WO2022199069A1

WO2022199069A1 - Intelligent cleaning apparatus for scale in bucket-tipping-type mine car

Info

Publication number: WO2022199069A1
Application number: PCT/CN2021/131489
Authority: WO
Inventors: 吴富姬; 郭毅; 钟毅; 杨文龙; 欧阳健强; 何水龙; 吴鸿辉; 李华; 马保亮
Original assignee: 赣州有色冶金研究所有限公司
Priority date: 2021-03-22
Filing date: 2021-11-18
Publication date: 2022-09-29
Also published as: CN112937507A

Abstract

Disclosed in the present invention is an intelligent cleaning apparatus for scale in a bucket-tipping-type mine car. The apparatus comprises a scale thickness measurement module, a high-pressure water spraying module and a control module. The scale thickness measurement module comprises a distance measurement apparatus and a data processing unit, wherein the distance measurement apparatus is used for measuring the distance between the distance measurement apparatus and an area to be cleaned in a tipping bucket of a bucket-tipping-type mine car, and the data processing unit is used for calculating a scale thickness of said area according to a standard distance between the distance measurement apparatus and said area and a distance measured by the distance measurement apparatus, and identifying the position of said area on the basis of image technology, the standard distance being the distance between the distance measurement apparatus and said area when there is no scale in said area. The control module adjusts a water spraying position and a water spraying intensity of the high-pressure water spraying module according to the position and the scale thickness of said area, such that the intelligent cleaning of scale in the mine car is realized.

Description

A tipping bucket type mine car bottom intelligent cleaning device

This application claims the priority of the Chinese patent application filed on March 22, 2021 with the application number 202110299902.X and the invention name "An intelligent cleaning device for the bottom of a tipping bucket mine car", the entire content of which is approved by Reference is incorporated in this application.

technical field

The invention relates to the field of mine car bottom cleaning, in particular to a tipping bucket type mine car bottom intelligent cleaning device.

Background technique

At present, in the process of ore transportation and ore dumping, there is a common problem that the raw ore sticks to the bottom and needs to be cleaned in time. According to statistics, the bottom can reduce the effective volume of the mine car by 10-15%, and some even Reduced by 30-50%; currently, the method of manual car cleaning is generally used to clean the bottom of the mine car, but the method of manually cleaning the bottom of the mine car has the following problems:

The efficiency of manual cleaning is extremely slow, which affects the production efficiency of mining enterprises; the manual cleaning method is easy to make workers physically tired, resulting in the uncleaning of the bottom of the mine car, and some residues are not removed; deploying a large number of workers to clean the bottom of the mine car increases the number of enterprises. Production cost; workers work near the underground mine, which has high safety risks, poor working environment and high labor intensity.

The existing minecart bottom cleaning technologies mainly include the following three:

1. Electro-osmosis cleaning technology:

The basic principle of electro-osmosis is to use the mine cart and another movable plate as the yin and yang stages respectively, and use the directional movement of ions to separate the bottom of the junction from the mine cart wall to achieve the purpose of clearing the cart.

2. Chemical cleaning method:

The chemical cleaning method is mainly to spray some chemical reagents on the inner wall of the mine car, such as an emulsion made by mixing industrial waste liquid and some chemical substances, to reduce the adhesion degree between the bottom and the car wall and achieve the purpose of cleaning the car.

3. Vibration cleaning method:

The basic principle of the vibrating car cleaning method is to make the wall of the mine car produce tiny vibrations within the elastic deformation range through the action of external force, so that the bottom of the car is destroyed and the car is cleaned.

The existing mine car bottom cleaning technology mainly has the following defects:

1. The electric osmosis vehicle cleaning technology uses a high voltage, which is prone to safety accidents. And the power consumption is large, so that the cost of cleaning the bottom is high.

2. The chemical cleaning method is too corrosive to the minecart, and it is easy to damage the minecart. And need to use a lot of chemicals, high cost.

3. The vibration cleaning method will damage the mine cart to a certain extent due to the vibration impact on the mine cart.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a tipping bucket type mine car bottom intelligent cleaning device.

For achieving the above object, the present invention provides the following scheme:

A tipping bucket type mine car bottom intelligent cleaning device, comprising: a bottom thickness measurement module, a high-pressure water spray module and a control module;

The junction bottom thickness measurement module includes a distance measuring device and a data processing unit, the distance measuring device is used to measure the distance between the distance measuring device and the area to be cleaned inside the dumper of the dumper, and the data processing unit is used for The thickness of the bottom of the area to be cleaned is calculated according to the standard distance between the distance measuring device and the area to be cleaned and the measurement distance of the distance measuring device; the standard distance is that the area to be cleaned has no bottom When the distance between the distance measuring device and the area to be cleaned;

The control module is configured to control the water spraying force of the high-pressure water spraying module according to the thickness of the bottom of the area to be cleaned.

Optionally, the ranging device is a depth camera, the depth camera is installed above one side of the tipping bucket minecart, and performs image acquisition on the inner bottom surface of the tipping bucket when the tipping bucket rolls over; the data processing unit is based on the Images captured by the depth camera determine the location of the area to be cleaned and the thickness of the junction.

Optionally, the distance measuring device is a laser sensor, and the laser sensor is installed on the nozzle of the high-pressure water gun; the tipping bucket type mine car bottom intelligent cleaning device further includes a camera for collecting images of the inner bottom surface of the tipping bucket when the tipping bucket is overturned; The data processing unit determines the position of the area to be cleaned according to the image collected by the camera and calculates the bottom thickness of the area to be cleaned according to the distance information collected by the laser sensor.

Optionally, the high-pressure water spray module includes a high-pressure water gun and a high-pressure water gun position adjustment mechanism, and the control module is further configured to: control the high-pressure water gun position adjustment mechanism to move the high-pressure water gun according to the position of the area to be cleaned. , so that the nozzle of the high-pressure water gun is aimed at the area to be cleaned.

Optionally, the high-pressure water gun position adjustment mechanism includes a water gun moving track and a water gun moving driving mechanism, and the water gun moving driving mechanism drives the high-pressure water gun to move along the water gun moving track according to the instruction of the control module.

Optionally, the device for intelligently cleaning the bottom of the tipping bucket mine car further includes a mine car track, the tipping bucket mine car moves along the mine car track, and the bottom thickness measuring module and the high-pressure water spraying module are both located at the bottom of the tipping bucket. the side of the minecart track.

Optionally, the control module includes a PLC console.

Optionally, before calculating the junction thickness of the area to be cleaned, it also includes:

Convert the depth information collected by the depth camera from the depth image coordinate system to the depth camera coordinate system; the depth image coordinate system is a coordinate system with the origin of the depth image as the origin of the coordinate system, and the depth camera coordinate system is The camera that obtains depth information is used as the coordinate system of the coordinate origin.

Perform denoising processing on the depth information collected by the depth camera.

The depth information inside the tipping bucket is segmented from the depth information collected by the depth camera.

Compared with the prior art, the advantages of the present invention are: the intelligent cleaning device for the bottom of the tipping bucket mine car provided by the present invention can identify the bottom thickness of the tipping bucket mine car through the bottom thickness measurement module, and determine the thickness of the bottom of the tipping bucket according to the thickness of the bottom , adjust the water spray intensity of the high-pressure water gun, and realize the intelligent cleaning of the bottom of the tipping bucket mine car. In addition, the intelligent cleaning device for the bottom of the tipping bucket minecar provided by the present invention also identifies the position of the area to be cleaned based on the image technology, and controls the high-pressure water gun to move to the area to be cleaned based on the identified position, thereby further realizing the tipping bucket minecar. Smart cleanup at the end.

Instruction drawings

The present invention will be further described below in conjunction with the accompanying drawings:

1 is a schematic structural diagram of a tipping bucket type mine car bottom intelligent cleaning device provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a tipping bucket type mine car bottom intelligent cleaning device in an example of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Referring to FIG. 1 and FIG. 2 , the present embodiment is used to provide an intelligent device for cleaning bottom of tipping bucket mine car based on image recognition technology. The device includes: a bottom thickness measurement module 1 , a high-pressure water spray module 2 and a control module 3 . The junction thickness measurement module 1 includes a ranging device 11 and a data processing unit 12. The ranging device 11 is used to measure the distance between the junction and the junction in the area to be cleaned inside the tipping bucket of the dump truck, and the data processing unit 12 will measure the distance. The junction thickness of the area to be cleaned can be obtained by subtracting the distance measured by the distance measuring device 11 from the standard distance between the device 11 and the area to be cleaned. The control module 3 controls the water spraying force of the high-pressure water spraying module 2 according to the thickness of the bottom of the area to be cleaned.

In this embodiment, the standard distance is the distance between the distance measuring device 11 and the area to be cleaned when the area to be cleaned has no bottom, and the standard distance is a pre-stored value. The control module 3 controls the high-pressure water spray module 2 according to the thickness of the bottom of the area to be cleaned to flush and clean the area to be cleaned with appropriate water spraying force, which can effectively clean the bottom of the mine car while avoiding damage to the mine car. Wherein, the control module 3 may include a PLC console 8 .

As an implementation of this embodiment, the high-pressure water spray module 2 may include a high-pressure water gun 4 and a high-pressure water gun position adjustment mechanism 6 . Wherein, the high-pressure water gun position adjustment mechanism 6 may include a water gun moving track and a water gun moving driving mechanism, and the water gun moving driving mechanism drives the high-pressure water gun 4 to move along the water gun moving track according to the instruction of the control module 3.

Preferably, the ranging device 11 may be a depth camera 5, which is installed above one side of the tipping bucket minecart, and collects images of the inner bottom surface of the tipping bucket when the tipping bucket is tipped over. The data processing unit 12 determines the position of the area to be cleaned and the thickness of the bottom of the junction according to the image collected by the depth camera 5 . After determining the position of the area to be cleaned and the thickness of the bottom of the junction, the control module 3 moves the high-pressure water gun 4 by controlling the position adjustment mechanism 6 of the high-pressure water gun, so that the nozzle of the high-pressure water gun 4 is aligned with the area to be cleaned, and controls the high-pressure water gun 4 with a suitable force Rinsing the area to be cleaned realizes intelligent adjustment of the position and strength of the high-pressure water gun 4, which improves the cleaning efficiency compared with manual cleaning.

Preferably, before calculating the bottom thickness of the area to be cleaned, camera coordinate transformation, image preprocessing and image segmentation are also required.

Camera coordinate transformation: In order to facilitate image data processing, the camera software part constructs two coordinate systems to simplify the data processing complexity. One coordinate system is the depth image coordinate system, which uses the origin of the depth image as the origin of the coordinate system. , and the other coordinate system is the depth camera coordinate system, which takes the camera that obtains depth information as the coordinate origin. Through coordinate transformation, data calculation between two coordinate systems can be realized.

Image preprocessing: The depth measurement of the target by the depth sensor (depth camera) is obtained by calculating the depth from the speckle diffracted by the laser light. However, when there is no diffraction on some non-rough surfaces, occlusions, object contour edges, shadows or strong light, the device is not matched, the measurement in this area is empty, and the measured depth value is 0 or an error value, which is the so-called "" Black Hole Noise". Screening or compensation of raw data is realized by preprocessing.

Image segmentation: The depth camera not only captures the minecart, but also captures some surrounding backgrounds. In order to reduce the amount of subsequent data processing, we only need to obtain the depth information of the corresponding area of the semi-circular mine bucket. There will be depth information of the surrounding environment of the mining bucket, so the mining bucket must be separated from the surrounding environment to extract the corresponding depth information, which reduces the amount of data and eliminates other interference.

In this embodiment, in order to realize the continuous cleaning of a plurality of tipper-type minecarts, a minecart track 7 can also be set, and the tipper-type minecart moves along the minecart track 7, and the bottom thickness measurement module 1 and the high-pressure water spray module 2 are both On the side of minecart track 7. When a mining cart passes under the depth camera 5 and stops, the depth camera 5 takes real-time images of the surface of the mining bucket, obtains the depth information of the surface of the mining bucket and the position of the area to be cleaned. After the input is controlled by the PLC process, the high-pressure water gun 4 can adjust its position and strength by itself, and efficiently clean the bottom of the mine car.

The present embodiment will be described below with a specific example. Referring to FIG. 2 , the depth camera 5 is placed at the upper left of the mining cart, so that when the tipping mining cart rotates the semi-cylindrical container and the high-pressure water gun 4 clears the bottom of the mining cart, it can Just completely irradiate the semi-cylindrical container. The depth camera 5 outputs the depth information of the bottom of the minecart, and denoises and averages the depth information to obtain the distance from the bottom of the minecart to the camera. Since each tipping minecart is standardized, the distance from the camera to the bottom of the minecart is The distance is a standard value. Therefore, the distance from the bottom of the minecart to the camera is subtracted from the standard value to obtain the thickness of the bottom of the minecart. Then, according to the thickness and the RGB image information, the PLC controller adjusts the high-pressure water gun 4 of the actuator. related parameters, so that the bottom of the mine car is effectively removed, and the entire control process is a closed-loop control.

As an implementation of this embodiment, the distance measuring device 11 may also be a laser sensor, and the laser sensor is installed on the nozzle of the high-pressure water gun 4 . In this case, the intelligent cleaning device for the bottom of the tipping bucket mine car further includes a camera that collects the image of the bottom surface of the tipping bucket when the tipping bucket is turned sideways. The data processing unit 12 determines the position of the area to be cleaned according to the image collected by the camera, and the control module 3 passes the image. The high-pressure water gun position adjustment mechanism 6 is controlled to move the high-pressure water gun 4 to the area to be cleaned. After that, the laser sensor on the nozzle of the high-pressure water gun 4 measures the distance from the laser sensor to the area to be cleaned. The distance information and the pre-stored standard value are used to calculate the thickness of the bottom of the area to be cleaned. After that, the control module 3 controls the high-pressure water gun 4 to wash the area to be cleaned with an appropriate force according to the thickness of the bottom of the area to be cleaned. The number of laser sensors may be multiple, and the final measurement value is obtained by filtering and averaging the measurement values of the multiple laser sensors.

The intelligent cleaning device for the bottom of the tipping bucket mine car provided by the present invention identifies the thickness and position of the bottom of the tipping bucket mine car, and adjusts the water spraying position and water spraying strength of the high-pressure water gun according to the thickness and position of the bottom of the tipping bucket. The intelligent cleaning of the bottom of the tipping bucket minecart is realized, which improves the cleaning efficiency and avoids the damage to the minecart.

The above embodiments are provided for the purpose of describing the present invention only, and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims. Various equivalent replacements and modifications made without departing from the spirit and principle of the present invention should be included within the scope of the present invention.

Claims

A tipping bucket type mine car bottom intelligent cleaning device, characterized in that it includes: a bottom thickness measurement module, a high-pressure water spray module and a control module;

The junction bottom thickness measurement module includes a distance measuring device and a data processing unit, the distance measuring device is used to measure the distance between the distance measuring device and the area to be cleaned inside the dumper of the dumper, and the data processing unit is used for The thickness of the bottom of the area to be cleaned is calculated according to the standard distance between the distance measuring device and the area to be cleaned and the measurement distance of the distance measuring device; the standard distance is that the area to be cleaned has no bottom When the distance between the distance measuring device and the area to be cleaned;

The control module is configured to control the water spraying force of the high-pressure water spraying module according to the thickness of the bottom of the area to be cleaned.
The intelligent cleaning device for the bottom of a tipping bucket minecar according to claim 1, wherein the ranging device is a depth camera, and the depth camera is installed on the top of one side of the tipping minecart, and is turned on the side of the tipping bucket. Image acquisition is performed on the bottom surface of the inside of the tipping bucket; the data processing unit determines the position of the to-be-cleaned area and the thickness of the bottom according to the image acquired by the depth camera.
The intelligent cleaning device for the bottom of a tipping bucket mine car according to claim 1, wherein the distance measuring device is a laser sensor, and the laser sensor is installed on the nozzle of the high-pressure water gun; The intelligent cleaning device further includes a camera that collects an image of the bottom surface of the tipping bucket when the tipping bucket is turned sideways; the data processing unit determines the position of the area to be cleaned according to the image collected by the camera and calculates the said area according to the distance information collected by the laser sensor. Bottom thickness of the area to be cleaned.
The intelligent cleaning device for the bottom of a tipping bucket minecar according to any one of claims 1 to 3, wherein the high-pressure water spray module includes a high-pressure water gun and a position adjustment mechanism for the high-pressure water gun, and the control module is further configured to : Control the position adjustment mechanism of the high-pressure water gun to move the high-pressure water gun according to the position of the area to be cleaned, so that the nozzle of the high-pressure water gun is aligned with the area to be cleaned.
The intelligent cleaning device for the bottom of a tipping bucket minecart according to claim 4, wherein the high-pressure water gun position adjustment mechanism comprises a water gun moving track and a water gun moving driving mechanism, and the water gun moving driving mechanism is based on the control module. Instruct and drive the high-pressure water gun to move along the water gun moving track.
The intelligent device for cleaning the bottom of a tipping bucket minecar according to any one of claims 1 to 3, wherein the intelligent device for cleaning the bottom of a tipping minecar further comprises a minecar track, and the tipping minecar runs along the The mine car track moves, and the bottom thickness measurement module and the high-pressure water spray module are both located on one side of the mine car track.
The intelligent cleaning device for the bottom of a tipping bucket minecart according to claim 1, wherein the control module comprises a PLC console.
The device for intelligently cleaning bottom of tipping bucket mine car according to claim 2, characterized in that, before calculating the thickness of the bottom of the to-be-cleaned area, further comprising:

Convert the depth information collected by the depth camera from the depth image coordinate system to the depth camera coordinate system; the depth image coordinate system is a coordinate system with the origin of the depth image as the origin of the coordinate system, and the depth camera coordinate system is The camera that obtains depth information is used as the coordinate system of the coordinate origin.
The device for intelligently cleaning bottom of tipping bucket mine car according to claim 2, characterized in that, before calculating the thickness of the bottom of the to-be-cleaned area, further comprising:

Perform denoising processing on the depth information collected by the depth camera.
The device for intelligently cleaning bottom of tipping bucket mine car according to claim 2, characterized in that, before calculating the thickness of the bottom of the to-be-cleaned area, further comprising:

The depth information inside the tipping bucket is segmented from the depth information collected by the depth camera.