontal line, and P, P' is the edge point of the laser scanning belt; the abscissa of the point P can be 0 according to the image, the ordinate is 0, the abscissa of the point P 'can be L' sin alpha-L according to the image calculation, and the ordinate is 0;
in summary, the above-mentioned P (0,0), P '(L' sin α -L, 0); by analogy, the coordinate of the edge point of the upper end laser scanning belt is PS(0,h)，P’S(L' sin alpha-L, h), h is the length value of the conveyor belt.
The invention makes up the current situation that no high-precision non-contact belt conveyor real-time deviation detection system exists in the field. The invention has the advantages of simple and convenient measurement, simple structure, low cost, strong anti-interference capability, high detection precision and strong real-time property, and is not influenced by external environments such as powder layers, weather, light rays and the like to the material distribution measurement.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic structural diagram of a belt deviation alarming scram system for belt edge detection.
The system comprises a belt conveyor (groove type or straight type, and basic configurations such as a driving motor and a carrier roller are included), a laser scanner A, a laser scanner B, a direct-current stabilized voltage power supply C, a direct-current stabilized voltage power supply D, a serial port processor E, a serial port processor F, an Ethernet G, a server H, an upper computer I, a display screen J, an audible and visual alarm K, an emergency stop device L, a storage chip M, and a belt and scanner synchronous starting switch N. Laser scanner A and laser scanner B are located respectively and on the other belt support of upper end bearing roller in the conveyer belt, are in same plane with the conveyer belt, make laser scanner perpendicular to belt edge cross-section scanning sector region to it should be greater than the conveyer belt thickness to guarantee to scan the range finding scope, is used for obtaining the lateral distance of belt edge and belt cylinder edge support. The laser scan data may be sent by serial processor E, F to ethernet for remote transmission. The upper computer I calculates two-dimensional coordinate points at two ends of the belt edge in real time according to the data measured by the laser scanner A, B, converts the two-dimensional coordinate points into a real-time two-dimensional function image of the belt edge, and realizes real-time calculation of the offset angle and the offset in the online belt deviation process. And the audible and visual alarm K and the emergency stop device L make corresponding judgment and processing after data processing of the upper computer I, and the operation of the audible and visual alarm K and the emergency stop device L is controlled. The storage chip M stores specific data obtained by processing of the upper computer I in real time, and the data can be obtained immediately after use. The belt and scanner synchronous starting switch N controls the belt and the laser scanner to synchronously start the working running state, so that the scanning instantaneity is ensured, and the energy consumption is saved.
FIG. 2 is a structural diagram of a belt deviation detection system based on laser transverse scanning belt edge ranging in a belt deviation alarm emergency stop method for belt edge detection.
The system comprises a laser scanning ranging module (a laser scanner and a serial port processor), a communication module (an input port and an output port), a data processing module (an upper computer), a supervisory control module (an audible and visual alarm and an emergency stop device), a human-computer interaction module (an operation keyboard and a display) and a data storage module (a storage chip). The laser scanner adopts a two-dimensional laser scanner to realize laser data acquisition. The communication module comprises an input port and an output port, belt speed data and laser scanning ranging data are input through the input port, the output port transmits the data to other equipment, a network port or a field bus port can be used, and a wireless communication mode can be adopted besides a wired port. The audible and visual alarm has a horn and an alarm lamp, and realizes the audible and visual alarm function.
FIG. 3 is a flow chart of the conveyor belt deviation detecting system based on laser transverse scanning belt edge ranging in the conveyor belt deviation detecting system based on laser transverse scanning belt edge ranging of the present invention.
FIG. 4 is a schematic diagram of an algorithm for converting edge distance and coordinates when a belt floats up and down in the belt deviation alarming scram method for belt edge detection.
FIG. 5 is a diagram of the relationship between the position of the laser scanner A, B and the edge of the belt in the method for detecting the edge of the belt and alarming for sudden stop.
The laser scanner A, B is installed at the conveyer belt return segment head and the tail cylinder support edge, and the laser scanning module should be in same plane with the conveyer belt to and should guarantee that the scanning range finding scope should be greater than conveyer belt thickness, be used for obtaining the lateral distance of belt edge and belt cylinder edge support and the line between the laser emission center of laser scanner and the point on the belt side thickness and the contained angle of water flat line.
FIG. 6 is a schematic diagram of a function image obtained by final fitting in a belt deviation alarming scram method for belt edge detection according to the present invention.
Detailed Description
For example, a single-roller or a grooved belt conveyor, as shown in fig. 1. The system comprises a belt conveyor (groove type or straight type, and basic configurations such as a driving motor and a carrier roller are included), a laser scanner A, a laser scanner B, a direct-current stabilized voltage power supply C, a direct-current stabilized voltage power supply D, a serial port processor E, a serial port processor F, an Ethernet G, a server H, an upper computer I, a display screen J, an audible and visual alarm K, an emergency stop device L, a storage chip M, and a belt and scanner synchronous starting switch N. Laser scanner A and laser scanner B are located respectively and on the other belt support of upper end bearing roller in the conveyer belt, are in same plane with the conveyer belt, make laser scanner perpendicular to belt edge cross-section scanning sector region to it should be greater than the conveyer belt thickness to guarantee to scan the range finding scope, is used for obtaining the lateral distance of belt edge and belt cylinder edge support. The laser scan data may be sent by serial processor E, F to ethernet for remote transmission. The upper computer I calculates two-dimensional coordinate points at two ends of the belt edge in real time according to the data measured by the laser scanner A, B, converts the two-dimensional coordinate points into a real-time two-dimensional function image of the belt edge, and realizes real-time calculation of the offset angle and the offset in the online belt deviation process. And the audible and visual alarm K and the emergency stop device L make corresponding judgment and processing after data processing of the upper computer I, and the operation of the audible and visual alarm K and the emergency stop device L is controlled. The storage chip M stores specific data obtained by processing of the upper computer I in real time, and the data can be obtained immediately after use. The belt and scanner synchronous starting switch N controls the belt and the laser scanner to synchronously start the working running state, so that the scanning instantaneity is ensured, and the energy consumption is saved.
FIG. 2 is a structural diagram of a belt deviation detection system based on laser transverse scanning belt edge ranging in a belt deviation alarm emergency stop method for belt edge detection. The system comprises a laser scanning ranging module (a laser scanner and a serial port processor), a communication module (an input port and an output port), a data processing module (an upper computer), a supervisory control module (an audible and visual alarm and an emergency stop device), a human-computer interaction module (an operation keyboard and a display) and a data storage module (a storage chip). The laser scanner adopts a two-dimensional laser scanner to realize laser data acquisition. The communication module comprises an input port and an output port, belt speed data and laser scanning ranging data are input through the input port, the output port transmits the data to other equipment, a network port or a field bus port can be used, and a wireless communication mode can be adopted besides a wired port. The audible and visual alarm has a horn and an alarm lamp, and realizes the audible and visual alarm function.
The work flow of the system is shown in fig. 3, and comprises the following steps:
step 1: and (5) initializing. The method comprises the steps that a laser scanner A collects a current frame variable k which is 1, i which is 1,2, …, N is the number of sections of the edge of a belt collected by the laser scanner A in unit time T, and the unit time T and the frequency f of the laser scanner are defined by the unit time T and the frequency f of the laser scannerspeedDetermining the size (N ═ T · f)speed) (ii) a Acquiring detection start or stop time from start and stop of the laser scanner A, B;
step 2: and simultaneously, the laser scanner A, B is started to work, the data scanned by the laser scanner A, B is recorded as a standard value when t is 0, and the data is received and recorded by the upper computer.
And step 3: the laser scanner A, B continues to scan to obtain real-time data of the edge section of the belt, and the upper computer receives and records the real-time information data of the edge section of the belt in unit time T.
And 4, step 4: and fusing the standard parameter values and the real-time belt edge section data information to obtain two-dimensional laser point cloud data of the belt upper and lower edge sections.
And 5: and performing two-dimensional rectangular coordinate conversion on the two-dimensional laser point cloud data of the edge sections of the upper end and the lower end of the belt to obtain two-dimensional coordinate data of the edge sections of the upper end and the lower end of the belt.
The specific conversion method is shown in fig. 4. L, L 'is the distance between the laser emission center point of the laser scanner and the point on the thickness of the side surface of the belt, and the angle between the connecting line between the laser emission center of the alpha laser scanner and the point on the thickness of the side surface of the belt and the horizontal line, and P, P' is the edge point of the laser scanning belt. The abscissa of the point P can be 0 according to the image, the ordinate is 0, the abscissa of the point P 'can be L' sin alpha-L according to the image calculation, and the ordinate is 0.
In summary, the above-mentioned P (0,0), P '(L' sin α -L, 0). By analogy, the coordinate of the edge point of the upper end laser scanning belt is PS(0,h)，P’S(L' sin alpha-L, h), h is the length value of the conveyor belt.
Step 6: and establishing a belt edge image equation by using a least square method, and combining a belt edge image standard equation Y1 and an inner belt edge image time equation Y2 in a unit time T.
The image edge equation can be obtained by regression analysis based on the least square method, in order to integrate the influence of all scanning points on the edge equation, the regression equation is set as y ═ B + kx (where x is the abscissa of each point scanned by the laser scanner A, B, y is the ordinate of each point, k is the slope of the fitted straight line, and B is the intercept of the fitted straight line), and the detection points are divided into 2 groups of coordinate points obtained by scanning each frame number in the unit time T by the laser scanner a and the laser scanner B: x is the number of1,x2,…,xM，y1,y2,…,yM(abscissa and ordinate obtained by scanning with the laser scanner A, B during the previous T/2 time period) and xM+1,xM+2,…,xN,yM+1,yM+2,…,yN(abscissa and ordinate obtained by scanning by the laser scanner A, B in the last T/2 time) respectively establishing an observation equation:
the following processes are respectively added to obtain:
when N is 2M, the regression coefficient can be obtained
And 7: the belt deviation angle θ and the deviation amount λ are calculated according to simultaneous equations Y1, Y2.
Obtaining the values of k and B through the steps, and dividing all frame number coordinate points scanned by the laser scanner A and the laser scanner B in the unit time T into two groups, namely the coordinate points x scanned by the laser scanner A1,x2,…,xMCoordinate point x scanned by laser scanner BM+1,xM+2,…,xN. The maximum value and the minimum value in the coordinate values are cut off, and the average value of the rest coordinate points is obtained, namely the average value is
The offset is known as: offset of lower end belt
Offset of upper belt
Deviation angle: theta ═ acrtanek
And 8: and comparing and analyzing the obtained data, judging whether the conveying belt deviates, judging which degree the conveying belt deviates if the conveying belt deviates, and starting an alarm and emergency stop device.
If the offset is lambda1、λ2＝0&When θ is 0, the belt does not deviate.
If the offset is 0<λ1、λ2<H (H10% M, M belt width)&0<θ<When the belt is slightly deviated at 5 degrees, the audible and visual alarm is started.
If the offset is lambda1、λ2>H&θ>When the angle is 5 degrees, the belt is severely deviated, and the emergency stop device is started.
Claims (2)
1. A belt deviation alarming scram method for belt edge detection is characterized in that: the conveyor belt deviation detection system based on laser transverse scanning belt edge ranging is adopted, and comprises a laser scanner A and a laser scanner B which are respectively positioned on a belt support beside a carrier roller at the lower end and the upper end of a conveyor belt and are positioned in the same plane with the conveyor belt, so that the laser scanner is perpendicular to the section of the edge of the belt to scan a sector area, and the scanning ranging range is ensured to be larger than the thickness of the conveyor belt, so that the transverse distance between the belt edge and the belt roller edge support can be obtained; the laser scanning data can be sent to the Ethernet by the serial port processor to realize remote transmission; the upper computer calculates two-dimensional coordinate points at two ends of the belt edge in real time according to the data measured by the laser scanner A, B, converts the two-dimensional coordinate points into a real-time two-dimensional function image of the belt edge, and realizes the real-time calculation of the offset angle and the offset in the process of off tracking of the online belt; the audible and visual alarm and the emergency stop device make corresponding judgment and processing after data processing by an upper computer, and control the operation of the audible and visual alarm and the emergency stop device;
the working method comprises the following steps:
step 1: initialization: the method comprises the steps that a laser scanner A collects a current frame variable k which is 1, i which is 1,2, …, N is the number of sections of the edge of a belt collected by the laser scanner A in unit time T, and the unit time T and the frequency f of the laser scanner are defined by the unit time T and the frequency f of the laser scannerspeedDetermining the size (N ═ T · f)speed) (ii) a Acquiring detection start or stop time from start and stop of the laser scanner A, B;
step 2: simultaneously starting the laser scanner A, B to work, recording a data scanning value of the laser scanner A, B when t is 0, wherein the data scanning value is specified as a standard value, and receiving and recording the data by the upper computer;
and step 3: the laser scanner A, B continues to scan to obtain real-time data of the edge section of the belt, and the upper computer receives and records the real-time information data of the edge section of the belt in unit time T;
and 4, step 4: fusing standard parameter values and real-time belt edge section data information to obtain two-dimensional laser point cloud data of the edge sections of the upper and lower ends of the belt;
and 5: performing two-dimensional rectangular coordinate conversion on the two-dimensional laser point cloud data of the edge sections of the upper end and the lower end of the belt to obtain two-dimensional coordinate data of the edge sections of the upper end and the lower end of the belt;
step 6: establishing a belt edge image equation by using a least square method, and simultaneously establishing a belt edge image standard equation Y1 and an inner leather belt edge image time equation Y2 in unit time T;
the image edge equation is obtained by regression analysis based on a least square method, and in order to synthesize the influence of all scanning points on the edge equation, the regression equation is set as y ═ b + kx; wherein x is the abscissa of each point obtained by scanning by the laser scanner A, B, y is the ordinate of each point, k is the slope of the fitting straight line, and b is the intercept of the fitting straight line; and dividing the detection points into a laser scanner A and a laser scanner B which scan each frame number in a unit time T to obtain coordinate points which are divided into 2 groups: x is the number of1,x2,…,xM，y1,y2,…,yMThe horizontal and vertical coordinates obtained by scanning by the laser scanner A, B in the previous T/2 time; and xM+1,xM+2,…,xN,yM+1,yM+2,…,yNI.e. the horizontal and vertical coordinates obtained by scanning by the laser scanner A, B within the later T/2 time; respectively establishing an observation equation:
the following processes are respectively added to obtain:
when N is 2M, the regression coefficient can be obtained
And 7: calculating a belt offset angle theta and an offset lambda according to simultaneous equations Y1 and Y2;
obtaining the values of k and B through the steps, and dividing all frame number coordinate points scanned by the laser scanner A and the laser scanner B in the unit time T into two groups, namely the coordinate points are scanned by the laser scanner AObtaining a coordinate point x1,x2,…,xMCoordinate point x scanned by laser scanner BM+1,xM+2,…,xN(ii) a The maximum value and the minimum value in the coordinate values are cut off, and the average value of the rest coordinate points is obtained, namely the average value is
The offset is known as: offset of lower end belt
Offset of upper belt
Deviation angle: θ ═ acr tan k |;
and 8: comparing and analyzing the obtained data, judging whether the conveyor belt deviates, if so, judging which degree of deviation occurs, and starting an alarm and emergency stop device;
if the offset is lambda1、λ2＝0&When theta is 0, the belt is not deviated;
if the offset is 0<λ1、λ2<H，H＝10％M，&0<θ<When the temperature is 5 degrees, the belt is slightly deviated, and the audible and visual alarm is started; m is the width of the belt;
if the offset is lambda1、λ2>H&θ>When the angle is 5 degrees, the belt is severely deviated, and the emergency stop device is started.
2. The method for alarming and scramming belt deviation detected by the belt edge as claimed in claim 1, which is characterized in that: the concrete conversion method of the step 5 comprises the following steps: l, L 'is the distance between the laser emission center point of the laser scanner and the point on the thickness of the side surface of the belt, and the included angle between the connecting line between the laser emission center of the alpha laser scanner and the point on the thickness of the side surface of the belt and the horizontal line, and P, P' is the edge point of the laser scanning belt; the abscissa of the point P can be 0 according to the image, the ordinate is 0, the abscissa of the point P 'can be L' sin alpha-L according to the image calculation, and the ordinate is 0;
in summary, the above-mentioned P (0,0), P '(L' sin α -L, 0); by analogy, the coordinate of the edge point of the upper end laser scanning belt is PS(0,h)，P’S(L' sin alpha-L, h), h is the length value of the conveyor belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011042400.0A CN112027565B (en) | 2020-09-28 | 2020-09-28 | Belt deviation alarming scram method for belt edge detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011042400.0A CN112027565B (en) | 2020-09-28 | 2020-09-28 | Belt deviation alarming scram method for belt edge detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112027565A true CN112027565A (en) | 2020-12-04 |
| CN112027565B CN112027565B (en) | 2021-12-03 |
Family
ID=73575699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011042400.0A Active CN112027565B (en) | 2020-09-28 | 2020-09-28 | Belt deviation alarming scram method for belt edge detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112027565B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113192037A (en) * | 2021-05-06 | 2021-07-30 | 中冶赛迪重庆信息技术有限公司 | Belt conveyor monitoring method, system, medium and electronic terminal |
| CN115116010A (en) * | 2022-08-29 | 2022-09-27 | 山东千颐科技有限公司 | Belt deviation-preventing visual identification system based on image processing |
| CN115576242A (en) * | 2022-10-09 | 2023-01-06 | 南方科技大学 | High wind resistance control system and method based on vector control |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09100014A (en) * | 1996-05-10 | 1997-04-15 | Road Eng:Kk | Automatic adjusting device for conveyor belt |
| DE202012010170U1 (en) * | 2012-10-24 | 2014-01-30 | Big Dutchman International Gmbh | Conveying device for conveying animal products in a farm |
| CN104132699A (en) * | 2014-07-24 | 2014-11-05 | 武汉中原电子集团有限公司 | Laser scanning type bulk material flow detection and distribution error elimination method |
| CN104760813A (en) * | 2015-01-13 | 2015-07-08 | 中国矿业大学(北京) | Belt detection warning device based on laser ranging |
| CN106556414A (en) * | 2016-11-24 | 2017-04-05 | 北京北科天绘科技有限公司 | A kind of automatic digital orientation method of laser scanner |
| CN106767447A (en) * | 2016-11-24 | 2017-05-31 | 沈丽君 | A kind of method of material profile measurement precision in raising belt transportation system |
| CN109765570A (en) * | 2018-11-22 | 2019-05-17 | 山东里能鲁西矿业有限公司 | A kind of Auto-rectification Device for Belt Conveyer detection method based on laser radar |
| CN209009521U (en) * | 2018-07-19 | 2019-06-21 | 浙江浙能温州发电有限公司 | A kind of coal conveyer belt deviation detecting device based on fluorescence detection |
| CN210064272U (en) * | 2019-06-05 | 2020-02-14 | 西安瑞德宝尔智能科技有限公司 | Automatic deviation-rectifying control device for conveyer belt |
| CN110793587A (en) * | 2019-11-12 | 2020-02-14 | 西安科技大学 | Efficient and safe operation monitoring method for coal mine working surface belt conveyor |
-
2020
- 2020-09-28 CN CN202011042400.0A patent/CN112027565B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09100014A (en) * | 1996-05-10 | 1997-04-15 | Road Eng:Kk | Automatic adjusting device for conveyor belt |
| DE202012010170U1 (en) * | 2012-10-24 | 2014-01-30 | Big Dutchman International Gmbh | Conveying device for conveying animal products in a farm |
| CN104132699A (en) * | 2014-07-24 | 2014-11-05 | 武汉中原电子集团有限公司 | Laser scanning type bulk material flow detection and distribution error elimination method |
| CN104760813A (en) * | 2015-01-13 | 2015-07-08 | 中国矿业大学(北京) | Belt detection warning device based on laser ranging |
| CN106556414A (en) * | 2016-11-24 | 2017-04-05 | 北京北科天绘科技有限公司 | A kind of automatic digital orientation method of laser scanner |
| CN106767447A (en) * | 2016-11-24 | 2017-05-31 | 沈丽君 | A kind of method of material profile measurement precision in raising belt transportation system |
| CN209009521U (en) * | 2018-07-19 | 2019-06-21 | 浙江浙能温州发电有限公司 | A kind of coal conveyer belt deviation detecting device based on fluorescence detection |
| CN109765570A (en) * | 2018-11-22 | 2019-05-17 | 山东里能鲁西矿业有限公司 | A kind of Auto-rectification Device for Belt Conveyer detection method based on laser radar |
| CN210064272U (en) * | 2019-06-05 | 2020-02-14 | 西安瑞德宝尔智能科技有限公司 | Automatic deviation-rectifying control device for conveyer belt |
| CN110793587A (en) * | 2019-11-12 | 2020-02-14 | 西安科技大学 | Efficient and safe operation monitoring method for coal mine working surface belt conveyor |
Non-Patent Citations (2)
| Title |
|---|
| 冀亚伟: "皮带运输机跑偏装置设计改进", 《机械研究与应用》 * |
| 徐泽祥: "基于最小二乘法的机械手偏移距离预测", 《科技广场》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113192037A (en) * | 2021-05-06 | 2021-07-30 | 中冶赛迪重庆信息技术有限公司 | Belt conveyor monitoring method, system, medium and electronic terminal |
| CN113192037B (en) * | 2021-05-06 | 2023-05-02 | 中冶赛迪信息技术(重庆)有限公司 | Belt conveyor monitoring method, system, medium and electronic terminal |
| CN115116010A (en) * | 2022-08-29 | 2022-09-27 | 山东千颐科技有限公司 | Belt deviation-preventing visual identification system based on image processing |
| CN115116010B (en) * | 2022-08-29 | 2022-11-18 | 山东千颐科技有限公司 | Belt deviation-preventing visual identification system based on image processing |
| CN115576242A (en) * | 2022-10-09 | 2023-01-06 | 南方科技大学 | High wind resistance control system and method based on vector control |
| CN115576242B (en) * | 2022-10-09 | 2023-08-18 | 南方科技大学 | High-wind-resistance control system and method based on vector control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112027565B (en) | 2021-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112027565B (en) | Belt deviation alarming scram method for belt edge detection | |
| CN104132699B (en) | A kind of laser scan type bulk material flow detection and distribution error removing method | |
| CN105000355B (en) | Belt conveyor on-line energy efficiency monitoring method | |
| CN205157428U (en) | Fixed scanning formula methane gas remote supervising system | |
| CN200944064Y (en) | Infrared digital remote-view fault detecting system | |
| CN112340387A (en) | Belt conveyor intelligent control system and control method based on machine vision | |
| CN112209054A (en) | Laser scanning conveying belt transverse deviation real-time detection system and detection method thereof | |
| CN111781113B (en) | Dust grid positioning method and dust grid monitoring method | |
| CN103307980A (en) | Automatic measuring device for volume of grain pile and measuring method thereof | |
| CN208432231U (en) | A kind of detection device | |
| CN111046761A (en) | Belt load distribution detection system and method based on multi-sensing information fusion | |
| CN112213317A (en) | Conveying belt tearing detection system based on three-dimensional laser scanning technology and detection method thereof | |
| CN113320924B (en) | Belt longitudinal tearing detection device based on single line laser radar | |
| CN112027566B (en) | Conveying belt deviation type judging and deviation measuring and calculating system based on laser scanning | |
| CN106089576B (en) | A kind of method for realizing that two sets of wind detection sensors automatically switch in air-blower control | |
| CN104635756B (en) | A kind of sun tracker tracking angle bias measurement method and device | |
| CN110450814B (en) | Track detection assembly | |
| CN112254650B (en) | Laser ranging type dynamic belt deviation detection system | |
| CN113911629A (en) | Intelligent coal flow conveying system | |
| CN212623073U (en) | High and steep slope detection device | |
| CN107655430A (en) | A kind of device and method of grain depot grain heap cubing | |
| CN109780451B (en) | Power plant speed regulator oil circuit inspection method based on machine vision | |
| CN112896990A (en) | Mining explosion-proof coal quantity detection system and method | |
| CN103758016B (en) | A kind of three-dimensional pavement structure detecting device and detection method thereof | |
| CN112857250A (en) | Solid waste recovery detection monitoring system and method based on three-dimensional scanning imaging technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20201204 Assignee: Wuhan zhiao Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022420000031 Denomination of invention: A belt deviation alarm emergency stop method for belt edge detection Granted publication date: 20211203 License type: Common License Record date: 20220511 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20201204 Assignee: Wuhan Hengwang Port and Channel Engineering Consulting Service Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2023420000193 Denomination of invention: A Method of Belt Edge Detection for Belt Deviation Alarm Emergency Stop Granted publication date: 20211203 License type: Common License Record date: 20230621 |