CN117309898B - Belt abrasion degree detection device and detection method based on synchronous single-line laser radar - Google Patents
Belt abrasion degree detection device and detection method based on synchronous single-line laser radar 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
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The invention relates to a belt abrasion degree detection device and method based on a synchronous single-line laser radar, and belongs to the technical field of monitoring of belt conveyor belt states on mine wells and underground; the device comprises a detection system, a data acquisition main station and a data processing workstation; according to the method, the coordinate points and the distances of the upper surface and the lower surface of the same position of the belt are synchronously acquired by using the upper single-line laser radar and the lower single-line laser radar, and then the coordinate points and the distances are compared with the installation distances between the upper single-line laser radar and the lower single-line laser radar, so that the thickness of the belt at the position can be obtained. And the two single-line laser radars vibrate and scan along the cross section of the belt to obtain the thickness of the belt of the whole section, and the thickness cloud picture of the whole belt is obtained along with the normal sliding of the belt. The original thickness of the belt and the thickness of the existing belt are divided to obtain the abrasion degree of the belt.
Description
Technical Field
The invention relates to a belt abrasion degree detection device and method based on a synchronous single-line laser radar, and belongs to the technical field of monitoring of belt conveyor belt states on mine wells and underground.
Background
The belt conveyor is used as main conveying equipment in coal mine production, and has the characteristics of simplicity in operation, high automation degree and the like. The belt conveyor is a continuous conveying device which uses a belt as a bearing mechanism and a traction mechanism, is widely used for conveying materials in mines, wharfs, metallurgy, building materials, machinery and storage industries, has the advantages of high conveying capacity, low conveying resistance, low power consumption, stable operation, small damage to the materials in the conveying process and the like, and is recognized as continuous conveying device with highest conveying efficiency and the most extensive application range for bulk materials. The device is an important device for realizing mechanization and automation of the production process, relieving heavy physical labor, improving working conditions and improving labor productivity.
Because the working environment of the mine is special, the production condition is relatively bad, and the belt conveyor is often worn excessively, torn and other problems. The belt conveyor has the advantages of more points to be detected, large workload and high detection precision; the belt conveyor is generally unable to check and remove faults through human sense organs and engineering experience, and is particularly inconvenient for manual monitoring and maintenance. Therefore, in order to improve the real-time monitoring of the belt conveyor in the field, a detection device for the wear degree, tear and the like of the belt conveyor is proposed.
For example, chinese patent publication No. CN113320924a discloses a belt longitudinal tear detecting device based on a single-line laser radar, which includes a single-line laser radar, a sensor fixing bracket, a dust cover, a brush, and a control terminal. The laser radar is fixed below the non-bearing surface of the belt, emits laser obliquely upwards along the range of a visual field perpendicular to the sliding direction of the belt, records the total time and scanning angle of the pulse from the emission to the reflection of the tested object in the process of uniform sliding of the belt, and calculates the instantaneous contour coordinate of the bottom surface of the belt by combining the laser propagation speed; then, the position of the contour information along the sliding direction of the belt is calculated according to the sliding speed of the belt at equal time intervals, and continuous three-dimensional point cloud of the non-bearing bottom surface of the belt is generated; and finally, accurately constructing a three-dimensional model of the bottom surface of the belt, and timely finding and sending out a warning of a tearing part of the belt through judging the smoothness abnormality of the three-dimensional model of the bottom surface of the belt, so that further expansion of tearing and even belt breakage are avoided, and economic loss is reduced. The structure of the existing belt conveyor is not required to be modified, the installation and daily maintenance are simple, and the detection precision is high. However, belt wear detection is not involved.
Therefore, it is urgently needed to provide a belt abrasion degree detection device for a belt conveyor, which can monitor the state of the belt remotely through a network and has an important function for ensuring the safe operation of the belt conveyor.
Disclosure of Invention
The invention aims to solve the technical problems that: the belt abrasion degree detection device and the detection method based on the synchronous single-line laser radar are provided for overcoming the defects of the prior art, so that the belt abrasion degree monitoring of the belt conveyor is realized, and the safe operation of the belt conveyor is ensured.
The invention relates to a belt abrasion degree detection device based on a synchronous single-line laser radar, which comprises a detection system, a data acquisition main station and a data processing workstation,
the detection system comprises an upper single-wire laser radar and a lower single-wire laser radar, wherein the upper single-wire laser radar and the lower single-wire laser radar are respectively positioned right above and right below the central line of the return belt and are used for simultaneously scanning the upper surface and the lower surface of the same position of the belt, so that coordinate points and distances of the upper surface and the lower surface of the same position of the belt are synchronously acquired;
the data acquisition main station is used for acquiring detection data of the detection system, preprocessing the detection data and transmitting the detection data to the data processing workstation;
the data processing working station is used for calculating the abrasion degree of the belt according to the data transmitted by the data acquisition main station;
generating horizontal distances between the upper single-line laser radar and a non-working surface of the belt and horizontal distances between the lower single-line laser radar and the working surface of the belt by scanning the same point of the belt, and determining the thickness of the belt at the position by subtracting the two horizontal distances from the distance between the upper single-line laser radar and the lower single-line laser radar which are scanned from the upper surface to the lower surface; determining the thickness of the cross section of the belt under the single-line laser radar through the left-right round-trip scanning of the single-line laser radar, and when the belt works normally, sequentially passing through the right under the single-line laser radar to obtain the thickness data of the whole belt; and dividing the original thickness of the belt by the thickness data of the whole belt obtained in the prior art to obtain the abrasion degree of the belt.
The scanning directions of the single-line laser radars are consistent, the scanning positions are the upper surface and the lower surface of the same position of the belt, the same point of the belt is scanned, the horizontal distance between the upper single-line laser radar and the non-working surface of the belt is generated, the horizontal distance between the lower single-line laser radar and the working surface of the belt is subtracted from the distance between the upper single-line laser radar and the lower single-line laser radar, and the thickness of the belt at the position can be determined. Through round trip scanning about single line laser radar, then confirm the thickness of single line laser radar below the belt cross section, when the belt normally works, the belt loops through single line laser radar directly under, obtains the thickness data of whole belt. The original thickness of the belt and the thickness of the existing belt are divided to obtain the abrasion degree of the belt.
Preferably, the detection system comprises an upper single-wire laser radar and a lower single-wire laser radar, and the upper single-wire laser radar and the lower single-wire laser radar are respectively positioned right above and right below the central line of the return belt.
Here, the single-wire lidar is 2 in total, namely an upper single-wire lidar and a lower single-wire lidar, wherein the upper single-wire lidar is located right above the center line of the return belt, and the lower single-wire lidar is located right below the center line of the return belt. Of course, the detection system may take other forms, as long as the coordinate points and distances of the upper and lower surfaces of the same position of the belt can be synchronously acquired, and the detection system is not limited herein.
That is, two single-line lidars scan the upper and lower surfaces of the same position of the belt simultaneously, the lower single-line lidar scans the working surface of the return belt, the upper single-line lidar scans the non-working surface of the return belt, and the scanning directions of the two lidars are consistent and the scanning positions are ensured to be the upper and lower surfaces of the same position of the belt.
Preferably, the data acquisition master station comprises a signal acquisition module, a signal processing module and a communication module,
the signal acquisition module is used for acquiring detection data of the upper single-line laser radar and the lower single-line laser radar and acquiring coordinate points and distances of the upper surface and the lower surface of the same position of the belt;
the signal processing module is used for preprocessing the acquired coordinate points and distances of the upper surface and the lower surface of the same position of the belt to construct a three-dimensional cloud image model of the belt;
and the communication module is used for transmitting the preprocessed signals to the data processing workstation.
Preferably, the data processing workstation comprises a computing module and a processing module,
the calculating module is used for calculating the abrasion degree of the belt;
and the processing module is used for constructing a three-dimensional cloud image model of the belt abrasion degree according to the abrasion data of the belt.
Preferably, the utility model also comprises a belt cleaning device,
the belt cleaning device is arranged below the return belt and is used for cleaning the adhesion objects on the working surface of the belt.
Preferably, the belt flattening device is also included,
the belt leveling device comprises a first belt leveling idler and a second belt leveling idler, wherein the first belt leveling idler and the second belt leveling idler are respectively arranged below and above a return belt and used for maintaining the return belt to be level.
The number of the belt leveling idler rollers is 2, namely a first belt leveling idler roller and a second belt leveling idler roller, and the function of the belt leveling idler rollers is to ensure that the belt at the single-line laser radar measuring point is kept level as much as possible, so that transverse bending of the belt is reduced. Thus, when set up, the upper and lower single line lidars are in the region between the first and second belt flattening idlers.
The invention relates to a detection method of a belt abrasion degree detection device based on a synchronous single-line laser radar, which comprises the following steps:
constructing a coordinate system, namely constructing a rectangular coordinate system of a belt thickness model, acquiring coordinate points and distances of the upper surface and the lower surface of the same position of the belt, and constructing an upper coordinate system and a lower coordinate system of the belt;
calculating the thickness of the belt, calculating the thickness of the belt according to a formula,
L=h-z1-z2 ……（1）
wherein L is the thickness of the belt, h is the distance between the upper single-line laser radar and the lower single-line laser radar, and Z1 and Z2 are the Z coordinates of an upper coordinate system and a lower coordinate system of the belt respectively;
calculating the abrasion degree of the belt, calculating the abrasion degree of the belt according to the formula (2),
c= (L/a) 100% … … formula (2)
Wherein C is the abrasion degree of the belt, and a is the original thickness of the belt.
According to the belt abrasion degree detection device based on the synchronous single-line laser radar, the two single-line laser radars are fixed right above and right below the central line of the conveying belt, so that the scanning path of the two single-line laser radars is perpendicular to the direction of a transported object, and the two single-line laser radars synchronously scan, namely, the two single-line laser radars respectively scan the upper surface and the lower surface of the same position of the belt at the same time.
After the belt thickness measuring device is installed, coordinate points and distances of the upper surface and the lower surface of the same position of the belt are synchronously acquired by using the upper single-line laser radar and the lower single-line laser radar, and then the coordinate points and the distances are compared with the installation distances between the upper single-line laser radar and the lower single-line laser radar, so that the belt thickness at the position can be obtained. And the two single-line laser radars vibrate and scan along the cross section of the belt to obtain the thickness of the belt of the whole section, and the thickness cloud picture of the whole belt is obtained along with the normal sliding of the belt. The original thickness of the belt and the thickness of the existing belt are divided to obtain the abrasion degree of the belt.
Preferably, the method further comprises:
constructing a three-dimensional cloud image model of the belt abrasion degree, and arranging the data of the abrasion degree of a certain frame obtained in each second according to the recording sequence in the X-axis direction to construct the three-dimensional cloud image model of the belt abrasion degree;
and (3) constructing a three-dimensional cloud image model of the belt, and arranging a certain frame of scanning data acquired in each second along the X-axis direction according to the recording sequence along with the running of the belt and the vibration scanning of the single-line laser radar to construct the three-dimensional cloud image model of the belt.
Preferably, the method specifically comprises the following steps:
s1, constructing a coordinate system, namely constructing a rectangular coordinate system of a belt thickness model, acquiring coordinate points and distances of the upper surface and the lower surface of the same position of a belt, and constructing an upper coordinate system and a lower coordinate system of the belt;
s2, calculating the thickness of the belt according to a formula (1),
l=h-z 1-z2 … … formula (1)
Wherein L is the thickness of the belt, h is the distance between the upper single-line laser radar and the lower single-line laser radar, Z1 and Z2 are the Z coordinates of an upper coordinate system and a lower coordinate system of the belt respectively, and the Z axis points to the transmitting center of the single-line laser radar from an irradiation origin;
s3, constructing a three-dimensional cloud image model of the belt, and acquiring the cloud image model in each second along with the operation of the belt and the vibration scanning of the single-line laser radarf 1 The frame scanning data are arranged in the X-axis direction according to the recording sequence, and a three-dimensional cloud image model of the belt is constructed;
s4, calculating the abrasion degree of the belt according to a formula (2),
C=（L/a）*100% ……（2）
wherein, C is the abrasion degree of the belt, and a is the original thickness of the belt;
s5, constructing a three-dimensional cloud image model of the belt abrasion degree, wherein the three-dimensional cloud image model is obtained in each secondf 1 And (3) scanning the abrasion degree data by frames, and arranging the abrasion degree data in the X-axis direction according to the recording sequence to construct a three-dimensional cloud image model of the abrasion degree of the belt.
Preferably, the coordinates of the upper and lower coordinate systems of the constructed belt are obtained by the following formula,
……（3）
wherein (x, y, z) is the thnCoordinates of any point in the frame scan data,lis the firstnThe distance between the pulse emission center and the arbitrary point during frame scanning.
Compared with the prior art, the invention has the following beneficial effects:
the belt abrasion degree detection device and the detection method based on the synchronous single-line laser radar can monitor the belt abrasion degree of the belt conveyor on line in real time, and simultaneously, can be matched with background data processing to alarm the abnormal condition of the belt in time.
Drawings
FIG. 1 is a schematic diagram of a belt abrasion degree detection device based on a synchronous single-line laser radar;
FIG. 2 is a block diagram of a data acquisition master station according to the present invention;
FIG. 3 is a plan view of a belt scan in accordance with the present invention;
fig. 4 is a cross-sectional view of a belt scan according to the present invention.
In the figure: 1. the first belt levels the idler; 2. a belt cleaning device; 3. a lower single line laser radar; 4. a data acquisition main station; 5. a single-line laser radar is arranged; 6. the second belt levels the idler; 7. a data processing workstation;β、a scanning angle of the laser radar; (x, y, z), thnCoordinates of any point in the frame scan data; d. the vertical distance from the single-line laser radar pulse emission center to the belt; h. distance between upper and lower single line lidar.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1, taking 2 single-line laser radars as an example of a detection system, embodiment 1 provides a belt abrasion degree detection device based on a synchronous single-line laser radar, which includes a detection system, a data acquisition master station 4, and a data processing workstation 7.
The detection system is provided with 2 single-wire laser radars, namely an upper single-wire laser radar 5 and a lower single-wire laser radar 3, wherein the upper single-wire laser radar 5 is positioned right above the center line of the return belt, and the lower single-wire laser radar 3 is positioned right below the center line of the return belt.
That is, the two single-line lidars scan the upper and lower surfaces of the same position of the belt simultaneously, the lower single-line lidar 3 scans the working surface of the return belt, the upper single-line lidar 5 scans the non-working surface of the return belt, and the scanning directions of the two lidars are consistent and the scanning positions are ensured to be the upper and lower surfaces of the same position of the belt.
The detection principle of the belt abrasion degree detection device based on the synchronous single-line laser radar is as follows:
the scanning directions of the upper single-line laser radar 5 and the lower single-line laser radar 3 are consistent, the scanning positions are the upper surface and the lower surface of the same position of the belt, and the positions of the upper single-line laser radar 5 and the lower single-line laser radar 3 are fixed, so that the distance between the upper single-line laser radar and the lower single-line laser radar is known. Scanning the same point of the belt, generating the horizontal distance between the upper single-line laser radar 5 and the non-working surface of the belt and the horizontal distance between the lower single-line laser radar 3 and the working surface of the belt, and determining the thickness of the belt at the position by subtracting the two horizontal distances from the distance between the upper single-line laser radar and the lower single-line laser radar. Through going back and forth scanning about last single line laser radar 5 and lower single line laser radar 3, then confirm the thickness of last single line laser radar 5 below the belt cross section, when the belt normally works, the belt loops through under last single line laser radar 5, obtains the thickness data of whole belt. The original thickness of the belt and the thickness of the existing belt are divided to obtain the abrasion degree of the belt.
Specifically, the positions of the two single-line laser radars are fixed, and then the distance between the two single-line laser radars is h. And scanning the same point of the belt by two laser radars, and synchronously acquiring coordinate points of the upper surface and the lower surface of the same position of the belt. The Z coordinate among the coordinates scanned by the upper single-line laser radar 5, Z1 is the horizontal distance between the upper single-line laser radar 5 and the non-working surface of the belt. The Z coordinate among the coordinates scanned by the lower single-line laser radar 3 is Z2, which is the horizontal distance between the lower single-line laser radar 3 and the belt working surface. Thus, the belt thickness at this location was determined to be l=h-z 1-z2.
As shown in fig. 2, the data acquisition master station 4 is configured to acquire detection data of the detection system, perform preprocessing, and transmit the detection data to the data processing workstation 7; the system comprises a signal acquisition module, a signal processing module and a communication module, wherein the signal acquisition module is used for acquiring detection data of an upper single-line laser radar 5 and a lower single-line laser radar 3 and acquiring coordinate points and distances of the upper surface and the lower surface of the same position of a belt; the signal processing module is used for preprocessing the acquired coordinate points and distances of the upper surface and the lower surface of the same position of the belt to construct a three-dimensional cloud image model of the belt; the communication module is used for transmitting the preprocessed signals to the data processing workstation 7.
In addition, the data acquisition master station 4 further comprises a power supply module, and the power supply module is responsible for supplying power to the signal acquisition module, the signal processing module and the communication module.
And the data processing workstation 7 is used for calculating the abrasion degree of the belt according to the data transmitted by the data acquisition main station 4. The belt abrasion degree calculation device comprises a calculation module and a processing module, wherein the calculation module is used for calculating the abrasion degree of a belt; and the processing module is used for constructing a three-dimensional cloud image model of the belt abrasion degree according to the abrasion data of the belt.
Example 2
Unlike example 1, the following is:
the belt abrasion degree detection device based on the synchronous single-line laser radar provided in the embodiment 2 further comprises a belt cleaning device 2 and a belt leveling device. In order to reduce the influence of the adhesion on the detection accuracy by the upper and lower surfaces of the conveyor belt, a belt cleaning device 2 is installed in front of the single-line laser radar. In order to reduce the influence of the transverse bending of the belt on the detection precision and improve the working efficiency of the belt cleaning device 2, a belt leveling device is arranged on the outer side of the single-line laser radar and the belt cleaning device 2.
Specifically, the belt cleaning device 2 is installed below the return belt and is used for cleaning the adhesion objects on the working surface of the belt, so that the accuracy of measurement data of the upper single-line laser radar 5 and the lower single-line laser radar 3 is ensured.
Specifically, the belt leveling device comprises a first belt leveling idler 1 and a second belt leveling idler 6, wherein the first belt leveling idler 1 and the second belt leveling idler 6 are respectively arranged below and above the return belt and used for maintaining the return belt to be level.
The function of the 2 belt leveling idlers, namely the first belt leveling idler 1 and the second belt leveling idler 6, is to ensure that the belts at the measuring points of the upper single-line laser radar 5 and the lower single-line laser radar 3 are kept as flat as possible, and the transverse bending of the belts is reduced. Thus, when set up, the upper single-wire lidar 5 and the lower single-wire lidar 3 are in the region between the first belt leveling idler 1 and the second belt leveling idler 6.
Example 3
Embodiment 3 provides a detection method of the synchronous single line laser radar-based belt abrasion degree detection device according to embodiment 1 or embodiment 2, comprising:
constructing a coordinate system, namely constructing a rectangular coordinate system of a belt thickness model, acquiring coordinate points and distances of the upper surface and the lower surface of the same position of the belt, and constructing an upper coordinate system and a lower coordinate system of the belt;
calculating the thickness of the belt, calculating the thickness of the belt according to the formula (1),
L=h-z1-z2 ……（1）
wherein L is the thickness of the belt, h is the distance between the upper single-line laser radar and the lower single-line laser radar, and Z1 and Z2 are the Z coordinates of an upper coordinate system and a lower coordinate system of the belt respectively;
constructing a three-dimensional cloud image model of the belt, and acquiring in each second along with the operation of the belt and the vibration scanning of the single-line laser radarf 1 The frame scanning data are arranged in the X-axis direction according to the recording sequence, and a three-dimensional cloud image model of the belt is constructed;
calculating the abrasion degree of the belt, calculating the abrasion degree of the belt according to the formula (2),
C=（L/a）*100% ……（2）
wherein, C is the abrasion degree of the belt, and a is the original thickness of the belt;
and constructing a three-dimensional cloud image model of the belt abrasion degree, and arranging the data of the abrasion degree according to the recording sequence in the X-axis direction by scanning a certain frame acquired in each second to construct the three-dimensional cloud image model of the belt abrasion degree.
As in the case of the belt wear detection device according to embodiment 1 or embodiment 2 based on the synchronous single-wire lidar, the upper single-wire lidar 5 and the lower single-wire lidar 3 are fixed directly above and directly below the center line of the conveyor belt, so that the scanning paths thereof are perpendicular to the transport direction, and the upper single-wire lidar 5 and the lower single-wire lidar 3 are synchronously scanned, that is, the upper single-wire lidar 5 and the lower single-wire lidar 3 respectively scan the upper surface and the lower surface of the same position of the belt at the same time.
The carrier may be a coal stream, but may be other carrier such as ore.
After the belt thickness measuring device is installed, the coordinate points and the distances of the upper surface and the lower surface of the same position of the belt are synchronously acquired by using the upper single-wire laser radar 5 and the lower single-wire laser radar 3, and then the coordinate points and the distances are compared with the installation distances between the upper single-wire laser radar 5 and the lower single-wire laser radar 3, so that the belt thickness of the position can be obtained. The upper single-line laser radar 5 and the lower single-line laser radar 3 vibrate and scan along the cross section of the belt to obtain the thickness of the belt of the whole section, and the thickness cloud picture of the whole belt is obtained along with the normal sliding of the belt. The original thickness of the belt and the thickness of the existing belt are divided to obtain the abrasion degree of the belt.
The method specifically comprises the following steps:
when the belt slides at a constant speed of v m/S under a normal working state, the single-line laser radar continuously scans the surfaces of the upper and lower return belts, the acquired two-dimensional plane coordinates are combined with the sliding speed of the belt, and the acquired data per second are independently processed, so that a three-dimensional point cloud model of the surface of the belt is constructed, and the method specifically comprises the step S1.
And S1, constructing a coordinate system, namely constructing a rectangular coordinate system of a belt thickness model, and acquiring coordinate points and distances of the upper surface and the lower surface of the same position of the belt. Specifically, a coordinate system is constructed for the upper single-line laser radar 5 detection data at the upper part of the return belt, an irradiation point on the return belt right below the upper single-line laser radar 5 is taken as an origin O, a belt sliding direction is taken as an X axis, a Z axis points to the upper single-line laser radar 5 emission center from the O point, a direction which is positioned on a belt plane and is perpendicular to the X axis is taken as a Y axis, and a rectangular coordinate system XYZ of a belt thickness model is constructed. The construction coordinate system of the lower single-wire laser radar 3 measurement data at the lower part of the return belt is the same as the construction mode of the upper single-wire laser radar 5 measurement data coordinate system at the upper part of the return belt.
That is, the pulse emission frequency of the single-line lidar is per secondf 1 The oscillation frequency of the pulse transmitting center of the frame and single-line laser radar isf 2 The scanning angle of the laser radar isβ，The coordinates of any point in the nth frame of scan data are (x, y, z), which are obtained by,
the X-axis coordinate and the Y-axis coordinate are mainly used for positioning detection points of the belt, and the Z-axis coordinate represents the vertical distance from any point on the belt to the radar pulse emission center.
The X-axis coordinate is related to the belt running speed and time only, and when the single line laser radar is scanned in the nth frame, the system running time is t=nThe method comprises the steps of carrying out a first treatment on the surface of the The belt speed is v, the X-axis coordinate can be expressed as +.>。
The Y-axis coordinates are the lateral position of the single line lidar detection point on the belt. The oscillation frequency of the single-line laser radar pulse transmitting center isf 2 The time required for single oscillation of the single line laser radar pulse transmitting center is 1 +.f 2 One of which rotates reciprocally through an angle of 2β and an angular velocity ofWhen scanning the nth frame of the single-line laser radar, the system running time is +.>At the moment, the included angle between the scanning direction of the single-line laser radar and the vertical direction of the belt is +.>Its Y-axis coordinate is +.>。
When the single-line laser radar scans in the nth frame, the included angle between the scanning direction of the single-line laser radar and the vertical direction of the belt isIt is known that, as such,lis the firstnThe distance between the pulse emission center and the arbitrary point during frame scanningThe vertical distance to the pulse emission center is +.>I.e. the Z-axis coordinate.
Finally, the pulse emission frequency of the single-line laser radar is per secondf 1 The oscillation frequency of the pulse transmitting center of the frame and single-line laser radar isf 2 The scanning angle of the laser radar isβ，The coordinates of any point in the nth frame of scan data are (x, y, z), which are obtained by the following formula,
……（3）
wherein (x, y, z) is the thnCoordinates of any point in the frame scan data,lis the firstnThe distance between the pulse emission center and the arbitrary point during frame scanning.
For example: when n=0, the X-axis and Y-axis coordinates are 0, the Z-axis coordinates are the vertical belt with the pulse transmitting center, and the distance between the two isl。
Due to the synchronism of the two single-line laser radars, the two laser radars irradiate the upper surface and the lower surface of the same position of the belt at the same time, namely the x and y values of the upper coordinate system and the lower coordinate system are the same. Thus, the belt thickness is calculated by step S2.
S2, calculating the thickness of the belt according to a formula (1),
L=h-z1-z2 ……（1）
wherein L is the thickness of the belt, h is the distance between the upper single-line laser radar and the lower single-line laser radar, Z1 and Z2 are the Z coordinates of an upper coordinate system and a lower coordinate system of the belt respectively, and the Z axis points to the transmitting center of the single-line laser radar from an irradiation origin.
S3, constructing a three-dimensional cloud image model of the belt, and acquiring the cloud image model in each second along with the operation of the belt and the vibration scanning of the single-line laser radarf 1 The frame scanning data are arranged in the X-axis direction according to the recording sequence, and a three-dimensional cloud image model of the belt is constructed.
Specifically, by twoAnd preprocessing the synchronous single-line laser radar signals, respectively obtaining Z coordinates Z1 and Z2 of the point A of the belt, and finally calculating the thickness of the first point through the distance h between the two single-line laser radars and the Z coordinates Z1 and Z2 of the first point of the belt. And after the first point is monitored, two single-line laser radar measuring points simultaneously move to the next point to guide the completion of scanning of the whole belt section. With the belt running and the vibration scanning of the single-line laser radar, the laser radar can acquire the laser in every secondf 1 The frame scanning data are arranged in the X-axis direction according to the recording sequence, and a three-dimensional cloud image model of the belt is constructed.
S4, calculating the abrasion degree of the belt according to a formula (2),
C=（L/a）*100% ……（2）
wherein, C is the abrasion degree of the belt, and a is the original thickness of the belt;
s5, constructing a three-dimensional cloud image model of the belt abrasion degree, wherein the three-dimensional cloud image model is obtained in each secondf 1 And (3) scanning the abrasion degree data by frames, and arranging the abrasion degree data in the X-axis direction according to the recording sequence to construct a three-dimensional cloud image model of the abrasion degree of the belt.
In the background, an alarm module can be arranged, and an alarm is sent out after the abrasion degree of the belt exceeds a certain range.
In conclusion, the belt abrasion degree detection device and the detection method based on the synchronous single-line laser radar can monitor the belt abrasion degree of the belt conveyor on line in real time, and timely alarm the abnormal condition of the belt in cooperation with background data processing.
Claims (6)
1. A belt abrasion degree detection device based on a synchronous single-wire laser radar is characterized by comprising a detection system, a data acquisition main station (4) and a data processing workstation (7),
the detection system comprises an upper single-wire laser radar (5) and a lower single-wire laser radar (3), wherein the upper single-wire laser radar (5) and the lower single-wire laser radar (3) are respectively positioned right above and right below the central line of the return belt and are used for simultaneously scanning the upper surface and the lower surface of the same position of the belt, so that coordinate points and distances of the upper surface and the lower surface of the same position of the belt are synchronously acquired;
the data acquisition main station (4) is used for acquiring detection data of the detection system, preprocessing the detection data and transmitting the detection data to the data processing workstation (7);
the data processing working station (7) is used for calculating the abrasion degree of the belt according to the data transmitted by the data acquisition main station (4);
generating a horizontal distance between an upper single-line laser radar (5) and a non-working surface of the belt and a horizontal distance between a lower single-line laser radar (3) and a working surface of the belt by scanning the same point of the belt, and determining the thickness of the belt at the position by subtracting the two horizontal distances from the distance between the upper single-line laser radar (5) and the lower single-line laser radar (3) scanned by the upper surface and the lower surface; determining the thickness of the cross section of the belt under the single-line laser radar through the left-right round-trip scanning of the single-line laser radar, and when the belt works normally, sequentially passing through the right under the single-line laser radar to obtain the thickness data of the whole belt; dividing the original thickness of the belt by the thickness data of the whole belt obtained in the prior art to obtain the abrasion degree of the belt;
the data acquisition master station comprises a signal acquisition module, a signal processing module and a communication module,
the signal acquisition module is used for acquiring detection data of the upper single-line laser radar (5) and the lower single-line laser radar (3) and acquiring coordinate points and distances of the upper surface and the lower surface of the same position of the belt;
the signal processing module is used for preprocessing the acquired coordinate points and distances of the upper surface and the lower surface of the same position of the belt to construct a three-dimensional cloud image model of the belt;
the communication module is used for transmitting the preprocessed signals to the data processing workstation;
the data processing workstation comprises a calculation module and a processing module,
the calculating module is used for calculating the abrasion degree of the belt;
the processing module is used for constructing a three-dimensional cloud image model of the belt abrasion degree according to the abrasion data of the belt;
laser radar with single line5) And the pulse emission frequency of the lower single-line laser radar (3) is per secondf 1 The oscillation frequency of the pulse emission centers of the upper single-line laser radar (5) and the lower single-line laser radar (3) isf 2 The scanning angles of the upper single-line laser radar (5) and the lower single-line laser radar (3) are as followsβ，The coordinates of any point in the nth frame of scan data are (x, y, z), which are obtained by,
the X-axis coordinate is related to the belt running speed and time, and when the single line laser radar is scanned in the nth frame, the system running time is t=nThe method comprises the steps of carrying out a first treatment on the surface of the The belt speed is v, the X-axis coordinate can be expressed as +.>；
The Y-axis coordinate is the transverse position of the single-line laser radar detection point on the belt, and the oscillation frequency of the single-line laser radar pulse emission center isf 2 The time required for single oscillation of the single line laser radar pulse transmitting center is 1 +.f 2 One of which rotates reciprocally through an angle of 2β and an angular velocity ofWhen scanning the nth frame of the single-line laser radar, the running time of the system is t=n>At the moment, the included angle between the scanning direction of the single-line laser radar and the vertical direction of the belt is +.>Its Y-axis coordinate is +.>；
When the nth frame of the upper single-line laser radar scans, the included angle between the scanning direction of the single-line laser radar and the vertical direction of the belt isIt is known that, as such,lis the firstnThe distance between the pulse emission center and the arbitrary point during frame scanning is the vertical distance between the arbitrary point and the pulse emission center, i.e.)>；
Wherein,dfor the vertical distance from the center of single line lidar pulse emission to the belt,lis the firstnThe distance between the pulse emission center and the arbitrary point during frame scanning;
the upper single-line laser radar (5) and the lower single-line laser radar (3) vibrate and scan along the cross section of the belt to obtain the thickness of the belt of the whole section, and the thickness cloud picture of the whole belt is obtained along with the normal sliding of the belt.
2. The synchronous single-wire laser radar-based belt abrasion degree detection device according to claim 1, further comprising a belt cleaning device (2),
and the belt cleaning device (2) is arranged below the return belt and is used for cleaning the adhesion objects on the working surface of the belt.
3. The synchronous single-wire laser radar-based belt abrasion degree detection device according to claim 1, further comprising a belt flattening device,
the belt leveling device comprises a first belt leveling idler (1) and a second belt leveling idler (6), wherein the first belt leveling idler (1) and the second belt leveling idler (6) are respectively arranged below and above a return belt and used for maintaining the return belt to be level.
4. A detection method of the synchronous single line laser radar-based belt abrasion degree detection device according to any one of claims 1 to 3, characterized by comprising:
constructing a coordinate system, namely constructing a rectangular coordinate system of a belt thickness model, acquiring coordinate points and distances of the upper surface and the lower surface of the same position of the belt, and constructing an upper coordinate system and a lower coordinate system of the belt;
calculating the thickness of the belt, calculating the thickness of the belt according to the formula (1),
L=h-z1-z2 ……（1）
wherein L is the thickness of the belt, h is the distance between the upper single-line laser radar and the lower single-line laser radar, and Z1 and Z2 are the Z coordinates of an upper coordinate system and a lower coordinate system of the belt respectively;
calculating the abrasion degree of the belt, calculating the abrasion degree of the belt according to the formula (2),
C=（L/a）*100%……（2）
wherein C is the abrasion degree of the belt, and a is the original thickness of the belt.
5. The method of detecting according to claim 4, further comprising:
constructing a three-dimensional cloud image model of the belt abrasion degree, and arranging the data of the abrasion degree of a certain frame obtained in each second according to the recording sequence in the X-axis direction to construct the three-dimensional cloud image model of the belt abrasion degree;
and (3) constructing a three-dimensional cloud image model of the belt, and arranging a certain frame of scanning data acquired in each second along the X-axis direction according to the recording sequence along with the running of the belt and the vibration scanning of the single-line laser radar to construct the three-dimensional cloud image model of the belt.
6. The method according to claim 4, comprising the specific steps of:
s1, constructing a coordinate system, namely constructing a rectangular coordinate system of a belt thickness model, acquiring coordinate points and distances of the upper surface and the lower surface of the same position of a belt, and constructing an upper coordinate system and a lower coordinate system of the belt;
s2, calculating the thickness of the belt according to a formula (1),
L=h-z1-z2 ……（1）
wherein L is the thickness of the belt, h is the distance between the upper single-line laser radar and the lower single-line laser radar, Z1 and Z2 are the Z coordinates of an upper coordinate system and a lower coordinate system of the belt respectively, and the Z axis points to the transmitting center of the single-line laser radar from an irradiation origin;
s3, constructing a three-dimensional cloud image model of the belt, and acquiring the cloud image model in each second along with the operation of the belt and the vibration scanning of the single-line laser radarf 1 The frame scanning data are arranged in the X-axis direction according to the recording sequence, and a three-dimensional cloud image model of the belt is constructed;
s4, calculating the abrasion degree of the belt according to a formula (2),
C=（L/a）*100%……（2）
wherein, C is the abrasion degree of the belt, and a is the original thickness of the belt;
s5, constructing a three-dimensional cloud image model of the belt abrasion degree, wherein the three-dimensional cloud image model is obtained in each secondf 1 And (3) scanning the abrasion degree data by frames, and arranging the abrasion degree data in the X-axis direction according to the recording sequence to construct a three-dimensional cloud image model of the abrasion degree of the belt.
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