CN114234815A - Laser coal conveying belt deviation monitoring method, device, equipment and storage medium - Google Patents
Laser coal conveying belt deviation monitoring method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of coal mines and discloses a laser coal conveying belt deviation monitoring method, device, equipment and storage medium. The method comprises the following steps: acquiring initial position information of a monitoring point on a coal conveying belt to be monitored; when the coal conveying belt to be monitored runs, measuring the monitoring points through a laser tracker to obtain measurement position information; determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information; and carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information. By the mode, the measuring position information of the monitoring points on the coal conveying belt is measured in real time through the laser tracker, then the belt deviation information of the coal conveying belt to be monitored is obtained according to the measuring position information and the initial position information of the monitoring points, deviation monitoring is carried out on the coal conveying belt to be monitored, and deviation of the coal conveying belt is automatically monitored in real time.
Description
Technical Field
The invention relates to the technical field of coal mines, in particular to a laser coal conveying belt deviation monitoring method, device, equipment and storage medium.
Background
The existing coal mining industry and coal mining application industry adopt a belt transportation method to transport coal mines in a large scale after collecting coal mine resources, a tool of a belt coal conveyor which is the most main material transportation means causes machine abrasion due to long-time work, parts are loosened, and then the deviation of a coal conveying belt can be caused, if the deviation of the coal conveying belt is not found in time, the danger degree of field workers is greatly increased, if safety problems occur, the paralysis of the whole working system can be caused, but at present, the observation of the deviation of the coal conveying belt can only be checked by the workers on time, the real-time monitoring cannot be realized, and the efficiency is low.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a laser coal conveying belt deviation monitoring method, a device, equipment and a storage medium, and aims to solve the technical problem that the coal conveying belt deviation in the prior art cannot be automatically monitored.
In order to achieve the above object, the present invention provides a laser coal belt deviation monitoring method, comprising the steps of:
acquiring initial position information of a monitoring point on a coal conveying belt to be monitored;
when the coal conveying belt to be monitored runs, measuring the monitoring points through a laser tracker to obtain measurement position information;
determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information;
and carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information.
Optionally, the obtaining initial position information of the monitoring point on the coal conveying belt to be monitored includes:
acquiring spatial position information of monitoring points on a coal conveying belt to be monitored;
establishing an observation coordinate system corresponding to the coal conveying belt to be monitored;
and substituting the space position information into the observation coordinate system to obtain the initial position information of the monitoring point.
Optionally, when the coal conveying belt to be monitored operates, the monitoring points are measured by the laser tracker to obtain measurement position information, including:
when the coal conveying belt to be monitored runs, monitoring points in real time through a laser tracker to obtain motion track information of the monitoring points;
obtaining the motion curve information of the monitoring point according to the motion track information and the observation coordinate system;
and obtaining the measurement position information of the monitoring point according to the motion curve information.
Optionally, the determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information includes:
obtaining reference position information corresponding to the monitoring point at a preset moment according to the measurement position information;
determining standard position information of the coal conveying belt to be monitored according to the reference point position information and the initial position information;
and determining belt deviation information of the coal conveying belt to be monitored according to the reference position information, the standard position information and the initial position information.
Optionally, the determining the standard position information of the coal conveying belt to be monitored according to the reference point position information and the initial position information includes:
acquiring the running speed of the coal conveying belt to be monitored;
determining the corresponding operation time when the reference position information is selected according to the operation speed, the initial position information and the reference position information;
and inquiring a preset standard operation curve of the coal conveying belt to be monitored according to the operation time to obtain standard position information.
Optionally, the determining belt deviation information of the coal conveying belt to be monitored according to the reference position information, the standard position information and the initial position information includes:
determining an actual measurement running route of the coal conveying belt to be monitored according to the reference position information and the initial position information;
determining a standard operation route of the coal conveying belt to be monitored according to the standard position information and the initial position information;
determining a belt offset included angle of the coal conveying belt to be monitored according to the actual measurement running route and the standard running route;
and determining the belt deviation information of the coal conveying belt to be monitored according to the belt deviation included angle.
Optionally, the performing offset monitoring on the coal conveying belt to be monitored according to the belt offset information includes:
acquiring preset safety offset information;
determining a preset safety included angle range according to the preset safety deviation information;
and when the belt deviation included angle in the belt deviation information is not in the preset safety included angle range, judging that the coal conveying belt to be monitored is in a deviation state, generating early warning information and sending the early warning information to a user.
In addition, in order to achieve the above object, the present invention further provides a laser coal belt deviation monitoring device, including:
the acquisition module is used for acquiring initial position information of a monitoring point on a coal conveying belt to be monitored;
the measuring module is used for measuring the monitoring points through a laser tracker when the coal conveying belt to be monitored runs to obtain measuring position information;
the analysis module is used for determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information;
and the monitoring module is used for carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information.
In addition, in order to achieve the above object, the present invention further provides a laser coal belt deviation monitoring device, including: a memory, a processor, and a laser coal belt deviation monitoring program stored on the memory and executable on the processor, the laser coal belt deviation monitoring program configured to implement the steps of the laser coal belt deviation monitoring method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having a laser coal belt deviation monitoring program stored thereon, wherein the laser coal belt deviation monitoring program is executed by a processor to implement the steps of the laser coal belt deviation monitoring method as described above.
The method comprises the steps of obtaining initial position information of a monitoring point on a coal conveying belt to be monitored; when the coal conveying belt to be monitored runs, measuring the monitoring points through a laser tracker to obtain measurement position information; determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information; and carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information. By the mode, the measuring position information of the monitoring points on the coal conveying belt is measured in real time through the laser tracker, then the belt deviation information of the coal conveying belt to be monitored is obtained according to the measuring position information and the initial position information of the monitoring points, the deviation monitoring is carried out on the coal conveying belt to be monitored, and the deviation of the coal conveying belt is automatically monitored in real time.
Drawings
FIG. 1 is a schematic structural diagram of a laser coal belt deviation monitoring device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a laser coal belt deviation monitoring method according to the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the laser coal belt deviation monitoring method of the present invention;
FIG. 4 is a block diagram of a laser coal belt deviation monitoring device according to a first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser coal belt deviation monitoring device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the laser coal belt deviation monitoring apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the laser coal belt deviation monitoring apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a laser coal belt deviation monitoring program.
In the laser coal belt deviation monitoring apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the laser coal conveying belt deviation monitoring device of the present invention may be disposed in the laser coal conveying belt deviation monitoring device, and the laser coal conveying belt deviation monitoring device calls the laser coal conveying belt deviation monitoring program stored in the memory 1005 through the processor 1001, and executes the laser coal conveying belt deviation monitoring method provided by the embodiment of the present invention.
An embodiment of the present invention provides a laser coal conveying belt deviation monitoring method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of a laser coal conveying belt deviation monitoring method according to the present invention.
In this embodiment, the laser coal conveying belt deviation monitoring method includes the following steps:
step S10: and acquiring initial position information of a monitoring point on the coal conveying belt to be monitored.
It should be noted that the main execution body of the embodiment is a controller, mainly a controller for controlling the laser coal belt deviation monitoring method, and may be any device capable of implementing the function, and the embodiment is not limited thereto.
It should be understood that, in current production environment, to the fortune material work of coal industry, utilize belt conveyor mostly, and the phenomenon of skew can appear after long-time the use in the coal-conveying belt of belt conveyor, in order to prevent that the skew of coal-conveying belt from causing the incident, can arrange the staff specially and carry out periodic inspection and maintenance, but carry out maintenance work by the manual work and can not realize real-time supervision, and efficiency is also not high, make the potential safety hazard in production field exist always, this embodiment has utilized the machine tracking appearance to carry out the real-time supervision of coal-conveying belt skew, alright realize that efficient real-time supervision coal-conveying belt squints.
In a specific implementation, the coal conveying belt to be monitored may be a coal conveying belt on a belt type conveyor of any type, and may be set by a user, which is not limited in this embodiment.
It should be noted that the monitoring point is a point arbitrarily selected on the coal belt to be monitored, and the laser tracker is used to measure the movement of the monitoring point so as to monitor the deviation of the coal belt.
It should be understood that the initial position information refers to the position information of the pre-recorded monitoring point on the coal conveying belt to be detected, and may be the monitoring point position at a certain time preset by a user or an administrator, which is not limited in this embodiment.
Further, in order to accurately obtain the initial position information of the monitoring point, step S10 includes: acquiring spatial position information of monitoring points on a coal conveying belt to be monitored; establishing an observation coordinate system corresponding to the coal conveying belt to be monitored; and substituting the space position information into the observation coordinate system to obtain the initial position information of the monitoring point.
In specific implementation, the spatial position information refers to the position information of a monitoring point on a coal conveying belt to be monitored in a three-dimensional space. The spatial position information may be obtained by using laser positioning, or may be obtained by using other devices and means capable of implementing this function, which is not limited in this embodiment.
It should be noted that the observation coordinate system refers to a spatial rectangular coordinate system established corresponding to the coal conveying belt to be monitored, and is used for calibrating and representing the positions of monitoring points on the coal conveying belt to be monitored.
It should be understood that the observation coordinate system may use any point on the coal belt to be monitored as the origin of coordinates, and any two directions perpendicular to each other on the plane of the coal belt to be monitored as the coordinate axis x and the coordinate axis y, the coordinate axis z is a direction perpendicular to the coal belt to be monitored, and the specific directions of the coordinate axis x and the coordinate axis y are not limited in this embodiment.
In specific implementation, substituting the spatial position information into the observation coordinate system to obtain the initial position information of the monitoring point refers to representing the spatial position of the monitoring point in the observation coordinate system by using coordinate information according to the spatial position information of the monitoring point and the established observation coordinate system, namely the initial position information of the monitoring point.
Through the method, the initial position information of the monitoring point is expressed and recorded through the method of establishing the observation coordinate system, so that the initial position information is more accurate and visual.
Step S20: and when the coal conveying belt to be monitored runs, measuring the monitoring points through a laser tracker to obtain the information of the measuring position.
The laser tracker is an instrument that can track a moving target in space and measure the three-dimensional space coordinates of the target in real time.
It should be understood that the measured position information refers to the spatial position information of the monitoring point which changes with time when the coal conveyor belt to be monitored is in continuous operation.
In specific implementation, when the coal conveying belt to be monitored runs, the monitoring points are measured by a laser tracker, and the measurement position information is obtained by: when the coal conveying belt to be monitored starts to operate, the monitoring points are positioned by the laser tracker and are measured in real time, and the position information of the monitoring points along with the time change is obtained, namely the measured position information.
Further, in order to record the measured position information of the monitoring point in real time, step S20 includes: when the coal conveying belt to be monitored runs, monitoring points in real time through a laser tracker to obtain motion track information of the monitoring points; obtaining the motion curve information of the monitoring point according to the motion track information and the observation coordinate system; and obtaining the measurement position information of the monitoring point according to the motion curve information.
It should be noted that the motion trajectory information refers to the information related to the change trajectory of the spatial position of the monitoring point when the monitoring point moves along with the operation of the coal conveying belt to be monitored.
It should be understood that, obtaining the motion curve information of the monitoring point according to the motion track information and the observation coordinate system refers to: and substituting the motion trail in the motion trail information into an observation coordinate system to obtain a motion curve of the monitoring point along with time change, namely the motion curve information.
In specific implementation, the step of obtaining the measurement position information of the monitoring point according to the motion curve information means that the position coordinates of the monitoring point at different times are correspondingly stored and recorded according to the motion curve information, and the obtained information is the measurement position information.
Through the mode, the moving track information of the monitoring points is substituted into the observation coordinate system according to the recorded moving track information of the monitoring points, and the measuring position information of the monitoring points is obtained, so that the coordinate positions of the monitoring points at different moments can be accurately stored and recorded, and the deviation monitoring of the coal conveying belt is more accurate.
Step S30: and determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information.
It should be noted that the belt deviation information refers to relevant information related to the deviation condition of the coal conveying belt to be monitored, and may include information of a belt deviation angle, a deviation time, and the like of the coal conveying belt to be monitored, which is not limited in this embodiment.
It should be understood that the step of determining the belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information refers to selecting the position of a monitoring point at a certain moment according to the measurement position information, then obtaining the standard position information corresponding to the coal conveying belt to be monitored in a non-deviation state, and finally obtaining the belt deviation information.
Step S40: and carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information.
In specific implementation, the coal conveying belt to be monitored is subjected to deviation according to the belt deviation information, monitoring refers to monitoring and judging whether the coal conveying belt to be monitored deviates or not in real time according to the belt deviation information, and early warning information is generated and sent to a user when the deviation occurs.
In the embodiment, the initial position information of the monitoring point on the coal conveying belt to be monitored is obtained; when the coal conveying belt to be monitored runs, measuring the monitoring points through a laser tracker to obtain measurement position information; determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information; and carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information. By the mode, the measuring position information of the monitoring points on the coal conveying belt is measured in real time through the laser tracker, then the belt deviation information of the coal conveying belt to be monitored is obtained according to the measuring position information and the initial position information of the monitoring points, the deviation monitoring is carried out on the coal conveying belt to be monitored, and the deviation of the coal conveying belt is automatically monitored in real time.
Referring to fig. 3, fig. 3 is a schematic flow chart of a laser coal belt deviation monitoring method according to a second embodiment of the present invention.
Based on the first embodiment, the method for monitoring deviation of a laser coal conveying belt in this embodiment includes, in step S30:
step S301: and obtaining reference position information corresponding to the monitoring point at a preset moment according to the measurement position information.
It should be noted that the preset time may be any time point preset by a user or an administrator, and the specific time point of the preset time is not limited in this embodiment.
It should be understood that the reference position information refers to coordinate position information of the monitoring point at a preset time instant extracted from the measurement position information.
Step S302: and determining standard position information of the coal conveying belt to be monitored according to the reference point position information and the initial position information.
In specific implementation, the step of determining the standard position information of the coal conveying belt to be monitored according to the reference point position information and the initial position information includes: and inquiring a corresponding standard position on a standard operation curve of the coal conveying belt to be monitored according to the operation speed and the operation time of the coal conveying belt to be monitored, wherein the standard position is standard position information.
Further, in order to be able to accurately determine the standard position information, step S302 includes: acquiring the running speed of the coal conveying belt to be monitored; determining the corresponding operation time when the reference position information is selected according to the operation speed, the initial position information and the reference position information; and inquiring a preset standard operation curve of the coal conveying belt to be monitored according to the operation time to obtain standard position information.
It should be noted that the running speed of the coal belt to be monitored refers to the moving speed of the belt when the coal belt to be monitored is in normal running.
It should be understood that the determination of the corresponding operation time when the reference position information is selected according to the operation speed, the initial position information and the reference position information means that the movement distance of the monitoring point when the position of the reference position information is reached is determined according to the initial position information and the reference position information, and then the corresponding operation time is obtained according to the movement distance and the operation speed.
In the specific implementation, the standard operation curve refers to a prestored and set movement curve of the monitoring point of the operation of the coal conveying belt to be monitored when no deviation occurs, wherein the movement curve changes along with the time.
It should be noted that, the step of querying a preset standard operation curve of the coal conveying belt to be monitored according to the operation time to obtain standard position information refers to the step of querying a coordinate position of a final point, which is finally reached by moving a monitoring point on the standard operation curve from a coordinate position of initial position information according to the operation speed, according to the operation time, and recording the coordinate position as the standard position information.
By the method, the standard position information is calculated according to the information such as the running speed and the running time of the coal conveying belt to be monitored, so that the subsequent belt deviation information is calculated more accurately.
Step S303: and determining belt deviation information of the coal conveying belt to be monitored according to the reference position information, the standard position information and the initial position information.
It should be noted that, the determining of the belt deviation information of the coal conveying belt to be monitored according to the reference position information, the standard position information and the initial position information means that an actual running route of the coal conveying belt to be monitored is determined according to the reference position information and the initial position information, then the actual running route is compared with the standard running route to obtain a belt deviation included angle, and finally the belt deviation information is obtained according to the belt deviation included angle.
Further, in order to accurately calculate the belt deviation angle, step S303 includes: determining an actual measurement running route of the coal conveying belt to be monitored according to the reference position information and the initial position information; determining a standard operation route of the coal conveying belt to be monitored according to the standard position information and the initial position information; determining a belt offset included angle of the coal conveying belt to be monitored according to the actual measurement running route and the standard running route; and determining the belt deviation information of the coal conveying belt to be monitored according to the belt deviation included angle.
It should be understood that, the determination of the measured operation route of the coal belt to be monitored according to the reference position information and the initial position information refers to: and taking a straight line where a connecting line of the coordinate point of the reference position information and the coordinate point of the initial position information is located as an actual measurement running route.
In a specific implementation, the step of determining a standard operation route of the coal conveying belt to be monitored according to the standard position information and the initial position information comprises the following steps: and taking a straight line where a connecting line of the coordinate point of the standard position information and the coordinate point of the initial position information is located as a standard running route.
It should be understood that the determination of the belt offset angle of the coal conveyor belt to be monitored according to the measured operation route and the standard operation route refers to: the actual measurement running route and the standard running route intersect at the coordinate point of the initial position information, so that the included angle of the coordinate point of the initial position information is used as the belt deviation included angle.
In specific implementation, determining the belt deviation information of the coal conveying belt to be monitored according to the belt deviation included angle refers to: and generating belt deviation information according to the belt deviation included angle, and simultaneously using the time of obtaining the belt deviation included angle, the serial number of the coal conveying belt to be monitored and other information as the belt deviation information.
By the method, the belt offset included angle can be accurately calculated, so that the offset monitoring of the coal conveying belt to be monitored is more accurate, and the possibility of misjudgment of the offset is reduced.
Further, in order to give an early warning to a user when the coal conveying belt to be monitored is in an offset state, the step of carrying out offset monitoring on the coal conveying belt to be monitored according to the belt offset information comprises the following steps: acquiring preset safety offset information; determining a preset safety included angle range according to the preset safety deviation information; and when the belt deviation included angle in the belt deviation information is not in the preset safety included angle range, judging that the coal conveying belt to be monitored is in a deviation state, generating early warning information and sending the early warning information to a user.
It should be noted that the preset safety deviation information refers to pre-stored safety setting related information related to deviation of the coal conveying belt to be monitored, and may include information such as a preset safety included angle range, a time length of a safety accident after the deviation of the coal conveying belt to be monitored occurs, and other safety related information related to deviation of the coal conveying belt to be monitored, which is not limited in this embodiment.
It should be understood that the preset safety included angle range refers to a belt deviation included angle range which is extracted from preset safety deviation information and is preset by a user and does not need to be warned when a coal conveying belt to be monitored deviates.
In the concrete implementation, work as in the belt skew information the belt skew contained angle is not in when predetermineeing the safety contained angle scope, judge treat that monitoring coal conveying belt is the skew state, and generate early warning information and send for the user and indicate, contrast belt skew contained angle and predetermine the safety contained angle scope, when the belt skew contained angle has surpassed and predetermine the safety contained angle scope, judge that to treat monitoring coal conveying belt is the skew state, automatic generation early warning information transmission this moment gives the user.
It should be noted that, when the belt deviation included angle is within the preset safe included angle range, it is determined that the coal conveying belt to be monitored is not in a deviation state, and no early warning information is generated and the working state of the coal conveying belt to be monitored is continuously monitored.
Through the mode, the early warning can be timely given to the user when the belt deviation included angle of the coal conveying belt to be monitored is judged not to be in accordance with the preset safety range, and the possibility of safety accidents is reduced.
In the embodiment, reference position information corresponding to the monitoring point at a preset moment is obtained according to the measurement position information; determining standard position information of the coal conveying belt to be monitored according to the reference point position information and the initial position information; and determining belt deviation information of the coal conveying belt to be monitored according to the reference position information, the standard position information and the initial position information. Through the mode, the reference position information and the standard position information corresponding to the reference position information can be selected in the movement process of the monitoring point, so that the belt deviation information of the coal conveying belt to be monitored is obtained, the deviation state of the coal conveying belt to be monitored can be monitored fully automatically, manual processing is not needed, and the deviation monitoring of the coal conveying belt to be monitored is more efficient.
In addition, an embodiment of the present invention further provides a storage medium, where a laser coal belt deviation monitoring program is stored on the storage medium, and when executed by a processor, the laser coal belt deviation monitoring program implements the steps of the laser coal belt deviation monitoring method described above.
Since the storage medium adopts all technical solutions of all the embodiments described above, at least all the beneficial effects brought by the technical solutions of the embodiments described above are achieved, and are not described in detail herein.
Referring to fig. 4, fig. 4 is a block diagram illustrating a first embodiment of the laser coal belt deviation monitoring apparatus according to the present invention.
As shown in fig. 4, a laser coal belt deviation monitoring device according to an embodiment of the present invention includes:
the acquiring module 10 is used for acquiring initial position information of monitoring points on the coal conveying belt to be monitored.
And the measuring module 20 is used for measuring the monitoring points through a laser tracker when the coal conveying belt to be monitored runs to obtain the information of the measuring position.
And the analysis module 30 is configured to determine belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information.
And the monitoring module 40 is used for carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information.
The embodiment comprises the steps of acquiring initial position information of a monitoring point on a coal conveying belt to be monitored; when the coal conveying belt to be monitored runs, measuring the monitoring points through a laser tracker to obtain measurement position information; determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information; and carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information. By the mode, the measuring position information of the monitoring points on the coal conveying belt is measured in real time through the laser tracker, then the belt deviation information of the coal conveying belt to be monitored is obtained according to the measuring position information and the initial position information of the monitoring points, the deviation monitoring is carried out on the coal conveying belt to be monitored, and the deviation of the coal conveying belt is automatically monitored in real time.
In an embodiment, the obtaining module 10 is further configured to obtain spatial position information of a monitoring point on a coal conveyor belt to be monitored; establishing an observation coordinate system corresponding to the coal conveying belt to be monitored; and substituting the space position information into the observation coordinate system to obtain the initial position information of the monitoring point.
In an embodiment, the measuring module 20 is further configured to perform real-time monitoring on a monitoring point through a laser tracker when the coal conveying belt to be monitored runs, so as to obtain motion track information of the monitoring point; obtaining the motion curve information of the monitoring point according to the motion track information and the observation coordinate system; and obtaining the measurement position information of the monitoring point according to the motion curve information.
In an embodiment, the analysis module 30 is further configured to obtain reference position information corresponding to the monitoring point at a preset time according to the measurement position information; determining standard position information of the coal conveying belt to be monitored according to the reference point position information and the initial position information; and determining belt deviation information of the coal conveying belt to be monitored according to the reference position information, the standard position information and the initial position information.
In an embodiment, the analysis module 30 is further configured to obtain an operation speed of the coal conveyor belt to be monitored; determining the corresponding operation time when the reference position information is selected according to the operation speed, the initial position information and the reference position information; and inquiring a preset standard operation curve of the coal conveying belt to be monitored according to the operation time to obtain standard position information.
In an embodiment, the analysis module 30 is further configured to determine an actually measured operation route of the coal belt to be monitored according to the reference position information and the initial position information; determining a standard operation route of the coal conveying belt to be monitored according to the standard position information and the initial position information; determining a belt offset included angle of the coal conveying belt to be monitored according to the actual measurement running route and the standard running route; and determining the belt deviation information of the coal conveying belt to be monitored according to the belt deviation included angle.
In an embodiment, the monitoring module 40 is further configured to obtain preset safety offset information; determining a preset safety included angle range according to the preset safety deviation information; and when the belt deviation included angle in the belt deviation information is not in the preset safety included angle range, judging that the coal conveying belt to be monitored is in a deviation state, generating early warning information and sending the early warning information to a user.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the laser coal belt deviation monitoring method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A laser coal conveying belt deviation monitoring method is characterized by comprising the following steps:
acquiring initial position information of a monitoring point on a coal conveying belt to be monitored;
when the coal conveying belt to be monitored runs, measuring the monitoring points through a laser tracker to obtain measurement position information;
determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information;
and carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information.
2. The method of claim 1, wherein obtaining initial position information for a monitoring point on a coal conveyor belt to be monitored comprises:
acquiring spatial position information of monitoring points on a coal conveying belt to be monitored;
establishing an observation coordinate system corresponding to the coal conveying belt to be monitored;
and substituting the space position information into the observation coordinate system to obtain the initial position information of the monitoring point.
3. The method of claim 2, wherein the measuring the monitoring point by a laser tracker while the coal conveyor belt to be monitored is running to obtain the measurement position information comprises:
when the coal conveying belt to be monitored runs, monitoring points in real time through a laser tracker to obtain motion track information of the monitoring points;
obtaining the motion curve information of the monitoring point according to the motion track information and the observation coordinate system;
and obtaining the measurement position information of the monitoring point according to the motion curve information.
4. The method of claim 1, wherein determining belt deviation information for the coal conveyor belt to be monitored from the initial position information and the measured position information comprises:
obtaining reference position information corresponding to the monitoring point at a preset moment according to the measurement position information;
determining standard position information of the coal conveying belt to be monitored according to the reference point position information and the initial position information;
and determining belt deviation information of the coal conveying belt to be monitored according to the reference position information, the standard position information and the initial position information.
5. The method of claim 4, wherein determining the standard position information of the coal belt to be monitored from the reference point position information and the initial position information comprises:
acquiring the running speed of the coal conveying belt to be monitored;
determining the corresponding operation time when the reference position information is selected according to the operation speed, the initial position information and the reference position information;
and inquiring a preset standard operation curve of the coal conveying belt to be monitored according to the operation time to obtain standard position information.
6. The method of claim 4, wherein determining belt deviation information for the coal conveyor belt to be monitored based on the reference position information, standard position information, and initial position information comprises:
determining an actual measurement running route of the coal conveying belt to be monitored according to the reference position information and the initial position information;
determining a standard operation route of the coal conveying belt to be monitored according to the standard position information and the initial position information;
determining a belt offset included angle of the coal conveying belt to be monitored according to the actual measurement running route and the standard running route;
and determining the belt deviation information of the coal conveying belt to be monitored according to the belt deviation included angle.
7. The method of claim 6, wherein said offset monitoring of said coal conveyor belt to be monitored based on said belt offset information comprises:
acquiring preset safety offset information;
determining a preset safety included angle range according to the preset safety deviation information;
and when the belt deviation included angle in the belt deviation information is not in the preset safety included angle range, judging that the coal conveying belt to be monitored is in a deviation state, generating early warning information and sending the early warning information to a user.
8. The utility model provides a laser coal conveying belt skew monitoring devices which characterized in that, laser coal conveying belt skew monitoring devices includes:
the acquisition module is used for acquiring initial position information of a monitoring point on a coal conveying belt to be monitored;
the measuring module is used for measuring the monitoring points through a laser tracker when the coal conveying belt to be monitored runs to obtain measuring position information;
the analysis module is used for determining belt deviation information of the coal conveying belt to be monitored according to the initial position information and the measurement position information;
and the monitoring module is used for carrying out deviation monitoring on the coal conveying belt to be monitored according to the belt deviation information.
9. A laser coal conveyor belt deviation monitoring apparatus, the apparatus comprising: a memory, a processor, and a laser coal belt deviation monitoring program stored on the memory and executable on the processor, the laser coal belt deviation monitoring program configured to implement the laser coal belt deviation monitoring method of any one of claims 1 to 7.
10. A storage medium having a laser coal belt deviation monitoring program stored thereon, the program when executed by a processor implementing the laser coal belt deviation monitoring method of any one of claims 1 to 7.
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