CN112027566B - Conveying belt deviation type judging and deviation measuring and calculating system based on laser scanning - Google Patents
Conveying belt deviation type judging and deviation measuring and calculating system based on laser scanning Download PDFInfo
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- CN112027566B CN112027566B CN202011056115.4A CN202011056115A CN112027566B CN 112027566 B CN112027566 B CN 112027566B CN 202011056115 A CN202011056115 A CN 202011056115A CN 112027566 B CN112027566 B CN 112027566B
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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
- B65G43/02—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
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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
- 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
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Abstract
The invention discloses a conveyor belt deviation type judging and deviation measuring and calculating system based on laser scanning.A laser scanner A vertically scans a conveyor belt upwards, and laser scanning data are sent to an Ethernet through a serial port processor to realize remote data transmission; the speed measuring sensor is arranged on a middle shaft of an upper carrier roller of the conveyor and rotates coaxially with the carrier roller; the belt speed data is collected by a speed measuring sensor and then transmitted to an upper computer by a GSM/GPRS module; the upper computer integrates all the detection result data and outputs the final deviation measurement value and the final deviation type judgment result, and the final result determines the operation of the alarm module P, Q. The invention makes up the current situation that no high-precision real-time online belt conveyor deviation condition monitoring system exists in the field. The device has the advantages of simple system structure, high automation degree and strong real-time performance, and is not influenced by external environments such as powder layers, weather, light rays and the like to the deviation measurement of the conveying belt.
Description
Technical Field
The invention relates to a conveying belt deviation type judging and deviation measuring and calculating system based on laser scanning.
Background
The conveying belt is a key device of a conveying system, and the safe and stable operation of the conveying belt directly influences the production operation. However, in the operation process of the belt conveyor, the deviation phenomenon of the conveying belt often occurs, which not only causes the material to spill or the belt edge to be worn, but also can cause the breakage, burning loss and even fire of the conveying belt in serious cases. This will directly affect the service life of the conveyor belt, increase the production cost, even cause the coal transportation line to stop, affect the safety production, and cause significant economic loss. Therefore, the method has very important significance in timely and accurately detecting the deviation of the conveying belt. However, most of the existing conveying belt deviation detection systems are contact detection principle devices, and when the devices are applied to the severe production environments such as mines, the deviation detection switches are very easily influenced by smoke dust, oil stains, mud and the like, so that the fault rate of the deviation detection switches is high, and faults such as false detection and missed detection are easy to occur. Therefore, the equipment needs to be regularly maintained by professional personnel, the automation degree is low, and the labor cost is high. In recent years, a conveyor belt deviation non-contact measuring device based on an optical measurement technology is an effective way for improving measurement accuracy and eliminating measurement errors. The machine vision method has the advantages that the running condition of the conveying belt can be accurately detected in real time through a camera, a video collector, a display and an image collector, but the identification accuracy is greatly influenced by the high powder layer open air environment at present. The laser scanning technology can effectively avoid the defect that the vision technology is limited by the environment of the powder layer, the deviation amount of the conveying belt is measured and calculated by scanning the laser point cloud data at the edge of the conveying belt in unit time through the laser sensor, and meanwhile, the deviation type of the conveying belt is judged according to the point cloud data fitting result.
Therefore, there is a need for a new detection scheme that employs a non-contact detection principle, is reliable in operation, convenient to implement, low in requirement for use environment, low in maintenance cost, and does not occupy manpower to solve the above problems.
Disclosure of Invention
The invention aims to provide a laser scanning-based conveying belt deviation type judging and deviation measuring and calculating system which is high in automation degree and strong in real-time performance and is not influenced by the external environment on the conveying belt deviation measurement.
The technical solution of the invention is as follows:
a conveyor belt deviation type judgment and deviation measurement and calculation system based on laser scanning is characterized in that: the laser scanner A is fixedly arranged on an adjustable bracket, the bracket is arranged right below a symmetrical shaft of the conveying belt, the laser scanner A vertically scans the conveying belt upwards, and the position and the height of the bracket can be adjusted according to different types of conveying belts; the laser scanning data is sent to the Ethernet through the serial port processor to realize remote data transmission; the speed measuring sensor is arranged on a middle shaft of an upper carrier roller of the conveying belt and rotates coaxially with the carrier roller; the belt speed data is collected by a speed measuring sensor and then transmitted to an upper computer by a GSM/GPRS module; the upper computer integrates all the detection result data and outputs the final deviation measurement value and the final deviation type judgment result, and the final result determines the operation of the alarm module P, Q;
the workflow comprises the following steps:
step 1: initializing, namely enabling the scanning frequency i of the laser scanner A to be 0, wherein i is 0,1,2, N, N is the total frequency of the laser scanner A for collecting the coordinate data of the edge of the conveying belt in the collection time T, and the collection time T and the frequency f of the laser scanner A are used for collecting the coordinate data of the edge of the conveying beltspeedDetermining the size N ═ T · fspeed；
Step 2: after the laser scanner A is started, establishing a system by taking a laser emission point as an original point, taking a straight line which passes through the emission point and is vertical to the transmission direction of the conveying belt during normal operation as an X axis and taking a straight line which passes through the emission point and is vertically upward as a Y axis; the communication module receives and records scanning data of all points of the edge profile of the conveying belt in unit time T, wherein the scanning data comprises the length S of a connecting line of a scanned point and a laser emission point and an included angle theta between the connecting line and an X axis; the data S obtained by the laser scanner A during operation has two sudden changes, wherein the left edge point is swept by the laser scanner A once, and the collected angle is alpha-thetamax(ii) a Scanning the right edge point by the laser scanner A once, and acquiring the angle beta-thetamin(ii) a Wherein the distance between the left edge point and the laser emission point satisfies (S)p+1-Sp)-(Sp-Sp-1) Zeta > and the distance between the right edge point and the laser emitting point is satisfied (S)q+1-Sq)-(Sq-Sq-1)≥δ，SpRefers to the distance S between the p-th laser beam emitted from the laser emitting point of the laser scanner A and the intersection point of the conveying beltqThe distance between the q-th laser beam emitted by a laser emitting point of the laser scanner A and the intersection point of the conveying belt is represented, wherein zeta and delta are constants, the values of the constants are difference threshold values when the laser scanner A acquires data S of two adjacent points when scanning the left side and the right side of the conveying belt, and the difference threshold values are exceeded to indicate that the laser scanner A scans the range of the conveying belt; sp and Sq are not in strict context, and the two values are defined by the corresponding angle θ at the time of acquisition, i.e. the angle α ═ θ at the time of acquisitionmaxSp is corresponding to time, and beta is theta at the time of collectionminCorresponding to Sq;
and step 3: the communication module transmits the data obtained in the step 2 into the data processing module, the data processing module removes the points with errors which do not meet the precision requirement,is defined herein to satisfy
Or
Should be removed, and the removed point is marked as XejJ ═ 1,2, 3 … … M. where j denotes that the point is the jth removed point, M denotes the total number of removed points, where γ denotes the limit value allowed for error; spiThe distance between the ith point of the left edge of the conveying belt and a laser emission point is calculated;
for all S collected during the collection time TpiAverage value of (d); sqiIs the distance between the ith point on the right edge of the conveyer belt and the laser emission point,
for all S collected during the collection time TqiAverage value of (d);
and 4, step 4: converting the data of S and theta into coordinate data of left and right edge points of the conveyor belt, wherein: coordinate data of the left edge point is PeLi(XeLi,YeLi) Wherein X iseLi＝Spicosαi，YeLi＝Spisinαi(ii) a Coordinate data of right edge point is PeRi(XeRi,YeRi) Wherein X iseRi＝Sqicosβi，YeRi＝Sqisinβi(ii) a Wherein, PeLiThe horizontal coordinate value of the left edge point in the collected ith group of data is XeLi＝SpicosαiOrdinate value of YeLi＝Spisinαi；PeRiThe horizontal coordinate value of the right edge point in the collected ith group of data is XeRi＝SqicosβiOrdinate value of YeRi＝Sqisinβi(ii) a Where α ═ θmax，β＝θmin；SpiTo the left of the ith conveyor beltDistance between the edge point and the point of laser emission, alphaiAn included angle between a connecting line of the ith left edge point and the laser emission point and the positive half axis of the X axis is formed; sqiIs the distance between the right edge point of the ith conveyer belt and the laser emission point, betaiThe included angle between the connecting line of the ith right edge point and the laser emission point and the X-axis positive half shaft is formed; taking the horizontal coordinate value X of the twoeLi＝Spicosαi、XeRi＝SqicosβiFor subsequent calculations;
and 5: after the calculation of the data processing module, the abscissa values of the left and right edge points of the conveyor belt in the time T can be expressed as:
where N is the total number of points scanned in T time, Spj、αj、Sqj、βjThe total number of the edge points of the conveying belt which are removed because the accuracy requirement is not met is M;
step 6: taking the length D of the conveying belt scanned by the laser scanner A as an X axis, wherein D is ViTi; establishing a system by taking horizontal coordinate data Xe of the edge of the conveying belt as an Y axis; fitting the scanned point coordinate data into a straight line Xe which is KViTi + b by combining the belt speed data V (t) and the conveying belt edge coordinate data Xe; the straight line is used for representing the motion trail of the conveying belt, K is the slope of the straight line, V is the belt speed of the conveying belt, b is the function auxiliary quantity, and no calculation significance is realized;
wherein
Wherein Vi is the belt speed of the laser scanner A at the ith scanning time, Ti is the time length from the first time of data acquisition of the laser scanner A to the ith time of data acquisition, and Xei is the coordinate data of the edge point of the conveying belt; n is the total times of data acquisition of the laser scanner A, and T is the total scanning time; obtaining the relative position of the edge of the conveying belt in the space, judging the deviation type of the conveying belt according to the slope of the straight line of the fitting result, and when the eta min is less than or equal to K and less than or equal to eta max, the conveying belt is transversely deviated, and if the eta min is not more than or equal to K, the conveying belt is obliquely deviated; wherein η min and η max are extreme values of the slope K of the straight line obtained in the step 6 when the conveying belt deviates transversely, and both values are constants;
and 7: if the conveying belt is laterally deviated, the deviation measured value L output after T time can be expressed as L ═ XeL|-|XeRL, |; the sign of the value of L represents the off-tracking direction, L>0 denotes left bias, L<0 represents a right offset; when the deviation amount satisfies | L | ≧ mu, mu is the limit value of the transverse deviation amount of the conveying belt allowed by the belt conveyor, and if the deviation amount exceeds the limit value, the alarm system P immediately gives an alarm;
if the conveying belt is of a special deviation type with a skew center line, the deviation amount is determined by a straight line Xe (KViTi + b); the conveyer belt is seriously deformed due to serious damage of the deviation to the conveyer belt, and the alarm Q immediately gives an alarm once the conveyer belt is found;
and 8: and finally, the deviation amount and the deviation type are transmitted back to the human-computer interaction module through the communication module to be displayed on the interaction interface as a final output detection result.
And transmitting the data acquired by the laser scanner A to a server through the Ethernet. The invention makes up the current situation that no high-precision real-time online belt conveyor deviation condition monitoring (deviation type, deviation amount) system exists in the field. The device has the advantages of simple system structure, high automation degree and strong real-time performance, and is not influenced by external environments such as powder layers, weather, light rays and the like to the deviation measurement of the conveying belt.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic diagram of a system structure of a conveyor belt deviation type judging and deviation measuring and calculating system based on laser scanning.
Fig. 2 is a structural diagram of a laser scanning type conveying belt edge coordinate data acquisition system in the conveying belt deviation type judging and deviation measuring and calculating system based on laser scanning.
Fig. 3 is a flow chart of a method of the system for measuring the deviation amount of the conveying belt and judging the deviation type based on laser scanning.
Fig. 4 is a schematic diagram of a principle of measuring coordinate data of the edge of the conveyor belt in the system for judging the deviation type and measuring the deviation amount of the conveyor belt based on laser scanning.
Fig. 5 is a schematic diagram of the principle of deviation type judgment in the laser scanning-based conveying belt deviation type judgment and deviation measuring and calculating system.
Detailed Description
A system for determining a deviation type and measuring a deviation amount of a conveyor belt based on laser scanning, taking the most common conveyor belt conveyor as an example, as shown in fig. 1, there are a belt conveyor (straight type, including basic configurations such as a driving motor and a carrier roller), a laser scanner a, a speed sensor B, a serial port processor C, a server D, a dc stabilized voltage supply E, a detection switch F, an upper computer G (capable of performing functions such as detecting a conveyor belt edge, measuring a belt speed, processing an error, determining a deviation type), and a GSM module H, I. Alarm module P, Q laser scanner A fixed mounting is on adjustable support, and the support mounting is under the conveyer belt symmetry axis, and laser scanner A scans the conveyer belt perpendicularly upwards, and the support position and height can be adjusted according to different types of conveyer belt. The laser scanning data is sent to the Ethernet through the serial port processor C to realize remote data transmission. The speed measuring sensor B is arranged on a middle shaft of an ascending carrier roller of the conveyor and rotates coaxially with the carrier roller. The belt speed data is collected by the speed measuring sensor and then transmitted to the upper computer by the GSM/GPRS module. And finally, integrating all the detection result data by the upper computer and outputting a final deviation measurement value and a deviation type judgment result. The end result will determine that the alarm module P, Q is operational.
The workflow of the system comprises the following steps:
step 1: initialThe scanning frequency i of the laser scanner A is 0, wherein i is 0,1,2, N, N is the total frequency of the laser scanner A collecting the coordinate data of the edge of the conveying belt in the collecting time T, and the collecting time T and the frequency f of the laser scanner A are used for collecting the coordinate data of the edge of the conveying beltspeedDetermining the size N ═ T · fspeed；
Step 2: after the laser scanner A is started, establishing a system by taking a laser emission point as an original point, taking a straight line which passes through the emission point and is vertical to the transmission direction of the conveying belt during normal operation as an X axis and taking a straight line which passes through the emission point and is vertically upward as a Y axis; the communication module receives and records scanning data of all points of the edge profile of the conveying belt in unit time T, wherein the scanning data comprises the length S of a connecting line of a scanned point and a laser emission point and an included angle theta between the connecting line and an X axis; the data S obtained by the laser scanner A during operation has two sudden changes, wherein the left edge point is swept by the laser scanner A once, and the collected angle is alpha-thetamax(ii) a Scanning the right edge point by the laser scanner A once, and acquiring the angle beta-thetamin(ii) a Wherein the distance between the left edge point and the laser emission point satisfies (S)p+1-Sp)-(Sp-Sp-1) Zeta > and the distance between the right edge point and the laser emitting point is satisfied (S)q+1-Sq)-(Sq-Sq-1)≥δ，SpRefers to the distance S between the p-th laser beam emitted from the laser emitting point of the laser scanner A and the intersection point of the conveying beltqThe distance between the q-th laser beam emitted by a laser emitting point of the laser scanner A and the intersection point of the conveying belt is represented, wherein zeta and delta are constants, the values of the constants are difference threshold values when the laser scanner A acquires data S of two adjacent points when scanning the left side and the right side of the conveying belt, and the difference threshold values are exceeded to indicate that the laser scanner A scans the range of the conveying belt; sp and Sq are not in strict context, and the two values are defined by the corresponding angle θ at the time of acquisition, i.e. the angle α ═ θ at the time of acquisitionmaxSp is corresponding to time, and beta is theta at the time of collectionminCorresponding to Sq;
and step 3: the communication module transmits the data obtained in the step 2 into the data processing module, and the data processing module removes the point where the error does not meet the precision requirement, wherein the specification meets the requirement
Or
Should be removed, and the removed point is marked as XejJ ═ 1,2, 3 … … M. where j denotes that the point is the jth removed point, M denotes the total number of removed points, where γ denotes the limit value allowed for error; spiThe distance between the ith point of the left edge of the conveying belt and a laser emission point is calculated;
for all S collected during the collection time TpiAverage value of (d); sqiIs the distance between the ith point on the right edge of the conveyer belt and the laser emission point,
for all S collected during the collection time TqiAverage value of (d);
and 4, step 4: converting the data of S and theta into coordinate data of left and right edge points of the conveyor belt, wherein: coordinate data of the left edge point is PeLi(XeLi,YeLi) Wherein X iseLi＝Spicosαi，YeLi＝Spisinαi(ii) a Coordinate data of right edge point is PeRi(XeRi,YeRi) Wherein X iseRi＝Sqicosβi，YeRi＝Sqisinβi(ii) a Wherein, PeLiThe horizontal coordinate value of the left edge point in the collected ith group of data is XeLi＝SpicosαiOrdinate value of YeLi＝Spisinαi；PeRiThe horizontal coordinate value of the right edge point in the collected ith group of data is XeRi＝SqicosβiOrdinate value of YeRi＝Sqisinβi(ii) a Where α ═ θmax，β＝θmin；SpiThe distance between the left edge point of the ith conveying belt and the laser emission point，αiAn included angle between a connecting line of the ith left edge point and the laser emission point and the positive half axis of the X axis is formed; sqiIs the distance between the right edge point of the ith conveyer belt and the laser emission point, betaiThe included angle between the connecting line of the ith right edge point and the laser emission point and the X-axis positive half shaft is formed; taking the horizontal coordinate value X of the twoeLi＝Spicosαi、XeRi＝SqicosβiFor subsequent calculations;
and 5: after the calculation of the data processing module, the abscissa values of the left and right edge points of the conveyor belt in the time T can be expressed as:
where N is the total number of points scanned in T time, Spj、αj、Sqj、βjThe total number of the edge points of the conveying belt which are removed because the accuracy requirement is not met is M;
step 6: taking the length D of the conveying belt scanned by the laser scanner A as an X axis, wherein D is ViTi; establishing a system by taking horizontal coordinate data Xe of the edge of the conveying belt as an Y axis; fitting the scanned point coordinate data into a straight line Xe which is KViTi + b by combining the belt speed data V (t) and the conveying belt edge coordinate data Xe; the straight line is used for representing the motion trail of the conveying belt, K is the slope of the straight line, V is the belt speed of the conveying belt, b is the function auxiliary quantity, and no calculation significance is realized;
wherein
Wherein Vi is the belt speed of the laser scanner A at the ith scanning time, Ti is the time length from the first time of data acquisition of the laser scanner A to the ith time of data acquisition, and Xei is the coordinate data of the edge point of the conveying belt; n is the total times of data acquisition of the laser scanner A, and T is the total scanning time; obtaining the relative position of the edge of the conveying belt in the space, judging the deviation type of the conveying belt according to the slope of the straight line of the fitting result, and when the eta min is less than or equal to K and less than or equal to eta max, the conveying belt is transversely deviated, and if the eta min is not more than or equal to K, the conveying belt is obliquely deviated; wherein η min and η max are extreme values of the slope K of the straight line obtained in the step 6 when the conveying belt deviates transversely, and both values are constants;
and 7: if the conveying belt is laterally deviated, the deviation measured value L output after T time can be expressed as L ═ XeL|-|XeRL, |; the sign of the value of L represents the off-tracking direction, L>0 denotes left bias, L<0 represents a right offset; when the deviation amount satisfies | L | ≧ mu, mu is the limit value of the transverse deviation amount of the conveying belt allowed by the belt conveyor, and if the deviation amount exceeds the limit value, the alarm system P immediately gives an alarm;
if the conveying belt is of a special deviation type with a skew center line, the deviation amount is determined by a straight line Xe (KViTi + b); the conveyer belt is seriously deformed due to serious damage of the deviation to the conveyer belt, and the alarm Q immediately gives an alarm once the conveyer belt is found;
and 8: and finally, the deviation amount and the deviation type are transmitted back to the human-computer interaction module through the communication module to be displayed on the interaction interface as a final output detection result.
Claims (2)
1. A conveyor belt deviation type judgment and deviation measurement and calculation system based on laser scanning is characterized in that: the laser scanner A is fixedly arranged on an adjustable bracket, the bracket is arranged right below a symmetrical shaft of the conveying belt, the laser scanner A vertically scans the conveying belt upwards, and the position and the height of the bracket can be adjusted according to different types of conveying belts; the laser scanning data is sent to the Ethernet through the serial port processor to realize remote data transmission; the speed measuring sensor is arranged on a middle shaft of an upper carrier roller of the conveying belt and rotates coaxially with the carrier roller; the belt speed data is collected by a speed measuring sensor and then transmitted to an upper computer by a GSM/GPRS module; the upper computer integrates all the detection result data and outputs the final deviation measurement value and the final deviation type judgment result, and the final result determines the operation of the alarm module P, Q;
the workflow comprises the following steps:
step 1: initializing, namely enabling the scanning frequency i of the laser scanner A to be 0, wherein i is 0,1,2, N, N is the total frequency of the laser scanner A for collecting the coordinate data of the edge of the conveying belt in the collection time T, and the collection time T and the frequency f of the laser scanner A are used for collecting the coordinate data of the edge of the conveying beltspeedDetermining the size N ═ T · fspeed；
Step 2: after the laser scanner A is started, establishing a system by taking a laser emission point as an original point, taking a straight line which passes through the emission point and is vertical to the transmission direction of the conveying belt during normal operation as an X axis and taking a straight line which passes through the emission point and is vertically upward as a Y axis; the communication module receives and records scanning data of all points of the edge profile of the conveying belt in unit time T, wherein the scanning data comprises the length S of a connecting line of a scanned point and a laser emission point and an included angle theta between the connecting line and an X axis; the data S obtained by the laser scanner A during operation has two sudden changes, wherein the left edge point is swept by the laser scanner A once, and the collected angle is alpha-thetamax(ii) a Scanning the right edge point by the laser scanner A once, and acquiring the angle beta-thetamin(ii) a Wherein the distance between the left edge point and the laser emission point satisfies (S)p+1-Sp)-(Sp-Sp-1) Zeta > and the distance between the right edge point and the laser emitting point is satisfied (S)q+1-Sq)-(Sq-Sq-1)≥δ，SpRefers to the distance S between the p-th laser beam emitted from the laser emitting point of the laser scanner A and the intersection point of the conveying beltqThe distance between the q-th laser beam emitted by a laser emitting point of the laser scanner A and the intersection point of the conveying belt is represented, wherein zeta and delta are constants, the values of the constants are difference threshold values when the laser scanner A acquires data S of two adjacent points when scanning the left side and the right side of the conveying belt, and the difference threshold values are exceeded to indicate that the laser scanner A scans the range of the conveying belt; sp and Sq are not in strict context, and the two values are defined by the corresponding angle θ at the time of acquisition, i.e. the angle α ═ θ at the time of acquisitionmaxSp is corresponding to time, and beta is theta at the time of collectionminCorresponding to Sq;
and step 3: the communication module transmits the data obtained in the step 2 into the data processing module, and the data processing module removes the point where the error does not meet the precision requirement, wherein the specification meets the requirement
Or
Should be removed, and the removed point is marked as XejJ ═ 1,2, 3 … … M. where j denotes that the point is the jth removed point, M denotes the total number of removed points, where γ denotes the limit value allowed for error; spiThe distance between the ith point of the left edge of the conveying belt and a laser emission point is calculated;
for all S collected during the collection time TpiAverage value of (d); sqiIs the distance between the ith point on the right edge of the conveyer belt and the laser emission point,
for all S collected during the collection time TqiAverage value of (d);
and 4, step 4: converting the data of S and theta into coordinate data of left and right edge points of the conveyor belt, wherein: coordinate data of the left edge point is PeLi(XeLi,YeLi) Wherein X iseLi＝Spicosαi，YeLi＝Spisinαi(ii) a Coordinate data of right edge point is PeRi(XeRi,YeRi) Wherein X iseRi＝Sqicosβi，YeRi＝Sqisinβi(ii) a Wherein, PeLiThe horizontal coordinate value of the left edge point in the collected ith group of data is XeLi＝SpicosαiOrdinate value of YeLi＝Spisinαi；PeRiFor the acquired data of the ith groupRight edge point with X abscissa valueeRi＝SqicosβiOrdinate value of YeRi＝Sqisinβi(ii) a Where α ═ θmax，β＝θmin；SpiIs the distance between the left edge point of the ith conveyor belt and the laser emission point, alphaiAn included angle between a connecting line of the ith left edge point and the laser emission point and the positive half axis of the X axis is formed; sqiIs the distance between the right edge point of the ith conveyer belt and the laser emission point, betaiThe included angle between the connecting line of the ith right edge point and the laser emission point and the X-axis positive half shaft is formed; taking the horizontal coordinate value X of the twoeLi＝Spicosαi、XeRi＝SqicosβiFor subsequent calculations;
and 5: after the calculation of the data processing module, the abscissa values of the left and right edge points of the conveyor belt in the time T can be expressed as:
where N is the total number of points scanned in T time, Spj、αj、Sqj、βjThe total number of the edge points of the conveying belt which are removed because the accuracy requirement is not met is M;
step 6: taking the length D of the conveying belt scanned by the laser scanner A as an X axis, wherein D is ViTi; establishing a system by taking horizontal coordinate data Xe of the edge of the conveying belt as an Y axis; fitting the scanned point coordinate data into a straight line Xe which is KViTi + b by combining the belt speed data V (t) and the conveying belt edge coordinate data Xe; the straight line is used for representing the motion trail of the conveying belt, K is the slope of the straight line, V is the belt speed of the conveying belt, b is the function auxiliary quantity, and no calculation significance is realized;
wherein
Wherein Vi is the belt speed of the laser scanner A at the ith scanning time, Ti is the time length from the first time of data acquisition of the laser scanner A to the ith time of data acquisition, and Xei is the coordinate data of the edge point of the conveying belt; n is the total times of data acquisition of the laser scanner A, and T is the total scanning time; obtaining the relative position of the edge of the conveying belt in the space, judging the deviation type of the conveying belt according to the slope of the straight line of the fitting result, and when the eta min is less than or equal to K and less than or equal to eta max, the conveying belt is transversely deviated, and if the eta min is not more than or equal to K, the conveying belt is obliquely deviated; wherein η min and η max are extreme values of the slope K of the straight line obtained in the step 6 when the conveying belt deviates transversely, and both values are constants;
and 7: if the conveying belt is laterally deviated, the deviation measured value L output after T time can be expressed as L ═ XeL|-|XeRL, |; the sign of the value of L represents the off-tracking direction, L>0 denotes left bias, L<0 represents a right offset; when the deviation amount satisfies | L | ≧ mu, mu is the limit value of the transverse deviation amount of the conveying belt allowed by the belt conveyor, and if the deviation amount exceeds the limit value, the alarm module P immediately gives an alarm;
if the conveying belt is of a special deviation type with a skew center line, the deviation amount is determined by a straight line Xe (KViTi + b); the conveyer belt is seriously damaged due to the deviation, so that the conveyer belt is seriously deformed, and the alarm module Q immediately gives an alarm once the conveyer belt is found;
and 8: and finally, the deviation amount and the deviation type are transmitted back to the human-computer interaction module through the communication module to be displayed on the interaction interface as a final output detection result.
2. The conveyor belt deviation type judging and deviation measuring and calculating system based on laser scanning as claimed in claim 1, wherein: and transmitting the data acquired by the laser scanner A to a server through the Ethernet.
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Application publication date: 20201204 Assignee: Wuhan zhiao Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022420000031 Denomination of invention: System for judging conveyor belt deviation type and measuring deviation based on laser scanning Granted publication date: 20211224 License type: Common License Record date: 20220511 |
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