Digital coal yard automatic data acquisition system

Abstract

The invention relates to the field of coal yard management, in particular to a digital coal yard automatic data acquisition system which comprises a bucket wheel machine attitude acquisition module, a bucket wheel machine position acquisition module, a granularity data acquisition module, a data transmission module, a digital map module and an inventory analysis module. The bucket wheel machine attitude acquisition module is used for acquiring bucket wheel machine attitude information in real time, and the information comprises cantilever rotation angle and pitching angle information and synchronous coal unloading belt weigher flow data, records the stacking position and quantity, and transmits the recorded data to the data transmission module. According to the invention, the data in the coal yard is collected in real time, and the data collected in real time is presented in real time through the three-dimensional map, so that workers can visually understand the equipment working parameters and the coal quantity inventory data in the coal yard, accurately carry out inventory checking, analyze the inventory change trend and formulate a reasonable purchase plan and a reasonable sales strategy; the situation of inaccurate data caused by human errors is avoided, and the management efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of coal yard management, and in particular to a digital coal yard automatic data acquisition system. Background Art

[0002] Coal yards are places used for coal storage, transshipment, processing, and allocation-related operations, and play a vital role in the coal industry chain. In traditional coal yard management, data collection mostly relies on manual operations, which has many drawbacks. Manual regular inspections of coal piles to measure coal quantity, temperature, and humidity data are not only inefficient, but also prone to human errors, resulting in inaccurate data. In addition, the statistics of coal in and out of the coal yard rely on manual recording of vehicle weighing and loading and unloading conditions, and information feedback is not timely, making it difficult to grasp the inventory and operation status of the coal yard in real time. To this end, we proposed a digital coal yard automatic data collection system. Summary of the Invention

[0003] Aiming at the technical problems existing in the prior art, the present invention provides a digital coal yard automatic data collection system to solve the problems of manual errors, low efficiency and untimely information and feedback.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a digital coal yard automatic data acquisition system, the data acquisition system includes: a bucket wheel machine attitude acquisition module, a bucket wheel machine position acquisition module, a particle size data acquisition module, a data transmission module, a digital map module and an inventory analysis module; The bucket wheel machine attitude acquisition module is used to obtain the bucket wheel machine attitude information in real time, including the cantilever angle and pitch angle information, synchronize the coal unloading belt scale flow data, record the stockpile position and quantity, and transmit the recorded data to the data transmission module; The bucket wheel position acquisition module is used to obtain the bucket wheel machine's travel position, coal plow start and stop information, and coal feeding belt scale flow data in real time, record the amount of coal fed, and transmit the recorded data to the data transmission module; The particle size data acquisition module is used to obtain coal block particle size data, judge the coal block particle size based on machine vision detection method, obtain the overall distribution of coal block particle size in the coal yard, and transmit the recorded data to the data transmission module; The data map module generates a three-dimensional map of the coal yard site information based on point cloud data and constructs the coal yard site information; The data transmission module pre-processes the acquired data and uploads it to the digital map module. The real-time collected data is then substituted into the 3D map to construct a 3D map of the coal yard data. The 3D map includes information on coal pile volume, equipment status, and coal yard site information, which is displayed in real time on the 3D map for staff to view. The inventory analysis module obtains the inventory information of coal in the coal yard through statistical analysis based on the real-time collected data and the coal yard information generated by the digital map module.

[0005] Preferably, the bucket wheel machine attitude acquisition module includes an angle sensor and an inclination sensor. The angle sensor is located at the cantilever of the bucket wheel machine to sense the rotation of the cantilever in the horizontal position; the inclination sensor is based on the principle of liquid pendulum to sense the change in the pitch angle of the cantilever relative to the horizontal plane, understand the operating attitude of the bucket wheel machine in the vertical dimension, and control the stockpile height and material taking depth.

[0006] Preferably, the bucket wheel position acquisition module exchanges data through a wireless communication protocol. When the coal unloading belt scale detects the flow of coal on the belt, the flow value and timestamp information are sent to the bucket wheel attitude acquisition module. After receiving the data, the data is synchronized according to a unified time reference. The bucket wheel attitude acquisition module also includes a positioning unit, which obtains the position of the bucket wheel in the coal yard based on the positioning unit, and records the position of the coal piled during stacking, and stores the position in the form of three-dimensional coordinates. Based on the flow data detected by the belt scale and the duration of the stacking, the amount of coal piled up in each stacking operation is calculated, and the collected data is uploaded. The calculation formula for the amount of stacked coal is Qd=F T, Qd is the amount of coal piled up, F is the average flow rate detected by the belt scale, and T is the duration of the pile.

[0007] Preferably, the bucket wheel excavator position acquisition module is positioned based on ultra-wideband technology, positioning base stations are pre-arranged in the coal yard area, and corresponding positioning tags are installed on the bucket wheel excavator. By measuring the signal transmission time difference parameters between the positioning tags and each base station, the three-dimensional position information of the bucket wheel excavator in the relative coordinate system inside the coal yard is calculated using the multilateral positioning algorithm for positioning; a state monitoring sensor is installed in the electrical control circuit of the coal plow, and its operating state is judged by monitoring the working current changes of the coal plow drive motor. When the coal plow starts, the driving motor current has a corresponding starting current peak, and then stabilizes in the normal operating current range; when the coal plow stops working, the current drops rapidly to near zero, and the state monitoring sensor captures the current change, converts it into a corresponding digital signal, and feeds it back to the bucket wheel excavator position acquisition module to determine the state of the coal plow.

[0008] Preferably, the coal quantity collection is started synchronously by a timing unit, the start time of coal loading is recorded, and real-time flow data from the coal loading belt scale is received. According to the set time interval, the flow data received within the time is accumulated and summed to calculate the cumulative amount of coal that has been loaded; the calculation formula is: , where Qs is the cumulative amount of coal supplied, n is the time interval value, and H is the corresponding flow data obtained within the time interval, indicating that the flow values ​​from the first time interval to the nth time interval are summed up.

[0009] Preferably, the particle size data acquisition module takes real-time photos of the belt scale based on a camera, collects image data, and pre-processes the acquired image data. The pre-processing includes image denoising and grayscale processing, and feature extraction is performed on the processed image. The edge detection algorithm is used to calculate the image with extracted features, and the edge points are determined by calculating the gradient amplitude and direction of the image. After obtaining the outline of the coal block, the particle size-related feature parameters are further extracted through geometric calculation methods, and the particle size of the coal block is described from different dimensions. The judged results are transmitted.

[0010] Preferably, the data map module acquires and collects point cloud data from different scanners, registers the point cloud data, processes the registered point cloud data through triangulation, and finally performs texture mapping and adds details to construct a basic coal yard site map.

[0011] Preferably, the data transmission module constructs a continuous coal pile surface model for the coal pile accumulation information, and displays the shape, size and corresponding accumulation value of the coal pile in the form of an intuitive three-dimensional solid model in the three-dimensional map based on the constructed coal pile surface model. As the data is updated, the model of the coal pile will also change dynamically; in the display of equipment status information, the equipment running in the coal yard has a corresponding virtual model representation in the three-dimensional map, and based on the data transmitted from the bucket wheel attitude acquisition module and the bucket wheel position acquisition module, the status of the equipment is represented by status icons and color changes for staff to view, and the status is updated as the data is updated; and the coal yard site information is constructed based on the digital map module.

[0012] Preferably, after the inventory analysis module obtains the real-time collected data, it processes the coal quantity data based on the statistical analysis method, summarizes the coal quantity data, and accumulates and sums the coal weight data involved in each time period, different coal piles and different transportation links to present the flow of coal in the coal yard and the inventory change trend. An early warning measure is established for the warehouse, and the upper and lower inventory thresholds are set. When the inventory coal quantity exceeds the upper and lower limits, the early warning mechanism is triggered, and a warning box pops up based on the data map module, and text messages and push messages are sent to notify the staff to remind them to control the coal.

[0013] Preferably, the upper and lower thresholds of inventory are analyzed by historical data statistics, data records of inventory in historical time are obtained, the fluctuation range of the upper and lower data of inventory is analyzed, the threshold is determined based on historical data, the determined threshold is applied to subsequent monitoring, observation and adjustment are made to optimize the threshold range, and finally the threshold range is determined.

[0014] The beneficial effects of the present invention are: by collecting data in the coal yard in real time and presenting the real-time collected data in real time through a three-dimensional map, the staff can intuitively understand the equipment working parameters and coal inventory data in the coal yard, accurately conduct inventory counts, analyze inventory change trends, and formulate reasonable procurement plans and sales strategies, avoiding human errors that lead to inaccurate data, improving management efficiency, and providing timely feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a framework diagram of the data acquisition system of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0017] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0018] In the description of this application, the term "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any person skilled in the art to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art will recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in this application.

[0019] Example 1 A digital coal yard automatic data acquisition system, the data acquisition system includes: bucket wheel machine attitude acquisition module, bucket wheel machine position acquisition module, particle size data acquisition module, data transmission module, digital map module and inventory analysis module; The bucket wheel machine attitude acquisition module is used to obtain the bucket wheel machine attitude information in real time, including the cantilever angle and pitch angle information, synchronize the coal unloading belt scale flow data, record the stockpile position and quantity, and transmit the recorded data to the data transmission module; The bucket wheel position acquisition module is used to obtain the bucket wheel machine's travel position, coal plow start and stop information, and coal feeding belt scale flow data in real time, record the amount of coal fed, and transmit the recorded data to the data transmission module; The particle size data acquisition module is used to obtain coal block particle size data, judge the coal block particle size based on machine vision detection method, obtain the overall distribution of coal block particle size in the coal yard, and transmit the recorded data to the data transmission module; The data map module generates a three-dimensional map of the coal yard site information based on point cloud data and constructs the coal yard site information; The data transmission module pre-processes the acquired data and uploads it to the digital map module. The real-time collected data is then substituted into the 3D map to construct a 3D map of the coal yard data. The 3D map includes information on coal pile volume, equipment status, and coal yard site information, which is displayed in real time on the 3D map for staff to view. The inventory analysis module obtains the inventory information of coal in the coal yard through statistical analysis based on the real-time collected data and the coal yard information generated by the digital map module.

[0020] This application uses the bucket wheel excavator attitude acquisition module to obtain the cantilever angle and pitch angle information in real time, and synchronizes the unloading belt scale flow data to record the stockpile position and quantity. The bucket wheel excavator operator can accurately know the specific situation of each stockpile, which helps to accurately stack different types of coal in the predetermined position according to the coal yard plan, avoid mixing, and ensure the consistency of coal quality during subsequent material removal; The particle size data acquisition module uses machine vision detection to obtain coal block particle size data and derive the overall distribution of coal block particle size in the coal yard, which helps to strictly monitor the coal particle size; The data transmission module pre-processes the data from each acquisition module and uploads it to the digital map module, constructing a real-time updated three-dimensional map of the coal yard data. This allows managers to make quick decisions based on the latest and most accurate data. Combined with coal pile accumulation information and data related to coal loading and stacking, coal yard managers can accurately conduct inventory counts, analyze inventory change trends, and formulate reasonable procurement plans and sales strategies.

[0021] The bucket wheel excavator posture acquisition module includes an angle sensor and an inclination sensor. The angle sensor is located on the bucket wheel excavator's cantilever to sense the cantilever's rotation in the horizontal position. The inclination sensor is based on the liquid pendulum principle to sense the cantilever's pitch angle changes relative to the horizontal plane, understand the bucket wheel excavator's operating posture in the vertical dimension, and control the stockpile height and reclaiming depth.

[0022] The angle sensor of the present application is installed at the key position of the bucket wheel machine cantilever. During the operation, the cantilever of the bucket wheel machine will rotate in the horizontal position around a fixed point, and the photoelectric detection is used to sense the angle change of the cantilever on the horizontal plane. When the bucket wheel machine is performing stacking operations and needs to evenly stack the coal in a certain fan-shaped range on the coal yard, the cantilever will rotate left and right in the horizontal direction according to the set program or the operator's instructions. At this time, the angle sensor captures this rotation angle information in real time and converts it into a corresponding electrical signal that can be identified and transmitted in the form of data, and then accurately records each rotation of the cantilever in the horizontal position, helping the coal yard staff to accurately control the stacking area, avoid uneven distribution of coal or exceed the specified stacking range during the stacking process, and effectively improve the accuracy and efficiency of the stacking operation; The inclination sensor works based on the principle of liquid pendulum and is placed on the bucket wheel cantilever. When the bucket wheel cantilever changes its pitch angle relative to the horizontal plane, the liquid inside the inclination sensor will undergo corresponding flow and shape changes in the sealed container due to the influence of the change in gravity direction. The detection element in the sensor captures the changes in electrical properties caused by the flow of liquid, and then converts these changes into electrical signals that can intuitively reflect the pitch angle of the cantilever through the built-in signal processing circuit, thereby sensing the changes in the cantilever's posture in the vertical dimension.

[0023] The bucket wheel position acquisition module exchanges data through a wireless communication protocol. When the unloading belt scale detects the flow of coal on the belt, the flow value and timestamp information are sent to the bucket wheel attitude acquisition module. After receiving the data, the data is synchronized according to a unified time base. The bucket wheel attitude acquisition module also includes a positioning unit, which obtains the position of the bucket wheel in the coal yard based on the positioning unit, and records the position of the coal piled during stacking, and stores the position in the form of three-dimensional coordinates. Based on the flow data detected by the belt scale and the duration of the stacking, the amount of coal piled in each stacking operation is calculated and the collected data is uploaded. The calculation formula for the amount of accumulated coal is Qd=F T, Qd is the amount of coal piled up, F is the average flow rate detected by the belt scale, and T is the duration of the pile.

[0024] This application uses wireless communication protocols to interact with data, so that information can be transmitted efficiently and stably between the bucket wheel machine position acquisition module and the bucket wheel machine attitude acquisition module, breaking away from the limitations of wired connections and facilitating the flexible deployment and use of equipment in the complex environment of the coal yard.

[0025] The bucket wheel excavator position acquisition module is based on ultra-wideband technology for positioning. Positioning base stations are pre-arranged in the coal yard area, and corresponding positioning tags are installed on the bucket wheel excavator. By measuring the signal transmission time difference parameters between the positioning tags and each base station, the three-dimensional position information of the bucket wheel excavator in the relative coordinate system inside the coal yard is calculated using the multilateral positioning algorithm for positioning; a status monitoring sensor is installed in the electrical control circuit of the coal plow, which judges its operating status by monitoring the working current changes of the coal plow drive motor. When the coal plow starts, the drive motor current has a corresponding starting current peak, and then stabilizes in the normal operating current range; when the coal plow stops working, the current drops rapidly to near zero, and the status monitoring sensor captures the current change, converts it into a corresponding digital signal, and feeds it back to the bucket wheel excavator position acquisition module to determine the status of the coal plow.

[0026] The multilateral positioning algorithm in this application can calculate the distance difference between the positioning tag and each base station based on the signal propagation speed, the propagation speed of the ultra-wideband signal in the air is approximately the speed of light, the known fixed value, and the signal transmission time difference parameter. Then, combined with the known coordinates of the base station, the three-dimensional position information of the bucket wheel machine in the relative coordinate system inside the coal yard, that is, the X, Y, and Z coordinate values, is determined by solving the set of equations, thereby achieving accurate positioning of the bucket wheel machine.

[0027] The coal quantity collection is started synchronously through the timing unit, the starting time of coal loading is recorded, and the real-time flow data from the coal loading belt scale is received. According to the set time interval, the flow data received within the time is accumulated and summed to calculate the cumulative amount of coal that has been loaded; the calculation formula is:, where Qs is the cumulative amount of coal loaded, n is the time interval value, and H is the corresponding flow data obtained within the time interval, which means that the flow values ​​from the first time interval to the nth time interval are summed.

[0028] This application starts and records the start time of coal loading synchronously through the timing unit, and then combines the real-time flow data received from the coal loading belt scale to calculate the cumulative coal loading volume by accumulating and summing up according to the set time interval. This method can extremely accurately count the actual amount of coal that has been transported; the coal loading volume data collected in this way over a long period of time constitutes a very valuable historical data resource. By analyzing these data, such as checking the coal loading volume change trend in different time periods, comparing the coal loading volume of different coal-using units, and analyzing the proportion of coal loading volume of different coal types, the laws and characteristics of coal supply in the coal yard are summarized, and potential problems or optimization space are discovered.

[0029] The particle size data acquisition module uses a camera to take real-time photos of the belt scale, collect image data, and preprocess the acquired image data. The preprocessing includes image denoising and grayscale processing, feature extraction of the processed image, and edge detection algorithm is used to calculate the image with extracted features. The edge points are determined by calculating the gradient amplitude and direction of the image. After obtaining the outline of the coal block, the particle size-related feature parameters are further extracted through geometric calculation methods, and the particle size of the coal block is described from different dimensions. The judged results are transmitted.

[0030] This application uses advanced machine vision technology to accurately obtain coal block particle size data, and takes real-time photos through a camera. After obtaining the image data, it removes noise points in the image caused by various interferences, and uses a median filtering algorithm to replace the original value of a certain pixel point in the image by selecting the median of the pixel values ​​in the neighborhood of the pixel point in the image. It can cleverly eliminate isolated noise points such as salt and pepper noise, making the image smoother and clearer; and grayscale processing is to convert a color image that originally contains rich color information into a grayscale image. This process is mainly based on a specific grayscale conversion algorithm. The weighted average method is used to assign different weights to the pixel values ​​of the red, green, and blue channels and then sum them to obtain the corresponding grayscale value. After completing the image preprocessing, the edge detection algorithm is used to perform in-depth computational analysis on the image, and the edge point is accurately determined by calculating the gradient amplitude and direction of the image, so as to determine the location of the pixel point. The gradient amplitude and gradient direction, the pixel points with large gradient amplitude and obvious change in gradient direction are often the edges of the coal blocks. In this way, the edge contour of the coal block in the image can be clearly and accurately outlined. After successfully obtaining the coal block contour, the particle size-related characteristic parameters are further extracted through geometric calculation methods, and the particle size of the coal block is comprehensively and meticulously described from different dimensions. The area enclosed by the contour is calculated, and the area of ​​the coal block is obtained by counting the number of pixels in the area enclosed by the coal block contour and combining it with the actual physical size of the image; at the same time, the length of the longest side of the contour is also measured. For irregularly shaped coal blocks, the size of the coal block is roughly characterized based on its area being equivalent to the diameter of a circle. Through the comprehensive analysis of these multi-dimensional parameters, the measurement of coal block particle size is more scientific and accurate, and can better meet the needs of coal particle size control in actual application scenarios.

[0031] The data map module collects point cloud data from different scanners, aligns the point cloud data, processes the aligned point cloud data through triangulation, and finally performs texture mapping and adds details to construct a basic coal yard site map.

[0032] This application is implemented in a complex coal yard environment, where there are many devices and operations are frequent. There are collision safety risks between devices and between devices and coal piles. Through a clear and accurate coal yard site map, staff can monitor the location and operation trajectory of the equipment in real time, predict potential collision risks in advance, and take corresponding preventive measures in a timely manner.

[0033] The data transmission module constructs a continuous coal pile surface model for the coal pile accumulation information. Based on the constructed coal pile surface model, the shape, size and corresponding accumulation value of the coal pile are displayed in the form of an intuitive three-dimensional solid model in the three-dimensional map. As the data is updated, the coal pile model will also change dynamically; in the display of equipment status information, the equipment running in the coal yard has a corresponding virtual model representation in the three-dimensional map. Based on the data transmitted by the bucket wheel excavator posture acquisition module and the bucket wheel excavator position acquisition module, the status of the equipment is indicated by status icons and color changes for staff to view, and the status is updated as the data is updated; and the coal yard site information is constructed based on the digital map module.

[0034] This application constructs a continuous coal pile surface model and displays the shape, size and corresponding stacking quantity of the coal pile in the form of an intuitive three-dimensional solid model in the three-dimensional map. The staff can understand the coal inventory in the coal yard very intuitively and clearly. The coal yard site information constructed based on the digital map module fully presents the key elements of the coal yard's topography, building distribution, and road direction in the three-dimensional map, providing the staff with a comprehensive spatial understanding of the entire coal yard.

[0035] After obtaining the real-time collected data, the inventory analysis module processes the coal quantity data based on statistical analysis methods, summarizes the coal quantity data, and accumulates and sums the coal weight data involved in each time period, different coal piles, and different transportation links to present the flow of coal in the coal yard and inventory change trends. It establishes early warning measures for the warehouse and sets upper and lower inventory thresholds. When the inventory coal quantity exceeds the upper and lower limits, the early warning mechanism is triggered, and a warning box pops up based on the data map module, and text messages and push messages are sent to notify staff to remind them to control the coal.

[0036] The inventory analysis module of this application uses statistical analysis methods to summarize and accumulate coal weight data from different time periods, different coal piles, and different transportation links, and can clearly and accurately present the flow of coal in the coal yard.

[0037] The upper and lower thresholds of inventory are analyzed through historical data statistics. The data records of inventory in historical time are obtained, the fluctuation range of the upper and lower data of inventory is analyzed, the threshold is determined based on historical data, and the determined threshold is applied to subsequent monitoring. Observation and adjustment of the optimized threshold range are carried out to finally determine the threshold range.

[0038] This application is based on the historical data statistics method. By deeply analyzing the inventory data records over a long period of time in the past, it can accurately capture the actual fluctuations of coal yard inventory data in different periods and under different working conditions. These historical data cover various scenarios in the daily operation of the coal yard, such as seasonal changes in coal procurement volume, fluctuations in demand from different coal-using enterprises, and inventory increases and decreases caused by factors affecting inventory during equipment maintenance. By mining these actual data information to determine the thresholds, the set upper and lower inventory thresholds can fully reflect the inherent characteristics and actual change laws of the coal yard inventory, and closely fit the actual operating conditions of the coal yard, rather than relying on subjective conjecture or general standards to set them, thereby providing a more targeted and practical reference basis for inventory management.

[0039] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A digital coal yard automatic data acquisition system, characterized by: The data acquisition system includes: bucket wheel machine attitude acquisition module, bucket wheel machine position acquisition module, granularity data acquisition module, data transmission module, digital map module and inventory analysis module; The bucket wheel machine attitude acquisition module is used to obtain the bucket wheel machine attitude information in real time, including the cantilever angle and pitch angle information, synchronize the coal unloading belt scale flow data, record the stockpile position and quantity, and transmit the recorded data to the data transmission module; The bucket wheel position acquisition module is used to obtain the bucket wheel machine's travel position, coal plow start and stop information, and coal feeding belt scale flow data in real time, record the amount of coal fed, and transmit the recorded data to the data transmission module; The particle size data acquisition module is used to obtain coal block particle size data, judge the coal block particle size based on machine vision detection method, obtain the overall distribution of coal block particle size in the coal yard, and transmit the recorded data to the data transmission module; The data map module generates a three-dimensional map of the coal yard site information based on point cloud data and constructs the coal yard site information; The data transmission module pre-processes the acquired data and uploads it to the digital map module. The real-time collected data is then substituted into the 3D map to construct a 3D map of the coal yard data. The 3D map includes information on coal pile volume, equipment status, and coal yard site information, which is displayed in real time on the 3D map for staff to view. The inventory analysis module obtains the inventory information of coal in the coal yard through statistical analysis based on the real-time collected data and the coal yard information generated by the digital map module.

2. A digital coal yard automatic data acquisition system according to claim 1, characterized in that: The bucket wheel excavator posture acquisition module includes an angle sensor and an inclination sensor. The angle sensor is located on the bucket wheel excavator's cantilever to sense the cantilever's rotation in the horizontal position. The inclination sensor is based on the liquid pendulum principle to sense the cantilever's pitch angle changes relative to the horizontal plane, understand the bucket wheel excavator's operating posture in the vertical dimension, and control the stockpile height and reclaiming depth.

3. The digital coal yard automatic data acquisition system according to claim 1 is characterized in that: The bucket wheel position acquisition module exchanges data through a wireless communication protocol. When the unloading belt scale detects the flow of coal on the belt, the flow value and timestamp information are sent to the bucket wheel attitude acquisition module. After receiving the data, the data is synchronized according to a unified time base. The bucket wheel machine attitude acquisition module also includes a positioning unit, which obtains the position of the bucket wheel machine in the coal yard based on the positioning unit, records the position of the coal piled during stacking, and stores the position in the form of three-dimensional coordinates; Based on the flow data detected by the belt scale and the duration of the stacking, the amount of coal accumulated in each stacking operation is calculated and the collected data is uploaded; The calculation formula for the amount of accumulated coal is Qd=F T, Qd is the amount of coal piled up, F is the average flow rate detected by the belt scale, and T is the duration of the pile.

4. A digital coal yard automatic data acquisition system according to claim 1, characterized in that: The bucket wheel excavator's position acquisition module uses ultra-wideband technology for positioning. Positioning base stations are pre-deployed in the coal yard area, and corresponding positioning tags are installed on the bucket wheel excavator. By measuring the signal transmission time difference between the positioning tags and each base station, a multilateral positioning algorithm is used to calculate the bucket wheel excavator's three-dimensional position information within the relative coordinate system within the coal yard for positioning. A state monitoring sensor is installed in the electrical control circuit of the coal plow. This sensor monitors the operating current of the coal plow's drive motor to determine its operating status. When the coal plow starts, the drive motor current reaches a corresponding starting current peak, then stabilizes within the normal operating current range. When the coal plow stops working, the current drops rapidly to near zero. The status monitoring sensor captures the current change, converts it into a corresponding digital signal, and feeds it back to the bucket wheel position acquisition module to determine the status of the coal plow.

5. The digital coal yard automatic data acquisition system according to claim 1 is characterized in that: The coal quantity collection is started synchronously by the timing unit, recording the start time of coal loading and receiving the real-time flow data from the coal loading belt scale. According to the set time interval, the flow data received within the time is accumulated and summed to calculate the cumulative amount of coal that has been loaded; The calculation formula is: , where Qs is the cumulative amount of coal supplied, n is the time interval value, and H is the corresponding flow data obtained within the time interval, indicating that the flow values ​​from the first time interval to the nth time interval are summed up.

6. The digital coal yard automatic data acquisition system according to claim 1 is characterized in that: The particle size data acquisition module uses a camera to take real-time photos of the belt scale, collect image data, and preprocess the acquired image data. The preprocessing includes image denoising and grayscale processing, feature extraction of the processed image, and edge detection algorithm is used to calculate the image with extracted features. The edge points are determined by calculating the gradient amplitude and direction of the image. After obtaining the outline of the coal block, the particle size-related feature parameters are further extracted through geometric calculation methods, the particle size of the coal block is described from different dimensions, and the judgment results are transmitted.

7. The digital coal yard automatic data acquisition system according to claim 1 is characterized in that: The data map module collects point cloud data from different scanners, aligns the point cloud data, processes the aligned point cloud data through triangulation, and finally performs texture mapping and adds details to construct a basic coal yard site map.

8. The digital coal yard automatic data acquisition system according to claim 1 is characterized in that: The data transmission module constructs a continuous coal pile surface model for the coal pile accumulation information. Based on the constructed coal pile surface model, the shape, size and corresponding accumulation value of the coal pile are displayed in the form of an intuitive three-dimensional solid model in the three-dimensional map. As the data is updated, the coal pile model will also change dynamically; in the display of equipment status information, the equipment running in the coal yard has a corresponding virtual model representation in the three-dimensional map. Based on the data transmitted by the bucket wheel excavator posture acquisition module and the bucket wheel excavator position acquisition module, the status of the equipment is indicated by status icons and color changes for staff to view, and the status is updated as the data is updated; and the coal yard site information is constructed based on the digital map module.

9. The digital coal yard automatic data acquisition system according to claim 1 is characterized in that: After obtaining the real-time collected data, the inventory analysis module processes the coal quantity data based on statistical analysis methods, summarizes the coal quantity data, and accumulates and sums the coal weight data involved in each time period, different coal piles, and different transportation links to present the flow of coal in the coal yard and inventory change trends. It establishes early warning measures for the warehouse and sets upper and lower inventory thresholds. When the inventory coal quantity exceeds the upper and lower limits, the early warning mechanism is triggered, and a warning box pops up based on the data map module, and text messages and push messages are sent to notify staff to remind them to control the coal.

10. A digital coal yard automatic data acquisition system according to claim 9, characterized in that: The upper and lower thresholds of inventory are analyzed through historical data statistics. The data records of inventory in historical time are obtained, the fluctuation range of the upper and lower data of inventory is analyzed, the threshold is determined based on historical data, and the determined threshold is applied to subsequent monitoring. Observation and adjustment of the optimized threshold range are carried out to finally determine the threshold range.

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