CN112710480A - Forklift bucket tooth falling detection device and method based on laser ranging array - Google Patents
Forklift bucket tooth falling detection device and method based on laser ranging array Download PDFInfo
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- CN112710480A CN112710480A CN202011550790.2A CN202011550790A CN112710480A CN 112710480 A CN112710480 A CN 112710480A CN 202011550790 A CN202011550790 A CN 202011550790A CN 112710480 A CN112710480 A CN 112710480A
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims description 13
- 239000011159 matrix material Substances 0.000 claims abstract description 93
- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000013500 data storage Methods 0.000 claims abstract description 9
- 230000002159 abnormal effect Effects 0.000 claims abstract description 8
- 230000005284 excitation Effects 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004806 packaging method and process Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 3
- 238000007405 data analysis Methods 0.000 abstract 1
- 206010062544 Tooth fracture Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
Abstract
The invention discloses a forklift bucket tooth falling detection device based on a laser ranging array. The device measures the distance between the device and the bucket teeth through a laser ranging matrix data acquisition module; the matrix data storage and transmission module is used for storing data and transmitting the data to the matrix data processing module, the matrix data processing module performs data analysis and comparison according to the distance, and if the working state of the bucket tooth is judged to be abnormal, the alarm module gives an alarm. The device has the characteristics of real time, rapidness and accuracy, can adapt to the severe working environment of the forklift, has long service life and strong anti-interference capability, and can improve the construction efficiency.
Description
Technical Field
The invention is applied to the field of construction of large electric shovels/forklifts, and particularly relates to a device for intelligently monitoring and alarming bucket tooth falling in the working process of a forklift based on a laser ranging matrix device and a laser matrix measurement data processing technology.
Background
The shovel loading link of the large-scale strip mine cannot leave a large-scale electric shovel or a forklift. However, during the process of loading ore, due to the breakage of the bolt or the breakage of the bucket tooth, the bucket tooth on the bucket is often separated, and the ore is mixed and loaded into the mine car. If the situation that the falling/broken bucket teeth and ores enter the ore crusher cannot be found in time, once the bucket teeth and the ores enter a crushing system, the crusher can be clamped, so that the roller teeth of the crusher, a speed reduction system and other parts are damaged, the production of a mine is delayed, and great economic loss is caused.
Disclosure of Invention
The invention aims to provide a forklift bucket tooth falling and working process detection device and method based on a laser ranging array, which improve the working efficiency and the working safety.
In order to solve the technical problem, the invention provides a technical scheme that: the device comprises:
the laser ranging matrix data acquisition module is used for acquiring data of the distance between the laser ranging matrix data acquisition module and the bucket teeth; the laser ranging matrix data acquisition module comprises a laser ranging matrix device and an excitation range finder; the excitation range finder measures according to the set measuring frequency and is preset with an excitation distance LzWhen the bucket moves to the bucket ore unloading position, the distance between the bucket tooth and the excitation range finder is less than or equal to LzThereby exciting the laser ranging matrix device to measure; the laser ranging matrix device comprises N1 rows of laser range finders arranged in N2 matrixes in each row, and the angle of a light beam emitted by each laser range finder is adjusted, so that when the bucket moves to the bucket ore unloading position, the light beam emitted by each row of laser range finders uniformly hits on corresponding bucket teeth, and the distance monitoring of all the bucket teeth is completed;
the matrix data storage and transmission module is used for storing and transmitting the distance between the laser range finder and the bucket teeth;
and the matrix data processing module is used for comparing and analyzing data according to the distance between the laser range finder and the bucket tooth to obtain the result of whether the working state of the bucket tooth is abnormal or not.
According to the scheme, the front end of the optical range finder is provided with a laser receiving window and a laser transmitting end.
According to the scheme, the rear end of the laser range finder is provided with a laser range finder wiring terminal.
According to the scheme, the laser ranging matrix device comprises a laser ranging matrix backboard, and a plurality of laser ranging instrument angle adjusting mechanisms arranged in a matrix mode are arranged on the laser ranging matrix backboard.
According to the scheme, the laser range finder angle adjusting mechanism comprises an adjusting bolt, and the laser measuring angle is adjusted through the adjusting bolt.
According to the scheme, the laser ranging matrix device is coated with the waterproof and shockproof packaging box, and the cleaning device is arranged at the front end of the waterproof and shockproof packaging box.
According to the scheme, the matrix data storage and transmission module comprises a first laser range finder wiring board, and a wireless transmission module, a storage module and a laser range finder wiring board are arranged on the first laser range finder wiring board; the laser range finder connecting plate is connected with a laser range finder wiring terminal through a laser range finder connecting wire and used for receiving data collected by the laser range finder matrix device; the storage module is used for temporarily storing the data; the wireless transmission module is used for transmitting the data to the matrix data processing module.
According to the scheme, the forklift main body is provided with the alarm module for alarming when the matrix data processing module judges that the working state of the bucket teeth is abnormal.
The forklift bucket tooth falling detection method based on the laser ranging array comprises the following steps:
step 1, initialization:
controlling the forklift to move the bucket from the bucket ore loading position to the bucket ore unloading position, and setting the distance according to the distance between the bucket teeth and the laser ranging matrix data acquisition moduleExcitation distance of the excitation range finder is Lz；
Adjusting the angles of the multipath laser ranging beams of the laser range finder to enable each line of laser to uniformly hit the corresponding bucket tooth;
step 3, data collected by the range finder is excited to be transmitted to the matrix data processing module through the storage module;
and 4, calculating and comparing the data with a preset numerical value by the matrix data processing module, and judging whether the bucket teeth fall off or break.
According to the scheme, the matrix data processing module specifically comprises the following processing processes: the matrix data processing module calculates the received data of each row of laser range finders independently; when all data in a certain column is greater than or equal to a certain specific value L1And all the data in the column are differenced, and the maximum value of the absolute values of the differences is greater than or equal to another specific value L2And judging that the bucket tooth corresponding to the row of data falls off or breaks.
The invention has the beneficial effects that:
1. the device is provided with the laser ranging matrix data acquisition module on the large arm of the forklift, each row of laser range finders is corresponding to one bucket tooth for monitoring, the device has the characteristics of real time, rapidness and accuracy, is suitable for the severe working environment of the forklift, has long service life and strong anti-interference capability, and can improve the construction efficiency; meanwhile, the distance measuring instrument is excited, and only when the bucket moves to a specific position, the laser distance measuring matrix device is excited to collect the distance, so that the reliability of data collection is ensured, and the judgment precision is improved.
2. Through setting up laser range finder angle adjustment mechanism, can carry out the alignment between laser range finder and the bucket tooth according to the structural feature of concrete forklift when initial installation, convenient and reliable to the forklift of adaptation various models.
3. Through waterproof shockproof packaging box, guaranteed the adaptability of laser rangefinder matrix device to adverse circumstances, install belt cleaning device additional simultaneously for laser rangefinder avoids when measuring and the scraper bowl between the dust disturb.
Drawings
FIG. 1 is a flow chart of a principle of monitoring bucket tooth falling by a laser ranging matrix;
FIG. 2 is a schematic view of the installation of a bucket tooth drop monitoring and warning system;
FIG. 3 is a schematic diagram of a laser ranging matrix device;
FIG. 4 is a schematic diagram of a matrix data storage and transmission module and a laser range finder connecting line;
FIG. 5 is a schematic view of an angle adjustment panel of the laser ranging matrix device;
fig. 6 is a schematic view of different bucket tooth structures and operating states of the forklift.
In the figure: 1-an industrial tablet computer, 2-an alarm module, 3-a transmission line, 4-a laser ranging matrix device, 5-a bucket unloading position, 6-a bucket loading ore position, 7-bucket teeth, 8-a bucket bottom baffle, 9-unloaded ore, 10-a bucket, 11-multiple laser ranging beams, 4-1-a front end, 4-2-a laser receiving window, 4-3-a laser emitting end, 4-4-a cleaning device connector lug, 4-5-a rear end, 4-6-a laser ranging instrument connector lug, 4-7-a first laser ranging matrix device wiring board, 4-8-a wireless transmission module, 4-9-a laser ranging instrument wiring board, 4-10-a second laser ranging matrix device wiring board, 4-11-a storage module, 4-12-a laser range finder connecting wire, 4-13-a laser range finder angle adjusting mechanism, 4-14-an adjusting bolt, 4-15-a laser range finder matrix back plate, 7-1-a three-section structure bucket tooth front end, 7-2-a three-section structure bucket tooth middle end, 7-3-a three-section structure bucket tooth tail end, 7-4-a section structure bucket tooth normal working state, 7-5-a two-section structure bucket tooth front end, 7-6-a two-section structure bucket tooth tail end, 7-7-a bucket tooth mounting rivet, 7-8-a section structure bucket tooth falling state, 7-9-a bucket tooth connecting bucket hole, 7-10-a laser range finder bucket tooth laser spot, 7-11-a bucket tooth fracture state fracture part, 7-12-breakage state of bucket teeth with one section of structure, and 7-13 connection positions of a plurality of sections of structures.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Referring to fig. 1, 2, 3, 4, 5, a forklift bucket tooth falling and working process detection device based on laser ranging array includes:
the laser ranging matrix data acquisition module is used for acquiring data of the distance between the laser ranging matrix data acquisition module and the bucket teeth 7; the laser ranging matrix data acquisition module comprises a laser ranging matrix device 4 and an excitation range finder; the excitation range finder measures according to the set measuring frequency and is preset with an excitation distance LzWhen the bucket 10 moves to the bucket dumping position 5, the distance between the teeth 7 and the excitation range finder is less than or equal to LzThereby exciting the laser ranging matrix device 4 to measure; the laser distance measuring matrix device 4 comprises N1 rows and N2 laser distance measuring instruments arranged in a matrix form in each row, and the angle of the light beam emitted by each laser distance measuring instrument is adjusted, so that when the bucket moves to the bucket ore unloading position 5, the light beam emitted by each row of laser distance measuring instruments uniformly hits on the corresponding bucket teeth 7, and the distance monitoring of all the bucket teeth 7 is completed;
the matrix data storage and transmission module is used for storing and transmitting the distance between the laser range finder and the bucket teeth 7;
and the matrix data processing module is used for comparing and analyzing data according to the distance between the laser range finder and the bucket tooth 7 to obtain the result of whether the working state of the bucket tooth 7 is abnormal or not.
Preferably, the front end 4-1 of the laser range finder is provided with a laser receiving window 4-2 and a laser emitting end 4-3, and can emit and receive laser to complete the distance detection of the bucket teeth 7.
Preferably, the rear end 4-5 of the laser range finder is provided with a laser range finder terminal 4-6, and data are transmitted to the matrix data storage and transmission module through a laser range finder connecting line 4-12.
Preferably, the laser ranging matrix device 4 comprises a laser ranging matrix backboard 4-15, and a plurality of laser ranging instrument angle adjusting mechanisms 4-13 arranged in a matrix form are arranged on the laser ranging matrix backboard 4-15 and used for adjusting the laser angle emitted by the laser ranging instruments so that each row of laser can be uniformly beaten on the bucket teeth 7.
Preferably, the angle adjusting mechanism 4-13 of the laser range finder comprises adjusting bolts 4-14, and the adjustment of the laser angle emitted by the laser range finder is completed by adjusting the tightness degree of the adjusting bolts 4-14 at different positions.
Preferably, the laser ranging matrix device 4 is coated with a waterproof and shockproof packaging box for protecting the laser ranging matrix device 4, and a cleaning device is arranged at the front end of the waterproof and shockproof packaging box for periodically cleaning the waterproof and shockproof packaging box to ensure that the measurement result of the laser ranging matrix device 4 is accurate.
Preferably, the matrix data storage and transmission module comprises a first laser range finder wiring board 4-7, and a wireless transmission module 4-7, a storage module 4-11 and a laser range finder wiring board 4-9 are arranged on the first laser range finder wiring board 4-7; the laser range finder connecting plate 4-9 is connected with a laser range finder terminal 4-6 through a laser range finder connecting wire 4-12 and used for receiving data collected by the laser range finder matrix device 4; the storage module 4-11 is used for temporarily storing the data; the wireless transmission module 4-7 is used for transmitting the data to the matrix data processing module.
Preferably, the wireless transmission module 4-7 is a bluetooth transmission module.
Preferably, be provided with alarm module 2 in the forklift main part for send big decibel's chimes of doom when matrix data processing module judges 7 operating condition of bucket tooth unusual, remind the workman to stop the operation, overhaul.
The forklift bucket tooth falling detection method based on the laser ranging array comprises the following steps:
step 1, initialization:
controlling the forklift to move the bucket from the bucket ore loading position 6 to the bucket ore unloading position 5, and exciting according to the bucket tooth distance at the momentSetting the excitation distance of the excitation range finder to be L by the distance of the optical ranging matrix data acquisition modulez；
Adjusting the angle of a plurality of paths of laser ranging light beams 11 of the laser range finder to enable each line of laser to uniformly hit the corresponding bucket tooth, wherein as shown in fig. 6, the bucket tooth 7 is fixed on the bucket 10 through a bucket tooth mounting rivet 7-7 and a bucket tooth connecting bucket hole 7-9 arranged on the bucket 10; the bucket teeth 7 are divided into three types, namely a first-section structure bucket tooth, a second-section structure bucket tooth and a third-section structure bucket tooth, and the second-section structure bucket tooth consists of a front end 7-5 of the second-section structure bucket tooth and a tail end 7-6 of the second-section structure bucket tooth; the three-section structure bucket tooth consists of a front end 7-1 of the three-section structure bucket tooth, a middle end 7-2 of the three-section structure bucket tooth and a tail end 7-3 of the three-section structure bucket tooth; the multi-section structure bucket tooth is provided with a multi-section structure connecting part 7-13; after the angle adjustment is finished, the bucket teeth 7 are uniformly distributed with laser points 7-10 of the bucket teeth of the laser range finders;
step 3, data collected by the range finder is excited to be transmitted to the matrix data processing module through the storage module;
and 4, calculating and comparing the data with a preset numerical value by the matrix data processing module, and judging whether the bucket teeth 7 fall off or break.
The data acquisition process in the step 2 specifically comprises the following steps: the distances measured by the n laser range finders in the 1 st column are respectively recorded as: l is11,L12,L13…L1nThe distances measured by the n laser range finders in the 2 nd column at one time are respectively recorded as: l is21,L22,L23…L2nSimilarly, the distances measured by the n laser range finders in the mth column at one time are respectively recorded as: l ism1,Lm2,Lm3…Lmn. Thus, one data matrix S can be obtained by measuring with the laser range finder at a timeijAnd completing data acquisition of a shovel loading cycle.
The calculation process of the matrix data processing module in the step 4 specifically comprises the following steps: data L measured by a first column of laser rangefinders11,L12,L13…L1nFor example, the tooth drop is determined only when n data satisfy equations (1) and (2);
L11,L12,L13.....L1n≥L1 (1)
max{abs[mminus(L11,L12,L13.....L1n)]}≥L0 (2)
the formula (1) is that all data measured by the first row of laser range finders and L1Comparing; the formula (2) is that all the data measured by the first row of laser range finders are mutually differenced, then the absolute value of each difference is obtained, the maximum value is obtained, and the maximum value and L are combined0And (6) comparing.
When the working state of the bucket tooth 7 is abnormal, referring to the bucket tooth fracture state 7-12 and the bucket tooth fracture state fracture part 7-11 of the section of structure in fig. 6, the working state of the bucket tooth 7 is judged to be abnormal after the corresponding data of the row of bucket teeth are calculated by the formula (1) and the formula (2), and the alarm module 2 gives an alarm.
When the working state of the bucket teeth 7 is normal, the operator controls the forklift to open the baffle 8 at the bottom of the bucket, and the unloaded ore 9 falls.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a forklift bucket tooth detection device that drops based on laser rangefinder array which characterized in that: the device comprises: the laser ranging matrix data acquisition module is used for acquiring data of the distance between the laser ranging matrix data acquisition module and the bucket teeth; wherein the laser ranging matrix dataThe acquisition module comprises a laser ranging matrix device and an excitation range finder; the excitation range finder measures according to the set measuring frequency and is preset with an excitation distance LzWhen the bucket moves to the bucket ore unloading position, the distance between the bucket tooth and the excitation range finder is less than or equal to LzThereby exciting the laser ranging matrix device to measure; the laser ranging matrix device comprises N1 rows of laser range finders arranged in N2 matrixes in each row, and the angle of a light beam emitted by each laser range finder is adjusted, so that when the bucket moves to the bucket ore unloading position, the light beam emitted by each row of laser range finders uniformly hits on corresponding bucket teeth, and the distance monitoring of all the bucket teeth is completed;
the matrix data storage and transmission module is used for storing and transmitting the distance between the laser range finder and the bucket teeth; and the matrix data processing module is used for comparing and analyzing data according to the distance between the laser range finder and the bucket tooth to obtain the result of whether the working state of the bucket tooth is abnormal or not.
2. The forklift bucket tooth drop detection device based on the laser ranging array as recited in claim 1, wherein: the front end of the laser range finder is provided with a laser receiving window and a laser transmitting end.
3. The forklift bucket tooth drop detection device based on the laser ranging array as recited in claim 1, wherein: and the rear end of the laser range finder is provided with a wiring end of the laser range finder.
4. The forklift bucket tooth drop detection device based on the laser ranging array as recited in claim 1, wherein: the laser ranging matrix device comprises a laser ranging matrix back plate, and a plurality of laser ranging instrument angle adjusting mechanisms arranged in a matrix form are arranged on the laser ranging matrix back plate.
5. The forklift bucket tooth drop detection device based on the laser ranging array as recited in claim 1, wherein: the laser range finder angle adjusting mechanism comprises an adjusting bolt, and the laser measuring angle is adjusted through the adjusting bolt.
6. The forklift bucket tooth drop detection device based on the laser ranging array as recited in claim 1, wherein: the laser ranging matrix device is coated with a waterproof and shockproof packaging box, and a cleaning device is arranged at the front end of the waterproof and shockproof packaging box.
7. The forklift bucket tooth drop detection device based on the laser ranging array as recited in claim 1, wherein: the matrix data storage and transmission module comprises a laser range finder wiring board, and a wireless transmission module, a storage module and a laser range finder wiring board are arranged on the laser range finder wiring board; the laser range finder connecting plate is connected with a laser range finder wiring terminal through a laser range finder connecting wire and used for receiving data collected by the laser range finder matrix device; the storage module is used for temporarily storing the data; the wireless transmission module is used for transmitting the data to the matrix data processing module.
8. The forklift bucket tooth drop detection device based on the laser ranging array as recited in claim 1, wherein: the forklift main body is provided with an alarm module for alarming when the matrix data processing module judges that the working state of the bucket teeth is abnormal.
9. The bucket tooth falling detection method realized by using the laser ranging array-based bucket tooth falling detection device of the forklift according to any one of claims 1 to 8, characterized by comprising the following steps: the method comprises the following steps:
step 1, initialization:
controlling the forklift to move the bucket from the bucket ore loading position to the bucket ore unloading position, and setting the excitation distance for exciting the distance meter to be L according to the distance between the bucket tooth and the laser ranging matrix data acquisition module at the momentz；
Adjusting the angles of the multipath laser ranging beams of the laser range finder to enable each line of laser to uniformly hit the corresponding bucket tooth;
step 2When the forklift starts to operate and the bucket reciprocates, the distance L between the bucket tooth and the laser ranging matrix data acquisition module is less than LzThen, exciting the distance measuring instrument to excite the laser distance measuring matrix device to acquire data;
step 3, data collected by the range finder is excited to be transmitted to the matrix data processing module through the storage module;
and 4, calculating and comparing the data with a preset numerical value by the matrix data processing module, and judging whether the bucket teeth fall off or break.
10. The tooth drop detection method according to claim 9, wherein: the matrix data processing module specifically comprises the following processing processes: the matrix data processing module calculates the received data of each row of laser range finders independently; when all data in a certain column is greater than or equal to a certain specific value L1And all the data in the column are differenced, and the maximum value of the absolute values of the differences is greater than or equal to another specific value L2And judging that the bucket tooth corresponding to the row of data falls off or breaks.
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| CN202011550790.2A CN112710480A (en) | 2020-12-24 | 2020-12-24 | Forklift bucket tooth falling detection device and method based on laser ranging array |
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| CN202011550790.2A CN112710480A (en) | 2020-12-24 | 2020-12-24 | Forklift bucket tooth falling detection device and method based on laser ranging array |
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2020
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Application publication date: 20210427 |