Optimal energy saving control of mine coal transportation system based on machine visio
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摘要: 矿井输煤系统要实现优化节能控制，关键是带式输送机煤流量的实时检测和依据煤流量进行变频调速控制。目前多数矿井带式输送机采用变频驱动方式，但变频器在稳定运行阶段并不进行调速，一直保持在工频电源频率下运行，无法实现输煤系统的优化节能。针对上述问题，提出了一种基于机器视觉的矿井输煤系统优化节能控制方法。利用激光发射器辅助数字摄像头获取带式输送机实时煤流图像，通过图像预处理去除异常高亮光斑噪声干扰，采用方向模板法提取图像中激光条纹中心线并利用线性插值法进行中心线断线修补，将带式输送机空载状态下胶带激光基线中心线和带式输送机有载状态下煤流激光轮廓中心线进行叠加形成封闭的包络曲线，计算该曲线所围成截面内瞬时煤流量；根据煤流量计算期望带速，PLC模糊控制器根据期望带速和速度传感器采集的当前带速控制变频器输出频率，进而调节电动机转速，从而实现带式输送机运行速度依据煤流量自动调节；地面控制中心信息处理平台负责数据收集、处理及显示，实现矿井输煤系统的可视化监控和智能管理。该方法能快速、有效进行煤流量检测并根据煤流量实时调整带式输送机运行速度，实现矿井输煤系统节能降耗、经济运行的目标。Abstract: In order to optimize control of energy saving, the key to coal transportation system is real-time detection of coal flow of belt conveyor and frequency conversion speed regulation control according to coal flow. At present, most of mine belt conveyor adopts frequency conversion drive mode, but frequency converter does not adjust speed in stable operation stage, and keeps running under power frequency, so optimal energy saving of coal transportation system cannot be realized. Aiming at the above problem, an optimal energy saving control method of mine coal transportation system based on machine vision was proposed. Real-time coal flow image of belt conveyor is obtained by using laser emitter to assist digital camera, and noise interference of abnormal highlight spot in the image is removed through preprocessing. Direction template method is adopted to extract center line of laser stripe in the image and linear interpolation method is used to repair broken center line. Center line of belt laser baseline under no-load state and center line of coal flow laser profile under load state are superimposed to form a closed envelope curve, and instantaneous coal flow in the section enclosed by the curve is calculated. PLC fuzzy controller controls inverter output frequency according to expected belt speed calculated depending on coal flow and current belt speed collected by speed sensor, and then adjusts motor speed, so as to realize automatic adjustment of operating speed of belt conveyor according to coal flow. Information processing platform of ground control center is responsible for data collection, processing and display, and realizes visual monitoring and intelligent management of the mine coal transportation system. The method can quickly and effectively detect coal flow and adjust operating speed of belt conveyor in real time according to the coal flow, so as to achieve goal of energy saving, consumption reduction and economic operation of the mine coal transportation system.
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