CN113895911B - Intelligent coal flow control system, method and storable medium - Google Patents
Intelligent coal flow control system, method and storable medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- 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
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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
- 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
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- 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]
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Abstract
The invention discloses an intelligent coal flow control system, an intelligent coal flow control method and a storable medium, and relates to the technical field of coal flow control, wherein the intelligent coal flow control system comprises: the intelligent inspection system determines the operation condition and parameter association relation of 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 a foreign matter exists or not based on the collected operation belt image, recording the position of the foreign matter if the foreign matter exists, controlling the belt conveyor to stop running and treating the foreign matter; 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; 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 remarkable 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 dug by people when mining geological formations rich in coal, various coal mine mechanical equipment plays an increasingly critical role in coal production along with the rapid development of coal mine industry in China, and currently, in coal mining area transportation work, coal mine transportation equipment is mainly divided into two types of multi-stage belt conveyors and locomotive traction mine cars, wherein the multi-stage belt conveyors are used as core equipment in the coal production and transportation process, and the multi-stage belt conveyors have the advantages of long transportation distance, large transportation capacity, simplicity in operation, high stability and the like. 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, and the belt speed is in a high-speed low-load state for a long time, so that the electric energy consumption is increased, and the concept of green development in the coal industry is not consistent; in the process of transporting coal, large blocks of foreign matters such as gangue, anchor ropes and the like 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 operation environment of the multi-stage belt conveyor has high air humidity and much dust, causes fault hidden trouble to an electromechanical device of the belt conveyor, affects a production line, and causes production loss.
Therefore, how to detect field equipment, foreign matters and the like and regulate and control the belt running speed, ensure the safe transportation of coal flow, and further promote the automation, the intellectualization and the unmanned of mines is a problem which needs to be solved by the technicians 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 storage medium, which ensure the reliable operation of the system and the safe production of coal, save the fault processing time, regulate and control the belt operation speed and have remarkable energy-saving benefit.
To achieve the above object, the present invention provides an intelligent coal flow control system comprising: 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 association relation between the operation working condition and parameters of the equipment based on the acquired equipment data, establishes an equipment state dynamic monitoring model, and acquires images, sounds, infrared thermal images and temperature data of an inspection site in real time by carrying various sensors on the equipment, and smoke and H 2 S、CO、O 2 And CH (CH) 4 Information of equal gas concentration, and real-time classifying, storing and storing images, sounds and dataAnalyzing and processing, and displaying in real time in a roadway model of the upper computer. Image acquisition is carried out on key equipment with different angles in a roadway, wherein the key equipment comprises facilities such as a carrier roller, a motor, a roller, a cable and the like; monitoring abnormal sound of the operation equipment through the pickup, comparing the abnormal sound with normal sound, and alarming when abnormal sound occurs; by detecting H in the environment 2 S、CO、O 2 And CH (CH) 4 Whether the gas concentration and the smoke exceed the limit or not, and alarming when the gas concentration and the smoke exceed the limit; detecting whether the equipment has faults or not in real time by the method;
the foreign matter identification and processing system is used for carrying out median filtering on the collected operation belt images, normalizing the images to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top hat processing according to the characteristics of the detected object, combining the binary object characteristics of the detected object shape, determining whether foreign matters exist or not, recording the positions of the foreign matters if the foreign matters exist, controlling the belt conveyor to stop operation and processing 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;
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 the concrete structure setting of wisdom coal flow control system, carries out real-time supervision to equipment running state, coal volume, conveying speed, whether have the foreign matter, and this system has further promoted automation, intellectuality, unmanned of mine.
Optionally, the intelligent inspection system comprises an inspection robot for collecting 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 by a control box and sending the data to the ground workstation, and the ground workstation transmits a control instruction formed after the data is processed to the control box through the base station;
based on the obtained current running state data and historical data of the coal mine system networking on-line equipment, the inspection robot obtains various running working conditions and parameter association relations of the equipment by utilizing 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 concrete structural arrangement of the intelligent inspection system, adopts an artificial intelligent technology and a big data early warning technology to inspect and monitor on-site equipment, replaces manual inspection, and saves fault processing time.
Optionally, the inspection robot carries a fixed camera, a double-view holder camera, a pickup sensor and an infrared thermal image thermometer;
the fixed camera is arranged at the front end of the inspection robot and is used for collecting the whole field working condition along the track direction in real time and carrying out omnibearing visual monitoring on the field;
the double-view holder camera is used for collecting images of equipment with different key points at all angles;
the pickup sensor is used for collecting site sound in real time and judging whether abnormal sound exists or not by adopting a self-adaptive dynamic noise reduction processing technology;
the infrared thermal image thermometer forms a thermal image by capturing thermal infrared rays radiated by the equipment and positions a high-temperature fault point.
Optionally, the foreign matter identification and treatment system comprises a fixed on-duty robot and a foreign matter treatment subsystem;
the fixed on duty robot is used for collecting an operating belt image and transmitting the operating belt image to the computer, processing the operating belt image, determining whether foreign matters exist, recording the position of the foreign matters by combining the obtained belt speed, and controlling the belt conveyor to stop operating;
the foreign matter treatment subsystem is used for cleaning the foreign matters when detecting that the foreign matters exist in the conveying materials.
The technical scheme discloses a specific structural arrangement of a foreign matter identification and treatment system, adopts a machine learning technology to detect foreign matters such as anchor rods, steel pipes and the like, prolongs the service life of a belt conveyor, and ensures the reliable operation of the system and the safe production of coal.
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 the coal bin coal feeder gate controller and the upper bin belt conveyor, and performing full bin protection on the coal bin and controlling the opening of the coal bin coal feeder gate;
the data acquisition box is used for acquiring protection data of the belt conveyor, and the data are summarized and transmitted to the speed regulation control box, wherein the protection data of the belt conveyor comprise temperature, smog, coal piling, tensioning, tearing, scram, deviation and the like;
the speed regulation control box is used for receiving a control operation signal of the original belt main control, judging the amount of coal carried on the belt through the opening degree of the coal bin coal feeder gate, and regulating the operation speed of the frequency converter;
the speed sensor is used for measuring the 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 the system fault is detected.
The technical scheme discloses a specific structural arrangement of the coal flow energy-saving speed regulating system, detects coal quantity of the coal bin and the belt, regulates and controls the belt running speed according to the coal quantity, and has remarkable energy-saving benefit.
Optionally, the centralized control system comprises 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;
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:
based on the acquired equipment data, determining the association relation between the operation working condition and parameters of the equipment, establishing an equipment state dynamic monitoring model, and detecting whether the equipment has faults or not in real time;
determining whether a foreign object exists or not based on the acquired belt image, if so, recording the position of the foreign object, controlling the belt conveyor to stop running and processing the foreign object;
based on the detected coal level signal, the coal feeding amount of the coal feeder is controlled, the coal feeding amount on the belt is judged, the running speed of the frequency converter is regulated, and an accurate belt speed protection signal is obtained.
Optionally, the determining whether the foreign matter exists includes the steps of:
transmitting the collected operation belt image to a computer, carrying out median filtering on the operation belt image to remove speckle noise, normalizing the image to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top hat treatment according to the characteristics of the measured object, and determining whether the measured object exists or not according to the binary object characteristics of the measured object shape.
The present invention also provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the steps of the intelligent coal flow control method described above.
Compared with the prior art, the invention discloses an intelligent coal flow control system, an intelligent coal flow control method and a storage medium, which have the following beneficial effects: the technical scheme provided by the invention can find the abnormal change of the equipment more accurately and sensitively in the running process of the equipment, can find equipment problems earlier than manual inspection, eliminates the hidden trouble of the equipment in a sprouting state, and reduces the loss caused by equipment faults; the detection of foreign matters such as anchor rods and steel pipes can be carried out, the occurrence of accidents such as longitudinal tearing, blocking and the like of the belt conveyor can be reduced, and the reliable operation of the system and the safe production of coal can be ensured; the coal bin and the belt coal quantity can be detected, the belt running speed can be regulated and controlled according to the coal quantity, 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 that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a functional schematic of a smart coal flow control system;
FIG. 2 is a physical diagram of an intrinsic safety type double-view cradle head camera;
FIG. 3 is a schematic diagram of a fixed-duty robot foreign object detection;
fig. 4 is a schematic diagram of a patrol intelligent communication layout.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment of the invention discloses an intelligent coal flow control system, as shown in fig. 1, comprising: 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 parameter association relation of 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 images, normalizing the images to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top hat processing according to the characteristics of the detected object, combining the binary object characteristics of the detected object shape, determining whether foreign matters exist or not, recording the positions of the foreign matters if the foreign matters exist, controlling the belt conveyor to stop running and processing 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.
Further, the intelligent inspection system comprises an inspection robot for collecting 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 used for reading data to be transmitted by the control box and sending the data to the ground workstation, and the ground workstation is used for transmitting control instructions formed after the data are processed to the control box through the base station; the inspection robot is an acquisition terminal of on-site working condition data, the steel wire rope driving system is a power source for movement of the inspection robot, the inspection robot transmits acquired data to the upper computer system in a wireless communication mode, the upper computer system analyzes and alarms the data, and the track system is an operation basis of the robot body.
The inspection robot body is provided with an intrinsic safety type fixed camera and an intrinsic safety type double-view holder camera, so that manual inspection 'hope' is realized. The intrinsic safety type fixed camera adopts a 30-time optical focusing visible light camera which is arranged at the front end of the robot body, and can acquire the whole field working condition along the track direction in real time, thereby realizing the whole omnibearing visual monitoring of the field; the intrinsic safety type double-view holder camera (shown in figure 2) integrates a holder, a thermal infrared imager, a visible light camera and a light supplementing lamp, and the intrinsic safety type double-view holder camera is integrally designed to realize image acquisition of different key equipment at each angle, such as a belt, a carrier roller, a cable, a pipeline and the like; the inspection robot is provided with a high-sensitivity pickup sensor to replace 'smelling' of an inspector to collect site sound in real time, adopts a self-adaptive dynamic noise reduction processing technology, is internally provided with a high-speed DSP digital signal processor, combines an audio model algorithm to identify and process, and judges whether abnormal sound exists or not; the inspection robot adopts a non-contact infrared thermal image thermometer to replace the touch of an inspection worker, can accurately detect various temperature values on the surface of equipment through the thermal infrared rays radiated by capturing equipment, forms a thermal vision image, visually displays the temperature distribution condition of the equipment, quickly positions high-temperature fault points, and can detect rotating shaft parts with higher temperature, such as a roller, a carrier roller and the like.
The inspection robot is connected with the whole looped network of the coal mine through the industrial Ethernet, the current running state data and the historical data of the networking on-line equipment of the coal mine system can be accurately, comprehensively obtained according to the requirements, the data are stored in a control center in a centralized mode, the intelligent fault early warning technology of big data of the inspection robot can analyze various running working conditions and parameter association relations of the equipment from massive historical data of equipment running based on the equipment data, a state dynamic monitoring model is built, abnormal changes of the equipment are found more accurately and sensitively in the equipment running process, equipment problems are found earlier than manual inspection, the defect hidden trouble of the equipment is eliminated in a sprouting state, and loss caused by equipment faults is reduced.
Further, the foreign matter identification and treatment system consists of a fixed on-duty robot and an intelligent iron removal system. The solid guard robot mainly comprises an image acquisition, light supplementing illumination and explosion-proof computer, the high-speed industrial camera transmits the acquired high-speed operation belt image to the computer, the image is subjected to median filtering to remove speckle noise in the image, the image is normalized to a consistent contrast interval through image histogram equalization, and then the image is subjected to expansion, corrosion, top hat and other processing according to the characteristics of the measured object, and whether the measured object exists or not is determined according to the binary object characteristics of the measured object shape (as shown in figure 3); the fixed on duty robot is provided with a high-definition camera besides the analysis camera, can provide charging point video images when the belt normally operates, and is transmitted to a dispatching room or a regional team to be displayed through Ethernet optical fiber signals.
According to the analysis result, the device can carry out locking linkage control with a belt conveyor protection system, find abnormal materials and alarm in time, record the position of the foreign matters by combining the belt speed obtained from the belt control system, and the linkage belt control system controls the belt conveyor to stop running, so that accidents such as longitudinal tearing and blocking of the belt conveyor are reduced.
After the metal detector detects that the conveyed material is mixed with metal, 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 removed after power failure, and the iron remover automatically returns to the upper side of the belt after the iron remover is removed. The iron removal mode is divided into two modes: iron is removed and iron is removed at fixed time.
Further, the coal flow energy-saving speed regulation system mainly comprises a speed regulation explosion-proof control box, a mining explosion-proof molded coal quantity detector, a YBM10-K mining explosion-proof molded coal quantity detector controller, a data acquisition box, a speed sensor and other devices. Two mining explosion-proof molded coal quantity detectors are arranged at the upper opening of the coal bunker, and transmit coal level signals to a coal bunker coal feeder gate controller and an upper bin belt conveyor respectively, wherein one of the two explosion-proof molded coal quantity detectors controls the upper bin belt conveyor to be used as full bin protection, the other one of the two explosion-proof molded coal quantity detectors controls the opening of the coal bunker coal feeder gate, and the gate controller adjusts the opening of the gate according to the coal level to control the coal quantity of the coal feeder, so that an accurate basis is provided for variable-frequency speed regulation of a control box; the data acquisition box acquires protection data (such as temperature, smog, coal piling, tensioning, tearing, scram, deviation and the like) of the belt conveyor, and the data are summarized and then transmitted to the speed-regulating explosion-proof control box; the speed-regulating explosion-proof control box receives a control operation signal of an original belt main control, then judges the amount of coal carried on the belt according to the opening of the coal bunker, and adjusts the operation speed of the frequency converter so that the belt can convert frequency to achieve the aim of energy-saving driving; in the speed regulation process, the belt speed of the belt is always in a variable state, so that the speed value of the belt is measured by a speed sensor and is compared with the running speed of the frequency converter, and an accurate belt speed protection signal is obtained.
The belt speed control system is controlled in a manual and automatic mode. The method comprises the steps that the judged coal amount is transmitted to a PLC for data analysis and processing, the motor current is combined, the front-stage belt running condition and the rear-stage belt running condition are comprehensively analyzed, finally, a speed adjustment scheme is carried out on the belt frequency converter, after the comprehensive data are analyzed, the PLC sends a speed adjustment instruction to the frequency converter, so that the frequency converter can carry out speed up and down adjustment, and the transportation of the coal amount on the belt is kept in a most reasonable range; the belt conveyor can also independently operate, and the belt system control can be automatically exited when the system fails, so that the normal control and belt operation of the original belt conveyor electric control system are not interfered, and the fixed frequency is output to enable the belt to operate.
Further, 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 in the pit.
Example 2
The embodiment of the invention discloses an intelligent coal flow control method, which comprises the following steps:
based on the acquired equipment data, determining the association relation between the operation working condition and parameters of the equipment, establishing an equipment state dynamic monitoring model, and detecting whether the equipment has faults or not in real time;
determining whether a foreign object exists or not based on the acquired belt image, if so, recording the position of the foreign object, controlling the belt conveyor to stop running and processing the foreign object;
based on the detected coal level signal, the coal feeding amount of the coal feeder is controlled, the coal feeding amount on the belt is judged, the running speed of the frequency converter is regulated, and an accurate belt speed protection signal is obtained.
The embodiment of the invention also discloses a computer storage medium, on which a computer program is stored, which when being executed by a processor, realizes the steps of the intelligent coal flow control method.
The design and construction of the intelligent coal flow control system of the invention will be explained by taking the transformation of the main coal flow transport system of the Tang-Jia coal mine as an example through specific embodiments.
The method is characterized in that the on-site turning radius space of the robot and the particularity of traction driving of a robot steel wire rope are considered, the actual situation of an on-site roadway is comprehensively considered, a set of inspection robots are respectively arranged on a first belt and a third belt to meet the inspection requirement of the belt conveyor, and a second belt conveyor monitors the running situation of the belt conveyor in real time by adopting a mode of combining a fixed on-duty robot with a mine explosion-proof book An Yun camera.
A robot running track is hung on the side wall of a roadway, a closed ring steel wire rope is distributed 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 process of steel wire rope transmission, and a track supporting beam, a large flat pad and screws are installed every 6 meters and used for fixing an I-shaped steel track. One end of the track is provided with a robot driving device and a driving control box, and the other end is provided with a tensioning device.
And wireless base stations are arranged along the roadway, so that the full coverage of a wireless network in the robot operation region is ensured. The robot remote workstation is installed in the ground control room, so that remote control and monitoring of the robot are realized. The remote workstation is incorporated into the mine local area network through the network cable, the underground wireless base station and the drive control box are also incorporated into the mine local area network through the network cable or the optical fiber, so that data communication among the remote control station, the drive control box and the wireless base station can be completed, and the real-time performance of robot monitoring is ensured, as shown in fig. 4.
The fixed on duty robot is mainly installed near the belt coal dropping point. A set of foreign matter snapshot analysis equipment is arranged at the joint of the six-coal south belt conveyor and the 61304 belt, and is used for distinguishing sundries in the system and linking with the intelligent iron remover; a set of foreign matter snapshot analysis equipment is arranged at the 775 coal discharging port to analyze whether sundries and water coal exist or not and whether blowby exists or not. A set of foreign object snapshot analysis equipment is arranged at the tail of the south wing aircraft to identify sundries in the system.
Installing speed sensors on the upper bin belt conveyor, the six-coal south belt conveyor and the 61304 belt conveyor; a mining flameproof molded coal quantity detector, a mining flameproof molded coal quantity detector controller and a mining flameproof and intrinsic safety type data acquisition box are installed at the position 350 m behind a 61304 belt machine 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 installed at the upper opening of the coal bunker, so that automatic control of two coal feeders and two hydraulic driving flashboards is realized. 4 proximity switches are arranged on the side face of each electrically driven flashboard and are used for detecting the opening degree of the flashboard, and the proximity switches are respectively as follows: the method comprises the steps of setting a radar level gauge at the upper opening of a coal bin at four gear positions of on-position, 1/3 opening, 2/3 opening and full-opening, and automatically adjusting the gate of a coal feeder at the lower opening of the coal bin to be closed when the coal level is lower than 5 meters; when the coal level is lower than 10 meters, automatically adjusting a coal feeder gate at the lower opening of the coal bin by 1/3; when the coal level is 10-20 m, automatically adjusting the position of a coal feeder gate at the lower opening of the coal bin to a 2/3 opening position; when the coal level is above 20 meters, the coal feeder gate at the lower opening of the coal bin is automatically adjusted to the maximum position. Meanwhile, when the coal level is above 20 meters, the system alarms, the upper bin belt system is fully protected, the upper bin belt conveyor and the 6-coal south belt conveyor are automatically adjusted to the lowest speed, and the 61304 crossheading belt conveyor is stopped.
Aiming at the problems encountered by the prior domestic multi-stage belt shearer, 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, prolongs the service life of the belt conveyor, and ensures the reliable operation of the system and the safe production of coal; the intelligent inspection robot adopts an artificial intelligent technology and a big data early warning technology to inspect and monitor equipment on site, replaces manual inspection, and saves fault processing time; the intelligent coal flow speed regulating system detects the coal amount of the coal bin 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 of the mine, and has important significance.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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 (8)
1. An intelligent coal flow control system, comprising: 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 parameter association relation of 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 operation belt images, normalizing the images to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top hat processing according to the characteristics of the detected object, combining the binary object characteristics of the detected object shape, determining whether foreign matters exist or not, recording the positions of the foreign matters if the foreign matters exist, controlling the belt conveyor to stop operation and processing 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;
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;
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 the coal bin coal feeder gate controller and the upper bin belt conveyor, and performing full bin protection on the coal bin and controlling the opening of the coal bin coal feeder gate;
the data acquisition box is used for acquiring protection data of the belt conveyor, and the data are summarized and then transmitted 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 main control, judging the amount of coal carried on the belt through the opening degree of the coal bin coal feeder gate, and regulating the operation speed of the frequency converter;
the speed sensor is used for measuring the 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 the system fault is detected.
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 track system for supporting the movement of the inspection robot, and a traction system for traction of the movement of the inspection robot;
based on the obtained current running state data and historical data of the coal mine system networking on-line equipment, the inspection robot obtains various running working conditions and parameter association relations of the equipment by utilizing a big data intelligent fault early warning technology, establishes an equipment state dynamic monitoring model and discovers abnormal changes of the equipment in real time.
3. The intelligent coal flow control system according to claim 2, wherein the inspection robot is provided with a fixed camera, a double-view cradle head camera, a pickup sensor and an infrared thermal image thermometer;
the fixed camera is arranged at the front end of the inspection robot and is used for collecting the whole field working condition along the track direction in real time and carrying out omnibearing visual monitoring on the field;
the double-view holder camera is used for collecting images of equipment with different key points at all angles;
the pickup sensor is used for collecting site sound in real time and judging whether abnormal sound exists or not by adopting a self-adaptive dynamic noise reduction processing technology;
the infrared thermal image thermometer forms a thermal image by capturing thermal infrared rays radiated by the equipment and positions a high-temperature fault point.
4. The intelligent coal flow control system of claim 1, wherein said foreign object identification and handling system comprises a fixed on duty robot, a foreign object handling subsystem;
the fixed on duty robot is used for collecting an operating belt image and transmitting the operating belt image to the computer, processing the operating belt image, determining whether foreign matters exist, recording the position of the foreign matters by combining the obtained belt speed, and controlling the belt conveyor to stop operating;
the foreign matter treatment subsystem is used for cleaning the foreign matters when detecting that the foreign matters exist in the conveying materials.
5. The intelligent coal flow control system according to claim 1, wherein the centralized control system comprises 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;
the programmable control box is used for controlling the intelligent inspection system and the coal flow energy-saving speed regulation system underground.
6. A smart coal flow control method implemented based on the smart coal flow control system of any one of claims 1-5, comprising the steps of:
based on the acquired equipment data, determining the association relation between the operation working condition and parameters of the equipment, establishing an equipment state dynamic monitoring model, and detecting whether the equipment has faults or not in real time;
determining whether a foreign object exists or not based on the acquired belt image, if so, recording the position of the foreign object, controlling the belt conveyor to stop running and processing the foreign object;
based on the detected coal level signal, the coal feeding amount of the coal feeder is controlled, the coal feeding amount on the belt is judged, the running speed of the frequency converter is regulated, and an accurate belt speed protection signal is obtained.
7. The intelligent coal flow control method according to claim 6, wherein said determining whether foreign matter is present comprises the steps of:
transmitting the collected operation belt image to a computer, carrying out median filtering on the operation belt image to remove speckle noise, normalizing the image to a consistent contrast interval through image histogram equalization, carrying out expansion, corrosion and top hat treatment according to the characteristics of the measured object, and determining whether foreign matters exist or not by combining the binary object characteristics of the measured object shape.
8. A computer storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the intelligent coal flow control method according to claims 6-7.
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| CN114834853B (en) * | 2022-07-01 | 2022-12-06 | 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 |
| 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 |
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| 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 |
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