CN113895911A - Intelligent coal flow control system, method and storage medium - Google Patents
Intelligent coal flow control system, method and storage medium Download PDFInfo
- Publication number
- CN113895911A CN113895911A CN202111356417.8A CN202111356417A CN113895911A CN 113895911 A CN113895911 A CN 113895911A CN 202111356417 A CN202111356417 A CN 202111356417A CN 113895911 A CN113895911 A CN 113895911A
- Authority
- CN
- China
- Prior art keywords
- coal
- belt
- speed
- intelligent
- equipment
- 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
- 239000003245 coal Substances 0.000 title claims abstract description 197
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000003860 storage Methods 0.000 title description 4
- 238000007689 inspection Methods 0.000 claims abstract description 56
- 238000012545 processing Methods 0.000 claims abstract description 27
- 230000001276 controlling effect Effects 0.000 claims abstract description 24
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 claims abstract description 11
- 238000005516 engineering process Methods 0.000 claims description 12
- 230000002159 abnormal effect Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 8
- 230000007797 corrosion Effects 0.000 claims description 6
- 238000005260 corrosion Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000000779 smoke Substances 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 208000003164 Diplopia Diseases 0.000 claims description 3
- 208000029444 double vision Diseases 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 claims description 2
- 230000006855 networking Effects 0.000 claims description 2
- 238000001931 thermography Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 26
- 229910052742 iron Inorganic materials 0.000 description 13
- 238000005065 mining Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 5
- 206010070245 Foreign body Diseases 0.000 description 4
- 206010063385 Intellectualisation Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000034303 cell budding Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Control Of Conveyors (AREA)
Abstract
The invention discloses an intelligent coal flow control system, a method and a storable medium, which relate to the technical field of coal flow control, and the system comprises: the intelligent inspection system determines the operation condition and the parameter association relation of the equipment based on the acquired equipment data, establishes an equipment state dynamic monitoring model and detects whether the equipment has faults in real time; the foreign matter identification and treatment system is used for determining whether foreign matters exist or not based on the collected running belt image, recording the positions of the foreign matters if the foreign matters exist, controlling the belt conveyor to stop running and treating the foreign matters; the coal flow energy-saving speed regulating system controls the coal feeding amount of the coal feeder based on the detected coal level signal, regulates the running speed of the frequency converter and obtains an accurate belt speed protection signal; and the centralized control system is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system. The invention ensures the reliable operation of the system and the safe production of coal, saves the fault processing time, regulates and controls the belt operation speed according to the coal quantity, and has obvious energy-saving benefit.
Description
Technical Field
The invention relates to the technical field of coal flow control, in particular to an intelligent coal flow control system, an intelligent coal flow control method and a storable medium.
Background
Coal mines are reasonable spaces excavated by human beings when geological layers rich in coal are excavated, various coal mine mechanical equipment plays an increasingly critical role in coal production along with the rapid development of the coal mine industry in China. However, the belt speed of the domestic multi-stage belt type coal mining machine cannot be intelligently controlled according to the real-time coal quantity, the domestic multi-stage belt type coal mining machine is in a high-speed low-load state for a long time, the electric energy consumption is increased, and the concept of 'green development' of the coal industry is not consistent; in the process of transporting coal, large blocks of coal gangue, anchor cables and other foreign matters are often doped, so that coal flow blockage, coal piling and adhesive tape tearing of a transportation system are easily caused, and coal mine production is influenced; the multistage belt conveyor has high air humidity and much dust in the operation environment, and causes hidden trouble to an electromechanical device of the belt conveyor, thereby influencing a production line and causing production loss.
Therefore, how to detect field equipment, foreign matters and the like and regulate and control the running speed of the belt, ensure the safe transportation of coal flow, and how to further promote the automation, the intellectualization and the unmanned performance of mines is a problem which needs to be solved by technical personnel in the field.
Disclosure of Invention
In view of the above, the invention provides an intelligent coal flow control system, an intelligent coal flow control method and a storable medium, which ensure reliable operation of the system and safe coal production, save failure processing time, regulate and control the belt operation speed, and have remarkable energy-saving benefit.
In order to achieve the above object, the present invention provides an intelligent coal flow control system, including: the system comprises an intelligent inspection system, a foreign matter identification and treatment system, a coal flow energy-saving speed regulation system and a centralized control system;
the intelligent inspection system determines the operation condition and the parameter incidence relation of the equipment based on the acquired equipment data, establishes an equipment state dynamic monitoring model, and acquires image, sound, infrared thermal image and temperature data, smoke and H of an inspection site in real time by carrying various sensors on the equipment2S、CO、O2And CH4And (5) classifying, storing, analyzing and processing images, sounds and data in real time according to the information of the gas concentration, and displaying the images, the sounds and the data in a roadway model of the upper computer in real time. Acquiring images of key equipment with different angles in a roadway, wherein the equipment comprises a carrier roller, a motor, a roller, a cable and the like; monitoring abnormal sounds of running equipment through a sound pick-up, comparing the abnormal sounds with normal sounds, and alarming when the abnormal sounds occur; by detecting H in the environment2S、CO、O2And CH4If the gas concentration and the smoke are out of limit, alarming when the gas concentration and the smoke are out of limit; whether the equipment has faults or not is detected in real time through the method;
the foreign matter identification and processing system is used for carrying out median filtering on the collected running belt image, normalizing the image to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top cap processing according to the characteristics of the measured object, determining whether foreign matters exist or not by combining the characteristics of a binary object in the shape of the measured object, recording the position of the foreign matters if the foreign matters exist, and controlling the belt conveyor to stop running and process the foreign matters;
the coal flow energy-saving speed regulating system controls the coal feeding amount of the coal feeder based on the detected coal level signal, regulates the running speed of the frequency converter and obtains an accurate belt speed protection signal;
and the centralized control system is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system.
The technical scheme discloses a specific structure of the intelligent coal flow control system, and the system can be used for monitoring the running state, the coal quantity, the conveying speed and whether foreign matters exist in real time, so that the system further promotes the automation, the intellectualization and the unmanned property of a mine.
Optionally, the intelligent inspection system comprises an inspection robot for acquiring field working condition data, a rail system for supporting the inspection robot to move, a traction system for traction the inspection robot to move, a base station and a ground workstation, wherein the base station is responsible for reading data to be transmitted by the control box and sending the data to the ground workstation, and a control instruction formed after the ground workstation processes the data is transmitted to the control box through the base station;
based on the obtained current operation state data and historical data of the coal mine system networking online equipment, the inspection robot obtains various operation conditions and parameter association relations of the equipment by using a big data intelligent fault early warning technology, establishes a state dynamic monitoring model and discovers abnormal changes of the equipment in real time.
The technical scheme discloses a specific structure of the intelligent inspection system, and the intelligent inspection system adopts an artificial intelligence technology and a big data early warning technology to inspect and monitor the on-site equipment, replaces manual inspection, and saves fault processing time.
Optionally, the inspection robot carries a fixed camera, a double-vision holder camera, a pickup sensor and an infrared thermal imaging temperature measuring instrument;
the fixed camera is arranged at the front end of the inspection robot and used for acquiring the integral site working condition along the track direction in real time and carrying out omnibearing visual monitoring on the site;
the double-view holder camera is used for acquiring images of key equipment with different angles;
the pickup sensor is used for collecting field sound in real time and judging whether abnormal sound exists or not by adopting a self-adaptive dynamic noise reduction processing technology;
the thermal infrared imager forms a thermal image by capturing thermal infrared rays radiated by equipment, and positions a high-temperature fault point.
Optionally, the foreign object identification and treatment system includes a fixed value guarding robot and a foreign object treatment subsystem;
the fixed value guarding robot is used for acquiring an image of the running belt, transmitting the image to the computer, processing the image of the running belt, determining whether foreign matters exist or not, recording the position of the foreign matters by combining the acquired belt speed, and controlling the belt conveyor to stop running;
and the foreign matter treatment subsystem is used for cleaning the foreign matters when detecting that the foreign matters exist in the conveyed materials.
The technical scheme discloses a specific structure of the foreign matter identification and treatment system, and the machine learning technology is adopted to detect foreign matters such as anchor rods and steel pipes, so that the service life of the belt conveyor is prolonged, and the reliable operation of the system and the safe production of coal are guaranteed.
Optionally, the coal flow energy-saving speed regulation system comprises a speed regulation control box, a coal quantity detector controller, a data acquisition box and a speed sensor; the coal quantity detector is respectively connected with the speed regulation control box and the coal quantity detector controller, the speed regulation control box is connected with the speed sensor,
the coal quantity detector is used for detecting a coal level signal and transmitting the coal level signal to a coal bunker coal feeder gate controller and a feeding belt conveyor, so as to protect the coal bunker from being full and control the opening degree of a coal bunker coal feeder gate;
the data acquisition box is used for acquiring protection data of the belt conveyor, collecting the data and transmitting the data to the speed regulation control box, wherein the protection data of the belt conveyor comprises temperature, smoke, coal piling, tensioning, tearing, sudden stop, deviation and the like;
the speed regulation control box is used for receiving a control operation signal of the original belt master control, judging the coal quantity on the belt through the opening degree of a coal bunker coal feeder gate, and regulating the operation speed of the frequency converter;
the speed sensor is used for measuring a speed value of the belt and comparing the speed value with the running speed of the frequency converter to obtain an accurate belt speed protection signal;
and the coal quantity detector controller is used for controlling the coal quantity detector to stop participating in the control of the belt when detecting a system fault.
The technical scheme discloses the specific structural arrangement of the coal flow energy-saving speed regulating system, the coal bunker and the coal amount of the belt are detected, the running speed of the belt is regulated and controlled according to the coal amount, and the energy-saving benefit is remarkable.
Optionally, the centralized control system includes a ground centralized control room and a programmable control box;
the ground centralized control room is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system on the ground;
and the programmable control box is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system underground.
The invention also provides an intelligent coal flow control method, which comprises the following steps:
determining the operation condition and parameter incidence relation of the equipment based on the acquired equipment data, establishing an equipment state dynamic monitoring model, and detecting whether the equipment has faults or not in real time;
determining whether foreign matters exist or not based on the acquired belt images, if so, recording the positions of the foreign matters, controlling the belt conveyor to stop running and processing the foreign matters;
and based on the detected coal level signal, controlling the coal feeding amount of the coal feeder, judging the coal amount on the belt, adjusting the running speed of the frequency converter, and obtaining an accurate belt speed protection signal.
Optionally, the determining whether the foreign object exists includes the following steps:
the collected running belt image is transmitted to a computer, median filtering is carried out on the running belt image to remove speckle noise, the image is normalized to a consistent contrast interval through image histogram equalization, expansion, corrosion and top cap processing are carried out according to the characteristics of the object to be measured, and whether the object to be measured exists is determined by combining the characteristics of a binary object in the shape of the object to be measured.
The present invention also provides a computer-readable medium having stored thereon a computer program that, when executed by a processor, performs the steps of the above-described intelligent coal flow control method.
Through the technical scheme, compared with the prior art, the invention discloses and provides an intelligent coal flow control system, a method and a storage medium, and the intelligent coal flow control system, the method and the storage medium have the following beneficial effects: the technical scheme provided by the invention can more accurately and sensitively find the abnormal change of the equipment in the operation process of the equipment, can find the equipment problem earlier than manual inspection, eliminates the defect hidden danger of the equipment in a sprouting state and reduces the loss caused by equipment failure; the detection can be carried out on foreign matters such as anchor rods and steel pipes, so that the accidents such as longitudinal tearing and material blockage of the belt conveyor are reduced, and the reliable operation of the system and the safe production of coal are guaranteed; the coal bunker and the coal amount of the belt can be detected, the running speed of the belt can be regulated and controlled according to the coal amount, and the energy-saving benefit is remarkable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a functional schematic diagram of an intelligent coal flow control system;
FIG. 2 is a diagram of an intrinsic safety type dual-view pan-tilt camera;
FIG. 3 is a schematic view of a fixed value guarding robot for foreign matter detection;
fig. 4 is a schematic diagram of a routing inspection intelligent communication layout.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment of the invention discloses an intelligent coal flow control system, as shown in figure 1, comprising: the system comprises an intelligent inspection system, a foreign matter identification and treatment system, a coal flow energy-saving speed regulation system and a centralized control system;
the intelligent inspection system determines the operation condition and the parameter association relation of the equipment based on the acquired equipment data, establishes an equipment state dynamic monitoring model and detects whether the equipment has faults in real time;
the foreign matter identification and processing system is used for carrying out median filtering on the collected running belt image, normalizing the image to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top cap processing according to the characteristics of the measured object, determining whether foreign matters exist or not by combining the characteristics of a binary object in the shape of the measured object, recording the position of the foreign matters if the foreign matters exist, and controlling the belt conveyor to stop running and process the foreign matters;
the coal flow energy-saving speed regulating system controls the coal feeding amount of the coal feeder based on the detected coal level signal, regulates the running speed of the frequency converter and obtains an accurate belt speed protection signal;
and the centralized control system is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system.
Furthermore, the intelligent inspection system comprises an inspection robot for acquiring field working condition data, a track system for supporting the inspection robot to move, a traction system for traction the inspection robot to move, a base station and a ground workstation, wherein the base station is responsible for reading data to be transmitted from the control box and transmitting the data to the ground workstation, and the ground workstation transmits a control instruction formed after processing the data to the control box through the base station; the inspection robot is a collection terminal of field working condition data, the steel wire rope driving system is a power source for the inspection robot to move, the inspection robot transmits collected data to the upper computer system in a wireless communication mode, the upper computer system analyzes and gives an alarm to the data, and the rail system is an operation foundation of the robot body.
The inspection robot body is provided with the intrinsic safety type fixed camera and the intrinsic safety type double-vision holder camera, so that the inspection of manual inspection is realized. The intrinsic safety type fixed camera adopts a 30-time optical focusing visible light camera, is arranged at the front end of the robot body, and can acquire the integral site working condition along the track direction in real time so as to realize the integral omnibearing visual monitoring of the site; the intrinsic safety type double-view holder camera (as shown in fig. 2) integrates a holder, an infrared thermal imager, a visible light camera and a light supplement lamp, the intrinsic safety design is adopted integrally, and image acquisition of key equipment with different angles, such as a belt, a carrier roller, a cable, a pipeline and the like, is realized; the inspection robot is provided with a high-sensitivity pickup sensor to replace the smell of an inspector, collects the field sound in real time, adopts the self-adaptive dynamic noise reduction processing technology, is internally provided with a high-speed DSP (digital signal processor), and judges whether abnormal sound exists or not by combining the recognition processing of an audio model algorithm; the inspection robot adopts a non-contact thermal infrared imager to replace the touch of an inspector, can accurately detect each temperature value on the surface of equipment by capturing thermal infrared rays radiated by the equipment, forms a thermal image, visually displays the temperature distribution condition of the equipment, quickly positions a high-temperature fault point, and can detect a rotating shaft part with higher temperature, such as a roller, a carrier roller and the like.
The inspection robot is connected with the whole looped network of a coal mine through an industrial Ethernet, the current operation state data and the historical data of the networked on-line equipment of a coal mine system can be accurately, real-timely and comprehensively acquired as required, the data are stored in a control center in a centralized mode, the big data intelligent fault early warning technology of the inspection robot can analyze various operation working conditions and parameter incidence relations of the equipment from massive historical data of equipment operation based on the equipment data, a state dynamic monitoring model is established, abnormal changes of the equipment can be found more accurately and sensitively in the operation process of the equipment, equipment problems can be found earlier than manual inspection, the defect hidden danger of the equipment is eliminated in a budding state, and loss caused by equipment faults is reduced.
Furthermore, the foreign matter identification and treatment system consists of a fixed value guarding robot and an intelligent iron removal system. The fixed on duty robot mainly comprises an image acquisition, a supplementary lighting and an explosion-proof computer, wherein a high-speed industrial camera transmits an acquired high-speed running belt image to the computer, performs median filtering on the image to remove speckle noise in the image, normalizes the image to a consistent contrast interval through image histogram equalization, and determines whether a measured object exists or not by processing expansion, corrosion, top hat and the like according to the characteristics of the measured object and combining the binary object characteristics of the shape of the measured object (as shown in figure 3); the fixed value guarding robot carries a high-definition camera besides the analysis camera, can provide a loading point video image when a belt normally runs, and transmits the video image to a dispatching room or a fleet needing to be displayed through an Ethernet optical fiber signal.
According to the analysis result, locking linkage control can be carried out on the belt conveyor protection system, abnormal materials are timely alarmed, the position of foreign bodies is recorded by combining the belt speed obtained from the belt control system, the linkage belt control system controls the belt conveyor to stop running, and accidents such as longitudinal tearing and material blockage of the belt conveyor are reduced.
After the metal detector detects that metal is mixed in the conveyed material, the metal detector sends an iron signal to the communication substation, the communication substation sends a signal to the electromagnetic iron remover control box to start the electromagnetic iron remover, the starting time of the electromagnetic iron remover is adjustable, the iron remover can automatically move to the outer side of the belt after the metal is sucked up, the iron remover is unloaded in a power-off mode, and the metal returns to the upper portion of the belt after the iron remover is unloaded. The iron removal mode is divided into two modes: removing iron when iron exists, and removing iron at regular time.
Furthermore, the coal flow energy-saving speed regulation system mainly comprises a speed regulation explosion-proof control box, a mining explosion-proof coal quantity detector, a YBM10-K mining explosion-proof coal quantity detector controller, a data acquisition box, a speed sensor and other devices. Two mining explosion-proof coal quantity detectors are arranged at the upper opening of the coal bunker to respectively transmit coal level signals to a coal bunker coal feeder gate controller and a coal bunker belt conveyor, wherein one of the coal bunker coal quantity detectors controls the coal bunker coal feeder gate opening to protect the coal bunker from being filled, the other coal bunker coal feeder gate opening controls the coal feeder coal quantity, and the gate controller controls the coal feeder coal quantity according to the coal level adjusting gate opening to provide accurate basis for the frequency conversion speed regulation of the control box; the data acquisition box acquires protection data (such as temperature, smoke, coal piling, tensioning, tearing, sudden stop, deviation and the like) of the belt conveyor, and the data are collected and then transmitted to the speed-regulating explosion-proof control box; the speed-regulating explosion-proof control box receives a control operation signal of the original belt master control, then judges the coal quantity on the belt according to the opening degree of the coal bunker, and regulates the operation speed of the frequency converter, so that the belt frequency conversion achieves the purpose of energy-saving driving; in the speed regulation process, because the belt speed of the belt is always in a variable state, the speed value of the belt measured by the speed sensor is compared with the running speed of the frequency converter to obtain an accurate belt speed protection signal.
The belt speed regulating system has manual and automatic modes. The judged coal quantity is transmitted to a PLC (programmable logic controller) for data analysis and processing, the running conditions of the front-stage belt and the rear-stage belt are comprehensively analyzed by combining the current of a motor, and finally a speed adjusting scheme is carried out on a belt frequency converter, and the PLC sends a speed adjusting instruction to the frequency converter after the comprehensive data analysis so as to enable the frequency converter to carry out ascending and descending speed adjustment and enable the coal quantity on the belt to be transported within a most reasonable range; the belt conveyor control system can also independently operate, automatically quits the control of a belt system when the system fails, does not interfere the normal control of an electric control system of the original belt conveyor and the operation of the belt, and outputs fixed frequency to enable the belt to operate.
Furthermore, the centralized control system comprises a ground centralized control room and a programmable control box; the ground centralized control room is used for conveniently controlling the intelligent inspection system and the coal flow energy-saving speed regulation system on the ground; the programmable control box is used for conveniently controlling the intelligent inspection system and the coal flow energy-saving speed regulation system underground.
Example 2
The embodiment of the invention discloses an intelligent coal flow control method, which comprises the following steps:
determining the operation condition and parameter incidence relation of the equipment based on the acquired equipment data, establishing an equipment state dynamic monitoring model, and detecting whether the equipment has faults or not in real time;
determining whether foreign matters exist or not based on the acquired belt images, if so, recording the positions of the foreign matters, controlling the belt conveyor to stop running and processing the foreign matters;
and based on the detected coal level signal, controlling the coal feeding amount of the coal feeder, judging the coal amount on the belt, adjusting the running speed of the frequency converter, and obtaining an accurate belt speed protection signal.
The embodiment of the invention also discloses a computer-storable medium, on which a computer program is stored, and the computer program is executed by a processor to realize the steps of the intelligent coal flow control method.
The following explains the design and construction of the intelligent coal flow control system in the invention by taking the modification of the main coal flow transportation system of a Tangjia meeting coal mine as an example through a specific embodiment.
The method is characterized in that the space of the turning radius of a robot in the field and the particularity of steel wire rope traction driving of the robot are considered, the actual situation of a roadway in the field is comprehensively considered, a set of inspection robots are respectively installed on a first belt and a third belt to meet the inspection requirements of the belt conveyor, and the second belt conveyor monitors the running situation of the belt conveyor in real time in a mode of combining a fixed value guarding robot and a mining explosion-proof intrinsic safety cradle head camera.
A robot running track is hung on the side wall of a roadway, a closed-loop steel wire rope is arranged on the left side and the right side of the track, a carrier roller wheel support assembly is required to be installed every 12 meters in the middle of steel wire rope transmission, and a track supporting beam, a large flat pad and a screw are installed every 6 meters to fix an I-shaped steel track. A robot driving device and a driving control box are installed at one end of the rail end, and a tensioning device is installed at the other end of the rail end.
And wireless base stations are arranged along the roadway to ensure the comprehensive coverage of the wireless network in the running interval of the robot. And a robot remote workstation is arranged in the ground control room, so that the remote control and monitoring of the robot are realized. The remote workstation is merged into the mine local area network through the network cable, and the underground wireless base station and the drive control box are also merged into the mine local area network through the network cable or the optical fiber, so that data communication can be completed among the remote control station, the drive control box and the wireless base station, and the real-time performance of robot monitoring is ensured, as shown in fig. 4.
The fixed value guarding robot is mainly installed near a belt coal dropping point. A set of foreign matter snapshot analysis equipment is arranged at the lap joint of the six-coal southern belt machine and the 61304 belt, impurities in the system are distinguished, and the foreign matter snapshot analysis equipment is linked with the intelligent iron remover; a foreign matter snapshot analysis device is arranged at the 775 coal discharge port to analyze whether impurities, water coal and scurry holes exist or not. A set of foreign matter snapshot analysis equipment is installed at the tail of the south wing, and foreign matters in the system are identified.
Speed sensors are arranged on an upper bin belt conveyor, a Hexagon belt conveyor and an 61304 belt conveyor; a mining explosion-proof coal quantity detector, a mining explosion-proof coal quantity detector controller and a mining explosion-proof and intrinsically safe data acquisition box are installed at a position 350 meters behind a 61304 belt conveyor head, independent control equipment is installed on a coal feeder platform at the lower opening of a coal bunker, and a signal acquisition box is arranged at the upper opening of the coal bunker, so that automatic control over two coal feeders and two hydraulically driven flashboards is realized. Every electric drive flashboard side installs 4 proximity switches for detect the flashboard aperture, it is respectively: closing to the right position, 1/3 degrees, 2/3 degrees and full opening four gear positions, arranging a radar level meter at the upper opening of the coal bunker, and automatically adjusting the closing of a gate of a coal feeder at the lower opening of the coal bunker when the coal level is lower than 5 meters; when the coal level is lower than 10 meters, a coal feeder gate 1/3 at the lower opening of the coal bunker is automatically adjusted; when the coal level is 10-20 m, the position automatically adjusts the gate of the coal feeder at the lower opening of the coal bunker to 2/3 opening positions; when the coal level is more than 20 meters, the gate of the coal feeder at the lower opening of the coal bunker is automatically adjusted to the maximum position. Meanwhile, when the coal level is more than 20 meters, the system gives an alarm, full protection is carried out on the upper bin belt system, the upper bin belt conveyor and the 6-coal southern belt conveyor are automatically adjusted to the lowest speed, and the 61304 crossheading belt conveyor is stopped to operate.
Aiming at the problems of the domestic existing multistage belt coal mining machine, the technical scheme provided by the invention has the following beneficial effects: the foreign matter identification and treatment system adopts a machine learning technology to detect foreign matters such as anchor rods, steel pipes and the like, thereby prolonging the service life of the belt conveyor and ensuring the reliable operation of the system and the safe production of coal; the intelligent inspection robot adopts an artificial intelligence technology and a big data early warning technology to inspect and monitor on-site equipment, replaces manual inspection, and saves fault processing time; the coal flow intelligent speed regulating system detects the coal amount of the coal bunker and the belt, regulates and controls the running speed of the belt according to the coal amount, has remarkable energy-saving benefit, further promotes the automation, the intellectualization and the unmanned operation of a mine, and has important significance.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The method disclosed by the embodiment corresponds to the system disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An intelligent coal flow control system, comprising: the system comprises an intelligent inspection system, a foreign matter identification and treatment system, a coal flow energy-saving speed regulation system and a centralized control system;
the intelligent inspection system determines the operation condition and the parameter association relation of the equipment based on the acquired equipment data, establishes an equipment state dynamic monitoring model and detects whether the equipment has faults in real time;
the foreign matter identification and processing system is used for carrying out median filtering on the collected running belt image, normalizing the image to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top cap processing according to the characteristics of the measured object, determining whether foreign matters exist or not by combining the characteristics of a binary object in the shape of the measured object, recording the position of the foreign matters if the foreign matters exist, and controlling the belt conveyor to stop running and process the foreign matters;
the coal flow energy-saving speed regulating system controls the coal feeding amount of the coal feeder based on the detected coal level signal, regulates the running speed of the frequency converter and obtains an accurate belt speed protection signal;
and the centralized control system is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system on site and on the ground.
2. The intelligent coal flow control system according to claim 1, wherein the intelligent inspection system comprises an inspection robot for collecting on-site working condition data, a rail system for supporting the inspection robot to move, and a traction system for drawing the inspection robot to move;
based on the obtained current operation state data and historical data of the coal mine system networking online equipment, the inspection robot obtains various operation conditions and parameter association relations of the equipment by using a big data intelligent fault early warning technology, establishes an equipment state dynamic monitoring model and finds abnormal changes of the equipment in real time.
3. The intelligent coal flow control system according to claim 2, wherein the inspection robot carries a fixed camera, a double-vision holder camera, a pickup sensor and an infrared thermal imaging temperature measuring instrument;
the fixed camera is arranged at the front end of the inspection robot and used for acquiring the integral site working condition along the track direction in real time and carrying out omnibearing visual monitoring on the site;
the double-view holder camera is used for acquiring images of key equipment with different angles;
the pickup sensor is used for collecting field sound in real time and judging whether abnormal sound exists or not by adopting a self-adaptive dynamic noise reduction processing technology;
the thermal infrared imager forms a thermal image by capturing thermal infrared rays radiated by equipment, and positions a high-temperature fault point.
4. The intelligent coal flow control system of claim 1, wherein the foreign object identification and processing system comprises a fixed value robot, a foreign object processing subsystem;
the fixed value guarding robot is used for acquiring an image of the running belt, transmitting the image to the computer, processing the image of the running belt, determining whether foreign matters exist or not, recording the position of the foreign matters by combining the acquired belt speed, and controlling the belt conveyor to stop running;
and the foreign matter treatment subsystem is used for cleaning the foreign matters when detecting that the foreign matters exist in the conveyed materials.
5. The intelligent coal flow control system according to claim 1, wherein the coal flow energy-saving speed regulation system comprises a speed regulation control box, a coal quantity detector controller, a data acquisition box and a speed sensor; the coal quantity detector is respectively connected with the speed regulation control box and the coal quantity detector controller, the speed regulation control box is connected with the speed sensor,
the coal quantity detector is used for detecting a coal level signal and transmitting the coal level signal to a coal bunker coal feeder gate controller and a feeding belt conveyor, so as to protect the coal bunker from being full and control the opening degree of a coal bunker coal feeder gate;
the data acquisition box is used for acquiring the protection data of the belt conveyor, summarizing the data and transmitting the data to the speed regulation control box; the protection data of the belt conveyor comprise temperature, smoke, coal piling, tensioning, tearing, scram and deviation;
the speed regulation control box is used for receiving a control operation signal of the original belt master control, judging the coal quantity on the belt through the opening degree of a coal bunker coal feeder gate, and regulating the operation speed of the frequency converter;
the speed sensor is used for measuring a speed value of the belt and comparing the speed value with the running speed of the frequency converter to obtain an accurate belt speed protection signal;
and the coal quantity detector controller is used for controlling the coal quantity detector to stop participating in the control of the belt when detecting a system fault.
6. The intelligent coal flow control system of claim 1, wherein the centralized control system comprises a ground centralized control room, a programmable control box;
the ground centralized control room is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system on the ground;
and the programmable control box is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system underground.
7. An intelligent coal flow control method is characterized by comprising the following steps:
determining the operation condition and parameter incidence relation of the equipment based on the acquired equipment data, establishing an equipment state dynamic monitoring model, and detecting whether the equipment has faults or not in real time;
determining whether foreign matters exist or not based on the acquired belt images, if so, recording the positions of the foreign matters, controlling the belt conveyor to stop running and processing the foreign matters;
and based on the detected coal level signal, controlling the coal feeding amount of the coal feeder, judging the coal amount on the belt, adjusting the running speed of the frequency converter, and obtaining an accurate belt speed protection signal.
8. The intelligent coal flow control method of claim 7, wherein the determining whether foreign objects are present comprises the steps of:
the collected running belt image is transmitted to a computer, median filtering is carried out on the running belt image to remove speckle noise, the image is normalized to a consistent contrast interval through image histogram equalization, expansion, corrosion and top cap processing are carried out according to the characteristics of the measured object, and whether foreign matters exist or not is determined by combining the characteristics of a binary object in the shape of the measured object.
9. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the intelligent coal flow control method according to claims 7-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111356417.8A CN113895911B (en) | 2021-11-16 | 2021-11-16 | Intelligent coal flow control system, method and storable medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111356417.8A CN113895911B (en) | 2021-11-16 | 2021-11-16 | Intelligent coal flow control system, method and storable medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113895911A true CN113895911A (en) | 2022-01-07 |
| CN113895911B CN113895911B (en) | 2023-12-22 |
Family
ID=79194495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111356417.8A Active CN113895911B (en) | 2021-11-16 | 2021-11-16 | Intelligent coal flow control system, method and storable medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113895911B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114545815A (en) * | 2022-01-24 | 2022-05-27 | 北京大华启天工业技术有限公司 | Coal conveying system program control method and device, electronic equipment and storage medium |
| CN114834853A (en) * | 2022-07-01 | 2022-08-02 | 山西戴德测控技术有限公司 | Coal conveying control method, device, equipment and storage medium based on coal flow difference |
| CN115352839A (en) * | 2022-10-19 | 2022-11-18 | 常州智达自动化科技有限公司 | Intelligent coal conveying system based on video AI and belt weigher |
| CN115504187A (en) * | 2022-09-22 | 2022-12-23 | 中信重工开诚智能装备有限公司 | Intelligent speed regulation and protection system for mining belt and control method |
| CN115672777A (en) * | 2022-10-26 | 2023-02-03 | 中信重工开诚智能装备有限公司 | Foreign matter sorting system for coal mine conveying rubber belt and control method |
| CN116513747A (en) * | 2023-05-29 | 2023-08-01 | 厦门力祺环境工程有限公司 | Intelligent integrated safety control method based on three-dimensional simulation model |
| CN117049110A (en) * | 2023-10-12 | 2023-11-14 | 南通西塔自动化科技有限公司 | Self-adaptive control method and system for belt speed of conveyor |
| CN117115758A (en) * | 2023-10-25 | 2023-11-24 | 山西榕行智能科技有限公司 | Control method based on intelligent main coal flow transport AI monitoring system of coal mine |
| CN117557967A (en) * | 2024-01-11 | 2024-02-13 | 陕西开来机电设备制造有限公司 | Intelligent management system for safety protection of belt conveyor |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2926136Y (en) * | 2006-06-26 | 2007-07-25 | 上海梅山钢铁股份有限公司 | Iron remover of transferring belt |
| US20160376107A1 (en) * | 2015-06-25 | 2016-12-29 | Seedmaster Manufacturing Ltd. | Operating granular material conveyors near capacity |
| CN205891987U (en) * | 2016-07-29 | 2017-01-18 | 华洋通信科技股份有限公司 | Colliery belt feeder protection system based on image recognition |
| CN107043000A (en) * | 2017-06-15 | 2017-08-15 | 西安科技大学 | A kind of belt conveyer safe and intelligent safeguards system based on machine vision |
| CN109941700A (en) * | 2019-03-06 | 2019-06-28 | 湖北凯瑞知行智能装备有限公司 | Coal handling system Intelligent unattended cruising inspection system |
| CN210126863U (en) * | 2019-06-27 | 2020-03-06 | 兖州煤业股份有限公司 | Coal feeding amount remote control system of coal feeder |
| CN111288461A (en) * | 2020-04-10 | 2020-06-16 | 上海东石塘再生能源有限公司 | Control system and method for controlling charging amount of sludge |
| CN111814678A (en) * | 2020-07-08 | 2020-10-23 | 江苏三恒科技股份有限公司 | Video monitoring-based method and system for identifying coal flow in conveyor belt |
| CN111924194A (en) * | 2020-07-06 | 2020-11-13 | 南京涵曦月自动化科技有限公司 | Control system for adjusting speed of blanking port and automatically blanking |
| CN112590822A (en) * | 2021-03-04 | 2021-04-02 | 西安博深安全科技股份有限公司 | Modular robot system is patrolled and examined to track |
| CN213239483U (en) * | 2020-11-19 | 2021-05-18 | 武汉瑞丽森智能设备有限公司 | Coal conveying inspection robot system |
| CN214692236U (en) * | 2021-02-08 | 2021-11-12 | 山西晋城无烟煤矿业集团有限责任公司 | Overflow type accurate flow dividing device |
-
2021
- 2021-11-16 CN CN202111356417.8A patent/CN113895911B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2926136Y (en) * | 2006-06-26 | 2007-07-25 | 上海梅山钢铁股份有限公司 | Iron remover of transferring belt |
| US20160376107A1 (en) * | 2015-06-25 | 2016-12-29 | Seedmaster Manufacturing Ltd. | Operating granular material conveyors near capacity |
| CN205891987U (en) * | 2016-07-29 | 2017-01-18 | 华洋通信科技股份有限公司 | Colliery belt feeder protection system based on image recognition |
| CN107043000A (en) * | 2017-06-15 | 2017-08-15 | 西安科技大学 | A kind of belt conveyer safe and intelligent safeguards system based on machine vision |
| CN109941700A (en) * | 2019-03-06 | 2019-06-28 | 湖北凯瑞知行智能装备有限公司 | Coal handling system Intelligent unattended cruising inspection system |
| CN210126863U (en) * | 2019-06-27 | 2020-03-06 | 兖州煤业股份有限公司 | Coal feeding amount remote control system of coal feeder |
| CN111288461A (en) * | 2020-04-10 | 2020-06-16 | 上海东石塘再生能源有限公司 | Control system and method for controlling charging amount of sludge |
| CN111924194A (en) * | 2020-07-06 | 2020-11-13 | 南京涵曦月自动化科技有限公司 | Control system for adjusting speed of blanking port and automatically blanking |
| CN111814678A (en) * | 2020-07-08 | 2020-10-23 | 江苏三恒科技股份有限公司 | Video monitoring-based method and system for identifying coal flow in conveyor belt |
| CN213239483U (en) * | 2020-11-19 | 2021-05-18 | 武汉瑞丽森智能设备有限公司 | Coal conveying inspection robot system |
| CN214692236U (en) * | 2021-02-08 | 2021-11-12 | 山西晋城无烟煤矿业集团有限责任公司 | Overflow type accurate flow dividing device |
| CN112590822A (en) * | 2021-03-04 | 2021-04-02 | 西安博深安全科技股份有限公司 | Modular robot system is patrolled and examined to track |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114545815B (en) * | 2022-01-24 | 2023-11-14 | 北京大华启天工业技术有限公司 | Coal conveying system program control method and device, electronic equipment and storage medium |
| CN114545815A (en) * | 2022-01-24 | 2022-05-27 | 北京大华启天工业技术有限公司 | Coal conveying system program control method and device, electronic equipment and storage medium |
| CN114834853A (en) * | 2022-07-01 | 2022-08-02 | 山西戴德测控技术有限公司 | Coal conveying control method, device, equipment and storage medium based on coal flow difference |
| CN115504187A (en) * | 2022-09-22 | 2022-12-23 | 中信重工开诚智能装备有限公司 | Intelligent speed regulation and protection system for mining belt and control method |
| CN115504187B (en) * | 2022-09-22 | 2023-06-13 | 中信重工开诚智能装备有限公司 | Intelligent speed regulation and protection system and control method for mining belt |
| CN115352839A (en) * | 2022-10-19 | 2022-11-18 | 常州智达自动化科技有限公司 | Intelligent coal conveying system based on video AI and belt weigher |
| CN115672777A (en) * | 2022-10-26 | 2023-02-03 | 中信重工开诚智能装备有限公司 | Foreign matter sorting system for coal mine conveying rubber belt and control method |
| CN116513747A (en) * | 2023-05-29 | 2023-08-01 | 厦门力祺环境工程有限公司 | Intelligent integrated safety control method based on three-dimensional simulation model |
| CN116513747B (en) * | 2023-05-29 | 2023-10-03 | 厦门力祺环境工程有限公司 | Intelligent integrated safety control method based on three-dimensional simulation model |
| CN117049110A (en) * | 2023-10-12 | 2023-11-14 | 南通西塔自动化科技有限公司 | Self-adaptive control method and system for belt speed of conveyor |
| CN117049110B (en) * | 2023-10-12 | 2023-12-22 | 南通西塔自动化科技有限公司 | Self-adaptive control method and system for belt speed of conveyor |
| CN117115758A (en) * | 2023-10-25 | 2023-11-24 | 山西榕行智能科技有限公司 | Control method based on intelligent main coal flow transport AI monitoring system of coal mine |
| CN117115758B (en) * | 2023-10-25 | 2023-12-26 | 山西榕行智能科技有限公司 | Control method based on intelligent main coal flow transport AI monitoring system of coal mine |
| CN117557967A (en) * | 2024-01-11 | 2024-02-13 | 陕西开来机电设备制造有限公司 | Intelligent management system for safety protection of belt conveyor |
| CN117557967B (en) * | 2024-01-11 | 2024-03-29 | 陕西开来机电设备制造有限公司 | Intelligent management system for safety protection of belt conveyor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113895911B (en) | 2023-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113895911B (en) | Intelligent coal flow control system, method and storable medium | |
| CN108267172B (en) | Intelligent robot inspection system for mine | |
| CN109941700B (en) | Intelligent unmanned inspection system of coal conveying system | |
| CN210233046U (en) | Rail mounted utility tunnel patrols and examines robot and system | |
| CN111152236A (en) | Inspection robot for safety detection of mining belt conveyor | |
| CN214924447U (en) | Inspection robot system for coal mine gas extraction pump station | |
| CN103909006A (en) | Method for detecting deflagration in coal mill outlet coal dust pipeline, and detection system thereof | |
| CN104670845A (en) | Intelligent accumulation and tearing detection device for belt conveyors | |
| CN114772207A (en) | Intelligent inspection detection system for coal conveying belt conveyor in coal conveying bin area | |
| CN114104653A (en) | Intelligent inspection detection method for coal belt conveyor in coal conveying bin area | |
| CN114995272A (en) | Intelligent centralized control system and method for blasting and air exhaust in tunnel construction | |
| CN110540042A (en) | Belt feeder material piles up detecting system based on three-dimensional image and video technology | |
| CN110589406A (en) | Belt deviation detection system based on three-dimensional image and intelligent video technology | |
| CN113086549A (en) | Multi-agent cooperative monitoring system for coal conveying belt of thermal power plant | |
| CN115027903A (en) | Real-time monitoring and obstacle removing device for belt conveyor | |
| CN111862379A (en) | Unmanned inspection method for high-speed railway distribution station | |
| CN106970564A (en) | A kind of cable shaft ditch on-line monitoring system and method | |
| CN117253335A (en) | Intelligent monitoring and early warning system for fuel system | |
| CN210884127U (en) | Belt feeder material piles up detecting system based on three-dimensional image and video technology | |
| CN204489907U (en) | Belt transporter is piled up, is torn intelligent detection device | |
| CN211639941U (en) | Inspection robot for safety detection of mining belt conveyor | |
| CN115096375A (en) | Carrier roller running state monitoring method and device based on carrier roller carrying trolley detection | |
| CN114988050A (en) | Air cushion conveyor belt monitoring system | |
| CN211392659U (en) | Belt feeder foreign matter detecting system based on three-dimensional image and intelligent video technique | |
| CN113911629A (en) | Intelligent coal flow conveying system |
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 |