Modeling Management and Statistical Method and System for Irregular Coal Piles in Strip Coal Yards

Abstract

The present invention provides a method and system for modeling, managing, and statistically analyzing an irregular coal pile in a strip coal yard. The method includes the following steps: dividing the coal yard into grids and unifying the coal yard and the bucket wheel stacker-reclaimer into a local coordinate system; installing a laser scanner on the bucket wheel stacker-reclaimer, and determining the coordinates of the laser scanner in the coal yard coordinate system by adjusting the traveling and attitude of the bucket wheel stacker-reclaimer; initializing the ordinate of the preset points in the coal yard; using the bucket wheel stacker-reclaimer equipped with the laser scanner to perform a full-field scan of the coal yard; performing triangular mesh generation on the scan data after the full-field scan by the scanner and the preset points of the grid-divided coal yard, and assigning heights to all the preset points in the triangular mesh coal yard; after the preset triangles in the coal yard are assigned heights to form triangular prisms, calculating the volumes of all the triangular prisms to obtain the total volume of the coal yard stockpile, and obtaining the coal storage information of the coal yard; and dividing the new stacked coal yard model based on the coal yard model after stacking operation and the original coal yard model. The present invention can complete the accurate statistics of fuel assets under the stacking condition.

Description

Technical Field

[0001] The present invention relates to the technical field of coal yard management, and particularly to a method and system for modeling, managing, and statistically analyzing irregular coal piles in a strip-shaped coal yard. Background Art

[0002] The management of the coal yard in a thermal power plant is an important part of modern fuel management. With the continuous refinement and strengthening of the levels of fuel management, the scientific storage, orderly transportation, accurate blending, and economic combustion of fuels will play a crucial role. At present, coal yard management has become a bottleneck in the fuel management of power plants in China. Each power plant is spending a large amount of energy, material resources, and human resources on researching coal yard management and coal blending combustion management, with the aim of enabling production and operation personnel to accurately master the coal yard information and the economic benefits of boiler combustion in power generation enterprises. The key to solving coal yard management lies in building a digital coal yard, that is, effectively guiding the work of economic, environmental, and safe coal blending combustion and the scientific storage management of the coal yard under the premise of ensuring supply and safety, so as to achieve the refined management of the coal yard.

[0003] The concept of a digital coal yard is to make the complex coal yard management more refined, accurately master the enterprise assets, so that the enterprise can gain the upper hand in business activities and thus obtain the maximum economic benefits.

[0004] Through research on the technology market, the existing digital coal yard technologies manage the coal storage structure in the coal yard rather roughly. The sub-pile management basically divides different coal qualities according to the length range of the coal yard. Since 2021, the coal market price has repeatedly broken through the historical highest point. After the coal reclaimer takes coal, an operation surface will be opened. In order to ensure the fuel inventory to maximize the business needs of thermal power enterprises, there is often a situation where coal is stacked on the operation surface, resulting in the inability to distinguish the specific specifications of the original coal pile and the new coal stored on the operation surface. It is not conducive to asset evaluation after placing coals with different prices. There is no relevant report in the technical market on how to manage the model of irregular coal piles. Summary of the Invention

[0005] In view of the above-mentioned technical problems, a method and system for modeling, managing, and statistically analyzing irregular coal piles in a strip-shaped coal yard are provided. The technical means adopted by the present invention are as follows:

[0006] A method for modeling, managing, and statistically analyzing irregular coal piles in a strip-shaped coal yard includes the following steps:

[0007] Step 1: Divide the coal yard into grids, and unify the coal yard and the bucket wheel reclaimer into a local coordinate system;

[0008] Step 2: Set a laser scanner on the bucket wheel reclaimer, and determine the coordinates of the laser scanner in the coal yard coordinate system through the travel and attitude adjustment of the bucket wheel reclaimer;

[0009] Step 3: Initialize the ordinate of the preset points in the coal yard to 0;

[0010] Step 4: The bucket wheel stacker is equipped with a laser scanner to scan the entire coal yard;

[0011] Step 5: Triangulate the scan data after the scanner's full-field scan with the preset points of the meshed coal yard, and assign heights to all preset points in the triangulated coal yard;

[0012] Step 6: After the preset triangles in the coal yard are assigned heights to form triangular prisms, calculate the volumes of all triangular prisms to obtain the total volume of the coal yard stockpile, and obtain the coal storage information of the coal yard;

[0013] Step 7: Before the stacking operation, record the parameters when the reclaimer reaches the last position of the coal pile operation. Use the reclaimer's material-taking trajectory to reconstruct the bottom surface to obtain the original coal yard model. After the stacking operation, segment the new stacked coal yard model based on the stacked coal yard model and the original coal yard model.

[0014] Further, there are two laser scanners, which are respectively installed on both sides of the end of the bucket wheel stacker's boom. During the process of the bucket wheel stacker performing the traversing scan, the boom rotates so that the two scanning heads respectively obtain the scan data of the inner and outer slopes. After moving to the travel limit, the scanning of the positions outside the limit of the stockpile is completed through the rotation action.

[0015] Further, after the overall laser scanner scans the original coal yard in Step 2, the origin of the three-dimensional space coordinate is the projection of the 0 limit position of the bucket wheel stacker on the reference plane. The spatial coordinate position of the right coal yard inventory meter in the coal yard is calculated by the following formula:

[0016]

[0017] Where, L1 is the straight-line distance between the rotation center of the bucket wheel stacker and the pitch center point, L2 is the straight-line distance from the scanning head mounting bracket to the pitch center, L3 is the height of the scanning head fixed heightening bracket, L4 is the height between the cement surface of the traveling mechanism track and the coal yard reference plane, L5 is the height between the pitch center point and the cement surface of the traveling mechanism track, L6 and L7 are respectively the distances from the scanning heads of the two laser scanners to the center line of the boom, S is the traveling data of the bucket wheel stacker, θ is the rotation angle, γ is the pitch angle, and m is the distance from the rotation center to the width boundary of the coal yard at the mechanical limit of the bucket wheel stacker.

[0018] Further, in Step 2, the single-cycle data set of the scan data of the laser scanner is a plane polar coordinate array. The point cloud data of the stockpile is converted to the space rectangular coordinate system by the following formula:

[0019]

[0020] where ρ is the scanned distance and α i is the scanned polar angle.

[0021] Further, in the step 5, the point cloud data is transformed into a rectangular coordinate system according to Formulas 1 and 2 to obtain a set of rectangular coordinate arrays. Ignoring the height coordinate values of the point cloud after transformation, Delaunay triangulation is performed on these point clouds, and interpolation is used for triangulation.

[0022] Further, in the step 7, before the stacking operation, the last working position of the reclaimer for the coal pile, that is, the pitching angle of each layer, and the traveling position where the material taking ends are recorded from top to bottom as [Sn, γn], where Sn is the traveling position of the bucket wheel at the last working position of the nth layer, and γn is the pitching angle at the last working position of the nth layer.

[0023] The mathematical expression for reconstructing the first plane area of the bottom surface is:

[0024]

[0025] If the height coordinate of all preset positions in the area is less than L8sinγ + L4 + L5, the original height remains unchanged; if it is greater, it is assigned the value of L8sinγ + L4 + L5. Thus, a model plane formed by the material taking trajectory can be constructed.

[0026] The present invention also discloses an irregular coal pile modeling management system for a strip coal yard, including a bucket wheel, a laser scanner, and a control system. The laser scanner is connected to the control system, the laser scanner is arranged on the bucket wheel, and the bucket wheel is connected to the control system.

[0027] The control system includes:

[0028] A coordinate system construction and grid division unit, configured to obtain the spatial information of the coal yard and divide the coal yard coordinate system into a grid structure with preset coordinate points based on a preset side length;

[0029] A coordinate conversion unit, configured to perform coordinate conversion on the scanning data of the laser scanner, so that the point cloud data of the material pile collected is converted into a spatial rectangular coordinate system;

[0030] An interpolation triangulation unit, configured to perform Delaunay triangulation on the rectangular coordinate array of the scanning data of the laser scanner. After triangulation is completed, the vertex indexes of all triangles in this point cloud acquisition period are counted;

[0031] A volume calculation unit, configured to assign heights to the triangles constructed by the interpolation triangulation unit, and obtain the total volume of the material pile in the coal yard based on the volumes of all triangular prisms;

[0032] The bottom surface reconstruction unit is used to reconstruct each layer of the plane area based on the data of the reclaimer at the final position after the reclaimer operates on different levels of the coal pile, and construct the raw coal yard model;

[0033] The model segmentation unit is used to perform zoning calculation on the coal pile after stacking operation, and segment different stacked coal piles according to the bottom plane after zoning.

[0034] In view of the situation that the storage space of the strip coal yard is often tense, and the incoming coal is too concentrated in most cases, which will lead to unloading above the opened working face, it is easy to cause confusion in the management and statistics of the coal yard, resulting in errors in asset calculation and damage to the enterprise operation. The present invention pre-builds a model of the raw coal pile, scans the coal yard through a laser scanner, calculates the volume of the coal pile according to the bottom plane after zoning, has a high degree of intelligence, uses the reclaimer's material taking trajectory to reconstruct the bottom surface, and segments the stacked part of the model, and can complete the accurate statistics of the fuel assets under the stacked working conditions. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 It is a schematic diagram of the grid division of the coal yard and the height assignment of the preset point coordinates of the present invention.

[0037] Figure 2 It is a simple schematic diagram of the installation of the laser scanner at the end of the cantilever type bucket wheel reclaimer of the present invention.

[0038] Figure 3 It is the overall flow chart of the present invention.

[0039] Figure 4 It is a schematic diagram of the bucket wheel reclaimer equipped with a laser scanner for full-field scanning of the coal yard of the present invention.

[0040] Figure 5 It is a schematic diagram of the height assignment of the coal yard of the present invention.

[0041] Figure 6 It is a schematic diagram of the reconstructed plane according to the material taking trajectory of the present invention.

[0042] Figure 7 It is the effect diagram of the model segmentation of the present invention. Detailed Embodiments

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] As Figure 3 shown, an irregular coal pile modeling management and statistics method for a strip coal yard in an embodiment of the present invention includes the following steps:

[0045] Step 1: Divide the coal yard into grids and unify the coal yard and the bucket wheel reclaimer into a local coordinate system; the x and y coordinate values of the coal yard are fixedly set corresponding to the fixed areas of the coal yard, and the change of the coal yard is only the change of the height z value. Unify the coal yard and the bucket wheel reclaimer into a local coordinate system, and calculate the running trajectory of the bucket wheel reclaimer and the coordinates of the bucket wheel in real time, so as to accurately track the position of the bucket wheel and calculate the spatial position relationship with the coal pile in the coal yard.

[0046] As Figure 1 shown, in this embodiment, a 60 * 300 m strip coal yard is taken as an example, the side length of the grid is set to 0.25 m, and the coal yard is initialized into a grid with 72,000 squares, 144,000 right triangles, and 289,441 preset coordinate points; a space rectangular coordinate system is established with the straight line parallel to the coal yard boundary where the projection point of the bucket wheel reclaimer rotation center on the ground is located as the X axis and the east width line of the coal yard as the Y axis.

[0047] Step 2: Install laser scanners on the bucket wheel reclaimer, and determine the coordinates of the laser scanners in the coal yard coordinate system through the running and attitude adjustment of the bucket wheel reclaimer;

[0048] Specifically, as Figure 2 shown is the installation schematic diagram of the laser scanner on the cantilever bucket wheel reclaimer. In order to unify the position data of the coal yard stockpile with the positions of the cantilever and bucket wheel of the bucket wheel reclaimer in the same space and complete the all-round and non-blind-spot scanning of the coal yard, two laser scanners are used in this embodiment, and SICK-3601 type scanning heads are selected. The two are respectively installed on both sides of the end of the bucket wheel reclaimer cantilever to obtain a better field of view in the high-pitch state. In addition, the height of the made scanning head fixing bracket is also increased to 4 m. During the running and scanning of the bucket wheel reclaimer, the cantilever is rotated to 135° so that the two scanning heads respectively obtain the scanning data of the inner and outer slopes. After moving to the walking limit, the position scanning of the stockpile outside the limit is completed through the rotation action.

[0049] After the overall laser scanner scans the raw coal yard, the origin of the three-dimensional space coordinate is the projection of the 0 limit position of the bucket wheel machine on the reference plane. The spatial coordinate position of the right coal yard inventory instrument in the coal yard is obtained by calculating through the following formula:

[0050]

[0051] Among them, L1 is the straight-line distance between the rotary center of the bucket wheel machine and the pitching center point, L2 is the straight-line distance from the scanning head mounting bracket to the pitching center, L3 is the height of the scanning head fixed heightening bracket, L4 is the height between the cement surface of the traveling mechanism track and the reference plane of the coal yard, L5 is the height between the pitching center point and the cement surface of the traveling mechanism track, L6 and L7 are the distances from the scanning heads of the two laser scanners to the center line of the cantilever respectively, S is the traveling data of the bucket wheel machine, θ is the rotary angle, γ is the pitching angle, and m is the distance from the rotary center to the width boundary of the coal yard when the bucket wheel machine is at the mechanical limit. These formulas calculate the actual position of the coal yard inventory instrument in the coal yard through the geometric position relationship of the bucket wheel machine. Such calculation places the coal yard inventory instrument, the reclaimer, and the laser point cloud data in the same coordinate system, improving the reliability of the data.

[0052] In this embodiment, the coal yard inventory instrument is set on the reclaimer, and the actual coordinate position of the coal yard inventory instrument in the coal yard is calculated through the attitude data of the reclaimer. After the coal yard inventory instrument determines its own coordinate position, the laser points emitted from the coal yard inventory instrument can determine its actual coordinates in the coal yard. In the embodiment, 2 scanners are used to prevent the existence of scanning blind areas.

[0053] The single-cycle data set of the scanning data of SICK-3601 is a plane polar coordinate array with a dimension of 2: [scanning distance, scanning angle]. It is stipulated that the positive direction of the polar axis is the extension direction of the cantilever, and the data collected under the scanning head is the effective data. The acquisition interface allocates approximately 2° as the minimum data unit of an effective data. Then, about 90 pieces of effective data are collected in a single scanning cycle within the range of 0 to 180°. The point cloud data of the stockpile is converted into the space rectangular coordinate system through the following formula:

[0054]

[0055] Among them, ρ is the scanning distance obtained, and α i is the scanning polar angle.

[0056] Step 3: Initialize the ordinate of the preset points in the coal yard to 0;

[0057] Step 4: The bucket wheel machine is equipped with a laser scanner to perform a full-field scan of the coal yard;

[0058] In this embodiment, the bucket wheel machine travels to the 0-meter limit, rotates to the left limit by 5 degrees, and the pitching angle is raised to the highest 8.5 degrees. As Figure 4As shown, the bucket wheel stacker-reclaimer performs a scanning action. First, the boom performs a slewing action, slewing from 5 degrees to 135 degrees to complete the slewing scan; the bucket wheel stacker-reclaimer performs a traveling action, traveling from 0 meters to 256 meters to complete the traveling scan process; after reaching the 256-meter limit, the boom performs a slewing action, slewing from 135 degrees to 175 degrees to complete the slewing scan. By completing the above actions, it is ensured that the laser line scans the entire coal yard comprehensively and without dead angles once.

[0059] Step 5: Triangulate the scan data after the scanner's global scan with the preset points of the coal yard divided by grid, and assign heights to all preset points within the triangulated coal yard.

[0060] Specifically, the weekly emission frequency of the SICK scanner is 25Hz. The system sends an instruction once per second to obtain the scan data of the scanner, forms a point cloud array from two laser points, converts the point cloud data according to Formulas 1 and 2 to obtain a set of rectangular coordinate arrays, ignores the height coordinate values of the point cloud after conversion, triangulates these point clouds using Delaunay triangulation, and constructs the network using the interpolation method.

[0061] Using Figure 1 the super triangle OAB in

[0062] (1) Construct the super triangle OAB that contains the point array;

[0063] (2) Insert any point M in the array into the existing triangular network.

[0064] (3) Find the triangle where M is located, connect the vertices of the triangle with M, and generate three new triangles.

[0065] (4) Reconstruct the triangles, update the triangle set, and write the vertex coordinates of the new triangles into the triangle set.

[0066] (5) Repeat steps (2), (3), and (4) until all points have been inserted.

[0067] (6) Remove the triangles whose vertices include the vertices of the super triangle.

[0068] After the network construction is completed, count the vertex indices of all triangles within this point cloud acquisition period, and determine whether there are any preset points within any triangle of the constructed triangular network during this period. The determination method is as follows:

[0069] (1) Select the rectangular area composed of the maximum and minimum values of the horizontal and vertical coordinates within the point cloud acquisition period, and extract all preset points within this area;

[0070] (2) Propose the triangular vertex coordinates A in the triangular mesh set i , B i , C i (i is the index of the triangle in the Delaunay triangular mesh),

[0071] (3) Sequentially extract all the preset points P in the rectangular area within one network construction period j (j is the index of the preset point in the rectangular area), and calculate the cross product results of vectors respectively. m = A i P j ^ B i P j n = A i P j ^ C i P j h = C i P j ^ B i P j ; if m, n, h have the same sign (both positive or both negative), then P j is inside this triangle, otherwise it is outside the triangle.

[0072] (4) When there is a preset point inside a certain triangle, assign the weighted average of the height coordinates of the three vertices of this triangle to the height coordinate of the preset point.

[0073] Step 6. When the overall scanning is completed, all the preset points in the coal yard will be assigned heights as Figure 5 shown. After the preset triangles in the coal yard are assigned heights, triangular prisms are formed. Calculate the volumes of all the triangular prisms to obtain the total volume of the coal stockpile in the coal yard, and obtain the coal storage information of the coal yard;

[0074] Step 7. Before the stacking operation, record the parameters at the last working position of the reclaimer for the coal pile. Use the reclaimer's coal-taking trajectory to reconstruct the bottom surface to obtain the original coal yard model. After the stacking operation, segment the new stacked coal yard model based on the stacked coal yard model and the original coal yard model.

[0075] Specifically, the user can calculate the volume of the coal pile according to the bottom plane after zoning by using irregular line segments defined by the plane of the coal yard to zone the coal pile.

[0076] Before the stacking operation, record the parameters at the last working position of the reclaimer for the coal pile, that is, the pitching angle of each layer. The traveling position where the coal-taking ends is recorded from top to bottom as [Sn, γn], where Sn is the traveling position of the bucket wheel at the last working position of the nth layer, and γn is the pitching angle at the last working position of the nth layer. As Figure 6 shown, the mathematical expression of the first layer plane area for reconstructing the bottom surface is:

[0077]

[0078] Among them, x and y represent the horizontal and vertical coordinate ranges corresponding to the first layer plane, which are a set of point range sets, and all heights within this range are the same. All preset height coordinates within the area remain unchanged if they are less than L8sinγ + L4 + L5, and are assigned the value of L8sinγ + L4 + L5 if they are greater than this value. Thus, a model plane formed by the material taking trajectory can be constructed; it is shown as 5 layers, and the second to fifth layers are also calculated in the manner described in formula (3). Among them, L8 is the straight-line distance from the pitching center point to the bucket wheel.

[0079] When the working condition of stacking on the working face occurs, the overall coal pile is inventoried, and the reconstructed bottom surface is obtained using the material taking trajectory. The model segmentation effect is as Figure 7 shown. Thus, the accurate statistics of fuel assets under the stacking working condition can be completed.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for modeling, managing, and statistically analyzing irregular coal piles in a strip coal yard, characterized in that, The steps include: Step 1: Grid the coal yard and unify the coal yard and bucket wheel machine into a local coordinate system; Step 2: A laser scanner is set on the bucket wheel machine, and the coordinates of the laser scanner in the coal yard coordinate system are determined by the movement and posture adjustment of the bucket wheel machine; Step 3: Initialize the vertical coordinate of the preset position in the coal yard to 0; Step 4: The bucket wheel machine is equipped with a laser scanner to perform a full-area scan of the coal yard; Step 5: triangulate the scanned data after the full-area scanning by the scanner and the preset points of the coal yard divided by gridding, and assign heights to all preset points in the triangulated coal yard; Step 6: After the preset triangles of the coal yard are assigned heights, they are formed into triangular prisms. The volumes of all triangular prisms are calculated to obtain the total volume of the coal yard stockpile, and the coal storage information of the coal yard is obtained; Step 7: Before the stacking operation, record the parameters of the reclaimer at the last position of the coal pile, reconstruct the bottom surface using the reclaimer's reclaiming trajectory, and obtain the original coal yard model. After the stacking operation, segment the new stacking coal yard model based on the coal yard model after the stacking operation and the original coal yard model. There are two laser scanners, which are respectively installed on both sides of the bucket wheel machine cantilever end. When the bucket wheel machine performs walking scanning, the cantilever is rotated so that the two scanning heads obtain the scanning data of the inner and outer slopes respectively. After moving to the walking limit, the position of the stockpile outside the limit is scanned by the rotation action; In step 7, the last working position of the reclaimer with respect to the coal pile, i.e., the pitch angle of each layer, and the running position at which the reclaiming is terminated are recorded from top to bottom as [Sn, γn] before the stacking operation, wherein Sn is the running position of the bucket wheel machine at the last working position of the nth layer, and γn is the pitch angle at the last working position of the nth layer. The mathematical expression of the first plane area of the reconstructed bottom surface is: If the height coordinates of all preset positions in the area are less than L8sinγ+L4+L5, the original height remains unchanged; if they are greater, they are assigned L8sinγ+L4+L5. In this way, a model plane composed of the material collection trajectory can be constructed, where L1 is the straight-line distance between the rotation center of the bucket wheel machine and the pitch center point, L8 is the straight-line distance from the pitch center point to the bucket wheel, L4 is the height between the cement surface of the walking mechanism track and the coal yard reference plane, L5 is the height between the pitch center point and the cement surface of the walking mechanism track, γ is the real-time pitch angle, and x and y represent the horizontal and vertical coordinate ranges corresponding to the first-layer plane.

2. The modeling management and statistics method for irregular coal piles in a strip coal yard according to claim 1, wherein Step 2 After the overall laser scanner scans the raw coal yard, the origin of the spatial three-dimensional coordinate is the projection of the bucket wheel machine's zero limit on the reference plane. The spatial coordinate position of the right coal pan meter in the coal yard is calculated by the following formula: Among them, L2 is the straight-line distance from the scanning head mounting bracket to the pitch center, L3 is the height of the scanning head fixed heightening bracket, L6 and L7 are the distances from the scanning heads of the two laser scanners to the center line of the cantilever, S is the running data of the bucket wheel machine, θ is the rotation angle, and m is the distance from the rotation center to the width boundary of the coal yard when the bucket wheel machine is at the mechanical limit.

3. The method for modeling, managing, and statistically analyzing irregular coal piles in a strip coal yard according to claim 2, wherein In step 2, the single-cycle data set of the scanning data of the laser scanner is a plane polar coordinate array. The point cloud data of the stockpile is converted into a space rectangular coordinate system through the following formula: where ρ is the distance obtained by scanning, and α i is the scanning polar angle.

4. The modeling management and statistics method for an irregular coal pile in a strip coal yard according to claim 3, wherein, In step 5, the point cloud data is converted in the rectangular coordinate system according to Formulas 1 and 2 to obtain a set of rectangular coordinate arrays. Ignoring the height coordinate values of the point cloud after conversion, Delaunay triangulation is performed on these point clouds, and interpolation is used to construct the network.

5. A bar-shaped coal yard irregular coal pile modeling management system for implementing the statistical method according to any one of claims 1 to 4, characterized in that, It includes a bucket wheel stacker-reclaimer, a laser scanner, and a control system. The laser scanner is connected to the control system. The laser scanner is arranged on the bucket wheel stacker-reclaimer, and the bucket wheel stacker-reclaimer is connected to the control system. The control system includes: A coordinate system construction and grid division unit, which is used to obtain the spatial information where the coal yard is located and divide the coordinate system of the coal yard into a grid structure with preset coordinate points based on a preset side length; A coordinate conversion unit, which is used to perform coordinate conversion on the scanning data of the laser scanner so that the collected point cloud data of the stockpile is converted into a space rectangular coordinate system; An interpolation network construction unit, which is used to perform Delaunay triangulation on the rectangular coordinate array of the scanning data of the laser scanner. After the network construction is completed, the vertex indexes of all triangles in this point cloud acquisition cycle are counted; A volume calculation unit, which is used to assign heights to the triangles constructed by the interpolation network construction unit and obtain the total volume of the stockpile in the coal yard based on the volumes of all triangular prisms; A bottom surface reconstruction unit, which is used to reconstruct each layer plane area based on the data of the reclaimer at the final position after the reclaimer operates on different levels of the coal pile and construct the original coal yard model; A model segmentation unit, which is used to perform zoning calculations on the coal pile after stacking operations and divide the stacked different coal piles according to the bottom planes after zoning.

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