CN115180364B - Mining conveyor belt foreign matter monitoring device and method based on GMI magnetic sensor - Google Patents
Mining conveyor belt foreign matter monitoring device and method based on GMI magnetic sensor Download PDFInfo
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 92
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- 239000002184 metal Substances 0.000 claims abstract description 56
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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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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
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Abstract
The invention discloses a mining conveyor belt foreign matter monitoring device and method based on a GMI magnetic sensor. The device comprises: the metal detection modules are arranged below the upper layer transmission belt of the coal transportation flow at equal intervals and are used for collecting magnetic field signals at different positions; the encoder is connected with the metal detection module and used for controlling the metal detection module to acquire magnetic field signals at different positions within a set time interval; the intelligent analysis terminal detects and positions the foreign matters according to the magnetic field signals; the voice alarm is connected with the intelligent analysis terminal and used for alarming when detecting foreign matters. According to the invention, the metal foreign matter detection module is arranged below the belt to detect the magnitude and the change of the induction magnetic field in real time, when metal foreign matters appear in the coal flow transported by the belt, the abnormal waveform change of the magnetic field can occur, and the defect interference and the connection part interference of the conveyor belt are eliminated through the conversion and the change of an algorithm, so that the detection and the positioning of the metal foreign matters are finally realized.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a mining conveyor belt foreign matter monitoring device and method based on a GMI magnetic sensor.
Background
In the process of transporting coal, ferromagnetic metal foreign matters such as anchor rods, iron wires and I-steel on the conveying belt can be transported along with coal blocks through the conveying belt, so that the conveying belt is likely to be scratched or scratched to different degrees, production can be affected in severe cases, and serious loss is caused.
The related detection technical equipment is mainly focused on radio method, electromagnetic method, X-ray and video image AI detection method. The methods have certain limitations on safety and accuracy due to the low detection sensitivity, low detection speed, limited use scene, great influence of coal slime and water mist, harm to human bodies and other reasons.
Therefore, for the complex environment of the mine, a highly reliable metal foreign matter monitoring device which is not influenced by water mist, coal slime and coal dust is urgently needed.
Disclosure of Invention
Based on the detection result, the invention aims to provide a mining conveyor belt foreign matter monitoring device and method based on a GMI magnetic sensor.
In order to achieve the above object, the present invention provides the following solutions:
mining conveyer belt foreign matter monitoring devices based on GMI magnetic sensor includes:
the metal detection modules are arranged below the upper layer transmission belt of the coal transportation flow at equal intervals and are used for collecting magnetic field signals at different positions;
the encoder is connected with the metal detection module and used for controlling the metal detection module to acquire magnetic field signals at different positions in a set time interval;
the intelligent analysis terminal is connected with the metal detection module through an Ethernet and is used for detecting and positioning the foreign matters according to the magnetic field signals;
and the voice alarm is connected with the intelligent analysis terminal and used for alarming when detecting the foreign matters.
Optionally, the metal detection module is composed of a plurality of GMI magnetic sensor arrays.
Optionally, the mining conveyor belt foreign matter monitoring device further includes:
and the direct-current stabilized power supply is respectively connected with the metal detection module, the intelligent analysis terminal and the voice alarm and is used for supplying power to the metal detection module, the intelligent analysis terminal and the voice alarm.
The invention also provides a mining conveyor belt foreign matter monitoring method based on the GMI magnetic sensor, which comprises the following steps:
collecting magnetic field signals at different positions through a plurality of metal detection modules; the metal detection modules are arranged below the upper layer conveying belt for transporting the coal flow at equal intervals; the metal detection module consists of a plurality of GMI magnetic sensor arrays;
for each metal detection module, calculating the maximum peak value and the first signal-to-noise ratio of the magnetic field signal;
judging whether a target signal exists or not based on the maximum peak value and the first signal-to-noise ratio; the target signal comprises a defect interference signal, a belt connecting part interference signal and a foreign matter signal;
and when the judging result shows that the target signal exists, eliminating the defect interference signal and the belt connecting part interference signal, and determining the existence and the position of the foreign matter.
Optionally, after the magnetic field signals of different positions are collected by the plurality of metal detection modules, the method further includes: the magnetic field signal is preprocessed.
Optionally, based on the maximum peak value and the first signal-to-noise ratio, determining whether the target signal exists specifically includes:
comparing the maximum peak value with the peak threshold value;
comparing the first signal-to-noise ratio with a first signal-to-noise ratio threshold;
and determining that a target signal exists when the maximum peak value is greater than the peak threshold value and the first signal to noise ratio is greater than the first signal to noise ratio threshold value.
Optionally, excluding the defect interference signal and the belt connecting portion interference signal, determining the presence and the position of the foreign matter specifically includes:
counting the number of peaks of the magnetic field signals larger than the peak threshold value;
when the number is the same as the number of the GMI magnetic sensors or the number difference is smaller than a number threshold, determining that the target signal is a belt connection part interference signal; otherwise, determining the target signal as a foreign object signal or a defect interference signal;
when the fluctuation amplitude of the magnetic field signal is smaller than a fluctuation preset range, determining that the target signal is a defect interference signal;
performing wavelet transformation on the magnetic field signal with the amplitude fluctuation amplitude larger than the preset range, and then calculating a second signal-to-noise ratio;
when the second signal-to-noise ratio is smaller than a second signal-to-noise ratio threshold value, determining that the target signal is a defect interference signal;
counting the number of head-tail jump points of the magnetic field signal when the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio threshold;
when the number of points is smaller than a point threshold value, determining that the target signal is a defect interference signal, otherwise, determining that the target signal is a foreign matter signal;
and after determining that the foreign matter exists, determining the position of the foreign matter according to the position of the head-to-tail jump point of the magnetic field signal.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, the metal foreign matter detection module is arranged below the belt to detect the magnitude and the change of the induction magnetic field in real time, when metal foreign matters appear in the coal flow transported by the belt, the abnormal waveform change of the magnetic field can occur, and the defect interference and the connection part interference of the conveyor belt are eliminated through the conversion and the change of an algorithm, so that the detection and the positioning of the metal foreign matters are finally realized. The invention is not influenced by water mist, coal slime and coal dust, once the metal foreign matters move along with the conveyer belt, the metal foreign matters can be accurately detected and early-warned in time, and workers are reminded to timely clear the potential safety hazards, so that the safety production is ensured, and the potential safety hazards are eliminated in the early-stage preventive work.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a deployment diagram of a mining conveyor belt foreign matter monitoring device based on a GMI magnetic sensor;
FIG. 2 is a flow chart of a mining conveyor belt foreign matter monitoring method based on a GMI magnetic sensor provided by the invention;
FIG. 3 is a waveform diagram of a frame of magnetic field signals;
FIG. 4 is a waveform of a magnetic field signal without foreign matter;
FIG. 5 is a waveform of a magnetic field signal when a foreign object is present;
FIG. 6 is a waveform diagram of noise from a substrate;
FIG. 7 is a waveform diagram after the base noise is differentiated;
FIG. 8 is a waveform diagram of a defect disturbing signal;
FIG. 9 is a waveform diagram after the difference of the defect interference signals;
FIG. 10 is a waveform diagram of a target signal;
FIG. 11 is a waveform diagram after the difference of the target signals;
FIG. 12 is an overall waveform of a connection interference signal without foreign matter;
FIG. 13 is a partial enlarged waveform of a connection interference signal without foreign matter;
FIG. 14 is a partial waveform of a foreign object signal;
fig. 15 is a waveform diagram after wavelet transform of the foreign matter signal;
FIG. 16 is a partial waveform of a defect signal;
FIG. 17 is a waveform diagram after wavelet transform of a defect signal;
FIG. 18 is a waveform diagram of a foreign object signal trip point;
fig. 19 is a waveform diagram of a defect signal trip point.
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.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the mining conveyor belt foreign matter monitoring device based on the GMI magnetic sensor provided by the invention comprises: the system comprises a plurality of metal detection modules, encoders, intelligent analysis terminals and voice alarms.
The metal detection modules are distributed below the upper layer transmission belt for transporting coal flows at equal intervals and used for collecting magnetic field signals at different positions. In practical application, a detection module is formed by 4 GMI magnetic sensor arrays, 3 magnetic foreign matter detection modules are equidistantly distributed, and the detection of the foreign matters of the 1.6-meter conveyor belt in a transportation state can be realized. The metal foreign matter detection module based on the GMI magnetic sensor is arranged below the upper layer belt, and the detection surface is about 3cm away from the belt.
The encoder is connected with the metal detection module and used for controlling the metal detection module to collect magnetic field signals at different positions within a set time interval. In practical application, the proper position is selected to be in direct contact with the bottom belt, so that the bottom belt moves synchronously along with the conveying belt, and the function is equivalent to the function of accurately telling the stop position of the metal foreign matters by the odometer.
The intelligent analysis terminal is connected with the metal detection module through the Ethernet and is used for detecting and positioning the foreign matters according to the magnetic field signals.
The voice alarm is connected with the intelligent analysis terminal and used for alarming when detecting foreign matters.
The device provided by the invention further comprises: and the direct-current stabilized power supply is respectively connected with the metal detection module, the intelligent analysis terminal and the voice alarm and is used for supplying power to the metal detection module, the intelligent analysis terminal and the voice alarm.
The modules in the mining conveyor belt foreign matter monitoring device based on the GMI magnetic sensor are mining intrinsic safety type.
When the conveyer belt (namely the conveyer belt) runs, the detection module reads magnetic field signals at certain distance intervals under the control of the encoder (which moves synchronously with the conveyer belt), analog-digital conversion is carried out on the magnetic field signals, then the magnetic field signals are uploaded to the intelligent analysis terminal through the Ethernet, the intelligent analysis terminal is responsible for acquisition, storage, pretreatment (including filtering, binarization, correlation, interpolation, framing and the like) of measured data, analysis and diagnosis of metal foreign matters, finally the voice alarm, the iron remover, the PLC and start-stop equipment are controlled, and meanwhile, the correlation measured data and analysis and diagnosis results are sent to the computer and the server to further finish storage, summarization, statistics, storage and reporting of monitoring information, and related management departments are informed in a short message mode for remote users to access, control and query.
The invention also provides a mining conveyor belt foreign matter monitoring method based on the GMI magnetic sensor, as shown in fig. 2, the method comprises the following steps:
step 1: collecting magnetic field signals at different positions through a plurality of metal detection modules; the metal detection modules are arranged below the upper layer conveying belt for transporting the coal flow at equal intervals; the metal detection module consists of a plurality of GMI magnetic sensor arrays.
After magnetic field signals of different positions are acquired through a plurality of metal detection modules, the magnetic field signals are required to be preprocessed, filtered, binarized, correlated, interpolated, framed and the like.
Step 2: for each metal detection module, calculating the maximum peak value and the first signal to noise ratio of the magnetic field signal.
Step 3: judging whether a target signal exists or not based on the maximum peak value and the first signal-to-noise ratio; the target signal includes a defect interference signal, a belt connection portion interference signal, and a foreign matter signal. The method specifically comprises the following steps: comparing the maximum peak value with the peak threshold value; comparing the first signal-to-noise ratio with a first signal-to-noise ratio threshold; and determining that a target signal exists when the maximum peak value is greater than the peak threshold value and the first signal to noise ratio is greater than the first signal to noise ratio threshold value.
Step 4: and when the judging result shows that the target signal exists, eliminating the defect interference signal and the belt connecting part interference signal, and determining the existence and the position of the foreign matter. The method specifically comprises the following steps: counting the number of peaks of the magnetic field signals larger than the peak threshold value; when the number is the same as the number of the GMI magnetic sensors or the number difference is smaller than a number threshold, determining that the target signal is a belt connection part interference signal; otherwise, determining the target signal as a foreign object signal or a defect interference signal; when the fluctuation amplitude of the magnetic field signal is smaller than a fluctuation preset range, determining that the target signal is a defect interference signal; performing wavelet transformation on the magnetic field signal with the amplitude fluctuation amplitude larger than the preset range, and then calculating a second signal-to-noise ratio; when the second signal-to-noise ratio is smaller than a second signal-to-noise ratio threshold value, determining that the target signal is a defect interference signal; counting the number of head-tail jump points of the magnetic field signal when the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio threshold; when the number of points is smaller than a point threshold value, determining that the target signal is a defect interference signal, otherwise, determining that the target signal is a foreign matter signal; and after determining that the foreign matter exists, determining the position of the foreign matter according to the position of the head-to-tail jump point of the magnetic field signal.
The metal foreign matter detection device is arranged below the conveyor belt and is relatively close to the conveyor belt, so that when the conveyor belt runs, other interferences besides foreign matter signals can enter, such as the defect interference of the conveyor belt and the interference of a connecting part. These interfering signals seriously affect the detection of the target signal and must be filtered out.
The method is divided into two parts, wherein the first step is to perform rough measurement judgment to give two results of no target and target. False judgment can be performed, for example, the defect signal is regarded as a foreign matter signal, but the false judgment cannot be performed. And the second step is to carry out accurate measurement and judgment to further distinguish the target signal as a foreign matter signal, a defect interference signal or a belt connection part interference signal.
Specific examples are as follows:
1. coarse judgment algorithm
The rough measurement algorithm aims at judging whether a frame of signal possibly has a target signal or not, and importing the data possibly having the target signal into the fine judgment algorithm so as to filter out a lot of invalid data.
(1) Data importation
And selecting magnetic field amplitude (the amplitude unit is nano nT) data of different positions collected by 1-M paths of detection modules (11 paths of detection modules can cover a 1.6M wide belt generally), and analyzing each frame of data. The detection distance of one frame of the detection module is 512mm, the waveform diagram of one frame is shown in fig. 3, the abscissa represents the number of points (positions), the number of points is 512, and the distance is 512mm.
(2) Calculating maximum peak and signal to noise ratio
1) And respectively calculating peak values and taking the maximum value of the single frame data of M paths, comparing the peak values with a peak value threshold value, screening out data with the peak value maximum value larger than the peak value threshold value, and considering that the frame data possibly has a target signal, and considering that the frame data has no target signal when the frame data is lower than the peak value threshold value.
2) The target signal waveform is generally steeper, so the signal-to-noise ratio is calculated after the original magnetic field signal is differentiated. Carrying out differential calculation on one path of original magnetic field signal with the maximum single frame peak value screened in the step 1), wherein the differential calculation formula is as follows:
a new set of single frame data is obtained.
The signal-to-noise ratio calculation formula:where Ps and Pn represent the effective power of the signal and noise, respectively. And Ps adopts the maximum value of the signal after difference, pn adopts a base value far away from the maximum value, the signal-to-noise ratio is calculated according to the formula, if the value is larger than a first signal-to-noise ratio threshold value, the target signal of the frame is considered to be possible, otherwise, no target is considered to be present, and the next frame judgment is carried out.
Fig. 4 is an original running chart of the conveyor belt without foreign matter, and it can be seen that some defect signals are also detected, and fig. 5 is a waveform chart with foreign matter, and the target amplitude is still stronger. Fig. 6 is a waveform of a certain base noise, and fig. 7 is a waveform diagram of a base noise after difference, it can be seen that the maximum value and the base ratio after difference are smaller, and no target signal can be considered. Fig. 8 is a diagram showing a waveform of a defective signal after the difference of the defective signal, and fig. 9 shows that the maximum value of the waveform after the difference and the base ratio are large, and the signal is judged to be a suspected target signal. Fig. 10 is a waveform of a frame having a target signal, fig. 11 is a waveform diagram after the difference of the target signal, and, similarly, the ratio of the maximum value of the waveform after the difference to the substrate is large, and the waveform is judged to be a suspected target signal.
2. Fine judgment algorithm
After the coarse judgment algorithm, the fine judgment algorithm further distinguishes foreign matter signals, defect interference signals and belt connection part interference signals.
(1) Connection part interference discrimination and filtering
For the connection interference, the number of sensor peaks greater than a certain threshold can be counted because it causes a relatively consistent waveform for each sensor and also has a relatively high amplitude. After screening by a coarse judgment algorithm, comparing the peak value with the peak value threshold value of single frame data of M paths of sensors, and if the number is similar to the total number of the sensors, considering the single frame data as interference of a connecting part and eliminating the interference. The whole waveform diagram and the partial enlarged diagram of the connection interference signal without foreign matters are shown in fig. 12-13.
(2) Defect interference discrimination and filtering
Filtering the interference signals of the connection part in the step (1), and then judging in the step (1) — (2) — (3):
(1) and judging small defect interference, and filtering out the small defect interference through amplitude judgment.
(2) Large defect interference discrimination: by observing the foreign matter interference waveform and the defect interference waveform, the defect signal frequency is found to be relatively high, and the foreign matter signal frequency is low, and a continuous wavelet transformation method is adopted.
The wavelet transformation can transform a time signal into a time frequency domain, so that the local characteristic of the signal can be better observed, and the time and frequency information of the signal can be observed simultaneously. The wavelet transform formula is as follows:
wavelet transforms have two variables: a scale and a translation. The scale alpha controls the expansion and contraction of the wavelet function and the translation amount tau controls the translation of the wavelet function. The scale corresponds to frequency (inversely proportional) and the amount of translation corresponds to time.
And selecting a proper fixed scale, utilizing continuous wavelet transformation, then calculating the signal-to-noise ratio SNR, and comparing the signal-to-noise ratio with a second signal-to-noise ratio threshold value, wherein the defect interference is smaller than the second signal-to-noise ratio threshold value.
Fig. 14 to 17 show waveforms of the foreign object signal and the interference signal after wavelet transformation, and it can be seen from the figures that the foreign object signal is more prominent after wavelet transformation, enhanced, and the defect signal is suppressed to some extent as compared with the surrounding signal.
(3) Determination of trip point further filters out defective interference
And for defect interference with larger signal-to-noise ratio, further judging by adopting a trip point judging method. And continuously taking two frames of signals from frames with larger signal-to-noise ratio, judging the head-to-tail jumping points of the original magnetic field signals, and considering the signals as foreign matter signals only when the number of points is larger than a threshold value of the number of points. Fig. 18 shows the points of the foreign signal, the first and second points are 126 th point (3310) and 428 th point (-3270), respectively, and fig. 19 shows the points of the defect signal, the first and second points are 109 th point (-255) and 365 th point (-3660), respectively. The foreign matter signal duration is several tens of points longer than the defect signal duration through the trip point judgment comparison.
(3) Foreign object signal detection
After several rounds of judgment, the defect interference and the connection part interference can be effectively filtered, and finally the foreign object signal can be accurately detected.
The invention adopts passive measurement, does not apply any magnetic field, and truly reflects the induction magnetic field of the metal foreign matters; it is not afraid that any non-magnetically permeable material is spread in space or attached to the device and does not need to be cleaned. The metal detection module is designed according to standardization, adopts a modularized structure, and can be combined and spliced at will so as to adapt to belts with different widths. The invention is not affected by water mist and dust, is maintenance-free, and can realize real-time online, nondestructive, passive, non-contact and non-radiation detection.
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.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. Mining conveyer belt foreign matter monitoring devices based on GMI magnetic sensor, its characterized in that includes:
the metal detection modules are arranged below the upper layer transmission belt of the coal transportation flow at equal intervals and are used for collecting magnetic field signals at different positions;
the encoder is connected with the metal detection module and used for controlling the metal detection module to acquire magnetic field signals at different positions in a set time interval;
the intelligent analysis terminal is connected with the metal detection module through an Ethernet and is used for detecting and positioning the foreign matters according to the magnetic field signals;
the voice alarm is connected with the intelligent analysis terminal and used for alarming when detecting foreign matters;
wherein, detect and fix a position the foreign matter according to the magnetic field signal, specifically include: for each metal detection module, calculating the maximum peak value and the first signal-to-noise ratio of the magnetic field signal; judging whether a target signal exists or not based on the maximum peak value and the first signal-to-noise ratio; the target signal comprises a defect interference signal, a belt connecting part interference signal and a foreign matter signal; when the judging result shows that the target signal exists, eliminating the defect interference signal and the belt connecting part interference signal, and determining the existence and the position of the foreign matter;
counting the number of peaks of the magnetic field signals larger than the peak threshold value; when the number is the same as the number of the GMI magnetic sensors or the number difference is smaller than a number threshold, determining that the target signal is a belt connection part interference signal; otherwise, determining the target signal as a foreign object signal or a defect interference signal; when the fluctuation amplitude of the magnetic field signal is smaller than a fluctuation preset range, determining that the target signal is a defect interference signal; performing wavelet transformation on the magnetic field signal with the amplitude fluctuation amplitude larger than the preset range, and then calculating a second signal-to-noise ratio; when the second signal-to-noise ratio is smaller than a second signal-to-noise ratio threshold value, determining that the target signal is a defect interference signal; counting the number of head-tail jump points of the magnetic field signal when the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio threshold; when the number of points is smaller than a point threshold value, determining that the target signal is a defect interference signal, otherwise, determining that the target signal is a foreign matter signal; and after determining that the foreign matter exists, determining the position of the foreign matter according to the position of the head-to-tail jump point of the magnetic field signal.
2. The mining conveyor belt foreign matter monitoring device based on GMI magnetic sensors of claim 1, wherein the metal detection module is composed of a plurality of GMI magnetic sensor arrays.
3. The mining conveyor belt foreign matter monitoring device based on a GMI magnetic sensor of claim 1, further comprising:
and the direct-current stabilized power supply is respectively connected with the metal detection module, the intelligent analysis terminal and the voice alarm and is used for supplying power to the metal detection module, the intelligent analysis terminal and the voice alarm.
4. The mining conveyor belt foreign matter monitoring method based on the GMI magnetic sensor is characterized by comprising the following steps of:
collecting magnetic field signals at different positions through a plurality of metal detection modules; the metal detection modules are arranged below the upper layer conveying belt for transporting the coal flow at equal intervals; the metal detection module consists of a plurality of GMI magnetic sensor arrays;
for each metal detection module, calculating the maximum peak value and the first signal-to-noise ratio of the magnetic field signal;
judging whether a target signal exists or not based on the maximum peak value and the first signal-to-noise ratio; the target signal comprises a defect interference signal, a belt connecting part interference signal and a foreign matter signal;
when the judging result shows that the target signal exists, eliminating the defect interference signal and the belt connecting part interference signal, and determining the existence and the position of the foreign matter;
the defect interference signal and the belt connecting part interference signal are eliminated, and the existence and the position of the foreign matters are determined, which concretely comprises the following steps:
counting the number of peaks of the magnetic field signals larger than the peak threshold value;
when the number is the same as the number of the GMI magnetic sensors or the number difference is smaller than a number threshold, determining that the target signal is a belt connection part interference signal; otherwise, determining the target signal as a foreign object signal or a defect interference signal;
when the fluctuation amplitude of the magnetic field signal is smaller than a fluctuation preset range, determining that the target signal is a defect interference signal;
performing wavelet transformation on the magnetic field signal with the amplitude fluctuation amplitude larger than the preset range, and then calculating a second signal-to-noise ratio;
when the second signal-to-noise ratio is smaller than a second signal-to-noise ratio threshold value, determining that the target signal is a defect interference signal;
counting the number of head-tail jump points of the magnetic field signal when the second signal-to-noise ratio is greater than or equal to the second signal-to-noise ratio threshold;
when the number of points is smaller than a point threshold value, determining that the target signal is a defect interference signal, otherwise, determining that the target signal is a foreign matter signal;
and after determining that the foreign matter exists, determining the position of the foreign matter according to the position of the head-to-tail jump point of the magnetic field signal.
5. The method for monitoring foreign matter on a mining conveyor belt based on a GMI magnetic sensor according to claim 4, further comprising, after collecting magnetic field signals at different positions by a plurality of metal detection modules: the magnetic field signal is preprocessed.
6. The mining conveyor belt foreign matter monitoring method based on a GMI magnetic sensor of claim 4, wherein determining whether a target signal is present based on the maximum peak value and the first signal-to-noise ratio, specifically comprises:
comparing the maximum peak value with the peak threshold value;
comparing the first signal-to-noise ratio with a first signal-to-noise ratio threshold;
and determining that a target signal exists when the maximum peak value is greater than the peak threshold value and the first signal to noise ratio is greater than the first signal to noise ratio threshold value.
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