A remote control and management system for coal yards based on data acquisition

Abstract

This invention relates to the field of remote control and management of coal yards, specifically disclosing a remote control and management system for coal yards based on data acquisition. This invention acquires the coal storage volume of each sub-region of the coal yard, analyzes the estimated coal extraction time required for each sub-region, and then determines whether the sub-regional division is reasonable, adjusting the division accordingly to achieve a clear allocation of coal extraction tasks and improve the overall working efficiency of the coal yard. It also monitors the state of the coal pile during the extraction process of the bucket wheel excavators in each sub-region in real time, analyzes the coal pile collapse coefficient for each excavator, further determines the appropriate bucket wheel speed for each excavator, and acquires the actual bucket wheel speed for each excavator. This allows for determination of whether the bucket wheel speed needs adjustment and the acquisition of adjustment parameters for the bucket wheel speed of each designated excavator, achieving intelligent adjustment of the bucket wheel speed to ensure both normal operation of the bucket wheel and efficient coal extraction.

Description

Technical Field

[0001] This invention relates to the field of remote control and management of coal yards, and specifically to a remote control and management system for coal yards based on data acquisition. Background Technology

[0002] As the scale of coal yards gradually expands, the monitoring and management of coal yards becomes increasingly important. Existing coal yard monitoring and management methods have some drawbacks: On the one hand, when the coal storage capacity of a coal yard is relatively large, multiple bucket wheel excavators are generally used to operate simultaneously to ensure coal extraction efficiency. However, the workload allocation for each bucket wheel excavator is not clear. The coal yard area is roughly divided based on the number of bucket wheel excavators to determine the workload of each excavator. This does not take into account factors such as the coal storage capacity, coal extraction speed, and machine adjustment and maintenance time in each bucket wheel excavator's working area, nor does it analyze the estimated time required for each bucket wheel excavator to complete its coal extraction task. This makes it impossible to determine whether the working progress of each bucket wheel excavator is basically consistent and to adjust the workload in a timely manner. Consequently, it is impossible to ensure that each bucket wheel excavator completes its coal extraction task synchronously and at a unified pace. This may lead to bucket wheel excavators being idle or having their workloads exceeded, thus greatly reducing the overall working efficiency of the coal yard.

[0003] On the other hand, when adjusting the speed of the bucket wheel excavator, the actual speed of the bucket wheel is usually compared with the set speed, and then the speed is adjusted accordingly. However, the state of the coal pile when the bucket wheel excavator is taking coal is not taken into account. The depth to which the bucket wheel advances into the coal pile and the steepness of the coal pile itself will accelerate the collapse of the coal pile. At this time, the speed of the bucket wheel must be slowed down to prevent the bucket wheel from jamming due to a large amount of coal accumulating inside the wheel. As a result, it is not possible to increase the speed of the bucket wheel and improve the coal taking efficiency while ensuring the normal operation of the bucket wheel. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a remote control and management system for coal yards based on data acquisition, enabling remote control and management of coal yards.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides a coal yard remote control and management system based on data acquisition, including: a coal yard area coal storage acquisition module: used to initially divide the target coal yard area according to preset principles to obtain each coal yard sub-area and acquire the coal storage of each coal yard sub-area.

[0006] Coal Yard Area Work Progress Forecasting Module: Based on the coal storage volume of each coal yard sub-area, this module analyzes and obtains the estimated time required for each coal yard sub-area to complete its coal extraction task, and records this as the estimated coal extraction time required for each coal yard sub-area.

[0007] The coal yard area division rationality assessment module is used to determine whether the area division of each coal yard sub-area is reasonable based on the estimated coal extraction time required for each coal yard sub-area. If it is not reasonable, the coal yard sub-areas with unreasonable area division are marked as marked coal yard sub-areas, and the coal yard area division adjustment module is executed.

[0008] Coal yard area division adjustment module: used to obtain the estimated coal extraction time required for each marked coal yard sub-area, obtain each lagging coal yard sub-area and each advanced coal yard sub-area, and adjust the division of each lagging coal yard sub-area and each advanced coal yard sub-area.

[0009] Bucket wheel excavator coal pile status monitoring module: used to monitor the status of coal piles during the coal extraction process of bucket wheel excavators in each coal yard sub-area in real time, record it as the coal pile status of each bucket wheel excavator, and analyze to obtain the coal pile collapse coefficient of each bucket wheel excavator.

[0010] Bucket wheel excavator speed evaluation module: It is used to analyze the appropriate bucket wheel speed of each bucket wheel excavator based on the coal pile collapse coefficient of each bucket wheel excavator, obtain the actual bucket wheel speed of each bucket wheel excavator, and then determine whether the bucket wheel speed of each bucket wheel excavator needs to be adjusted. If adjustment is required, the bucket wheel excavators whose bucket wheel speed needs to be adjusted are marked as designated bucket wheel excavators, and the bucket wheel excavator speed adjustment module is executed.

[0011] Bucket wheel excavator speed adjustment module: used to acquire the adjustment parameters of the bucket wheel speed of each specified bucket wheel excavator, including the adjustment trend and adjustment correction amount, and to perform corresponding processing.

[0012] Database: Used to store the reference density of coal in the target coal yard, the amount of coal taken out by the bucket wheel excavator per unit time, and the reference bucket wheel speed for coal taking out by the bucket wheel excavator.

[0013] Based on the above embodiments, the specific process of the coal storage acquisition module in the coal yard area is as follows: the target coal yard area is divided according to a preset grid division principle to obtain each coal yard sub-area; three-dimensional laser scanners are deployed on the surface of the bucket wheel excavator in each coal yard sub-area according to preset principles; and three-dimensional data models of each coal pile in each coal yard sub-area are obtained through the three-dimensional laser scanners deployed on the surface of the bucket wheel excavator in each coal yard sub-area, and the volume of each coal pile in each coal yard sub-area is further obtained and denoted as V. ij Let i represent the number of the i-th coal yard sub-region, i = 1, 2, ..., n, and j represent the number of the j-th coal pile in the coal yard sub-region, j = 1, 2, ..., m.

[0014] Extract the reference density of coal in the target coal yard stored in the database, denoted as ρ, and substitute the volume of each coal pile in each sub-region of the coal yard into formula a. ij =β*(ρ*V ij +Δa) yields the coal storage capacity a of each coal pile in each coal yard sub-region.ij , where β represents the preset correction factor for coal storage and Δa represents the preset compensation amount for coal storage.

[0015] The coal storage volume of each coal pile in each coal yard sub-region is summed to obtain the coal storage volume of each coal yard sub-region, which is denoted as b. i .

[0016] Based on the above embodiments, the specific process of the coal yard area work progress estimation module includes: extracting the coal extraction volume per unit time of the bucket wheel excavator stored in the database and recording it as c; and calculating the coal storage volume b of each coal yard sub-area. i Substitute into the formula Obtain the coal extraction time of the bucket wheel excavator in each coal yard sub-area. Where χ1 represents the preset correction factor for the coal extraction time of the bucket wheel excavator.

[0017] Obtain the location of each coal pile in each coal yard sub-region, plan the travel path of the bucket wheel excavator for coal collection in each coal yard sub-region, and based on the travel path of the bucket wheel excavator for coal collection in each coal yard sub-region, obtain the number of position adjustments of the bucket wheel excavator in each coal yard sub-region, and denote it as d. i By analyzing the formula Get the machine adjustment time of the bucket wheel excavator in each coal yard sub-area. Where χ2 represents the preset correction factor for the machine adjustment time of the bucket wheel excavator, and Δτ represents the preset time required for a single position adjustment of the bucket wheel excavator.

[0018] Based on the above embodiments, the specific process of the coal yard area work progress estimation module further includes: calculating the coal extraction time of the bucket wheel excavator in each coal yard sub-area. Adjust the duration with the machine Substitute into the formula The estimated coal extraction time for each coal yard sub-area is obtained. Where χ3 represents the preset correction factor for the estimated coal extraction time, t1 represents the preset maintenance and repair time for the bucket wheel excavator, and t2 represents the preset compensation amount for the estimated coal extraction time.

[0019] Based on the above embodiments, the specific process of the coal yard area division rationality assessment module is as follows: The estimated coal extraction time required for each coal yard sub-region is compared with each other to obtain the median of the estimated coal extraction time, which is denoted as t′. The estimated coal extraction time required for each coal yard sub-region is then... Substitute into the formula The work progress difference coefficient δ of each coal yard sub-area is obtained. i , where ε represents the preset work progress difference coefficient correction factor, and T represents the preset allowable coal extraction time difference.

[0020] The work progress difference coefficient of each coal yard sub-region is compared with the preset work progress difference coefficient threshold. If the work progress difference coefficient of a certain coal yard sub-region is greater than the preset work progress difference coefficient threshold, then the area division of the coal yard sub-region is unreasonable. The coal yard sub-regions with unreasonable area division are counted and recorded as each marked coal yard sub-region, and the coal yard area division adjustment module is executed.

[0021] Based on the above embodiments, the specific process of the coal yard area division and adjustment module includes: selecting the estimated coal extraction time required for each marked coal yard sub-area according to the estimated coal extraction time required for each sub-area.

[0022] The estimated coal extraction time required for each marked coal yard sub-area is compared with the median estimated coal extraction time. If the estimated coal extraction time required for a marked coal yard sub-area is greater than the median estimated coal extraction time, the marked coal yard sub-area is marked as a lagging coal yard sub-area. If the estimated coal extraction time required for a marked coal yard sub-area is less than the median estimated coal extraction time, the marked coal yard sub-area is marked as a leading coal yard sub-area. The statistics of each lagging coal yard sub-area and each leading coal yard sub-area are obtained.

[0023] Based on the above embodiments, the specific process of the coal yard area division and adjustment module further includes: obtaining each adjacent coal yard sub-region of each lagging coal yard sub-region according to the location of each lagging coal yard sub-region; filtering the coal storage of each adjacent coal yard sub-region corresponding to each lagging coal yard sub-region according to the coal storage of each coal yard sub-region; comparing the coal storage of each adjacent coal yard sub-region corresponding to each lagging coal yard sub-region; recording the adjacent coal yard sub-region corresponding to the minimum coal storage as the matching adjacent coal yard sub-region of the lagging coal yard sub-region; and statistically obtaining the matching adjacent coal yard sub-region of each lagging coal yard sub-region.

[0024] Based on the estimated coal extraction time required for each coal yard sub-area, the estimated coal extraction time required for each lagging coal yard sub-area is selected and denoted as follows: f represents the number of the f-th lagging coal yard sub-region, f = 1, 2, ..., g, representing the estimated coal extraction time required for each lagging coal yard sub-region. Substitute into the formula Obtain the amount of coal allocated to each lagging coal yard sub-area. Where φ1 represents the preset correction factor for the amount of coal to be drawn, and Δt″ represents the preset correction amount for the time required to extract coal.

[0025] The coal piles in each of the lagging coal yard sub-regions are sorted according to a preset order to obtain the delineation order of each coal pile in each of the lagging coal yard sub-regions.

[0026] Based on the coal storage volume of each coal pile in each coal yard sub-region, the coal storage volume of each coal pile in each lagging coal yard sub-region is screened out. Each coal pile in each lagging coal yard sub-region is then sequentially assigned to its corresponding matching adjacent coal yard sub-region according to the order of assignment, until a certain coal pile is assigned. At this point, the cumulative amount of coal storage of each coal pile before that coal pile is less than or equal to the amount of coal assigned to the lagging coal yard sub-region, and the cumulative amount of coal storage of each coal pile before the next adjacent coal pile is greater than the amount of coal assigned to the lagging coal yard sub-region. Thus, the division of each lagging coal yard sub-region is adjusted.

[0027] The amount of coal transferred into each advanced coal yard sub-region and the amount of coal stored in each coal pile in the corresponding adjacent coal yard sub-region are obtained, and then the division of each advanced coal yard sub-region is adjusted.

[0028] Based on the above embodiments, the specific process of the bucket wheel excavator coal pile status monitoring module is as follows: A side image of the current coal pile being taken by the bucket wheel excavator in each coal yard sub-area is acquired using a high-definition camera and recorded as the side image of the current coal pile being taken by each bucket wheel excavator. This allows for the acquisition of the first waist span width, second waist span width, first waistline length, second waistline length, and pile height of each bucket wheel excavator coal pile, which are then expressed as follows: and l p Let p represent the number of the p-th bucket wheel machine, where p = 1, 2, ..., q.

[0029] The height of the center point of the bucket wheel above the ground during the coal extraction process of each bucket wheel excavator is obtained by measuring instruments and recorded as the height of the bucket wheel above the ground for each excavator, and expressed as... The depth of horizontal propulsion of the coal pile by each bucket wheel excavator is obtained and recorded as the horizontal propulsion depth of each bucket wheel excavator, and expressed as...

[0030] By analyzing the formula The coal pile collapse coefficient of each bucket wheel excavator was obtained. Where γ represents the correction factor for the preset coal pile collapse coefficient.

[0031] Based on the above embodiments, the specific process of the bucket wheel excavator speed evaluation module is as follows: extract the reference bucket wheel speed for coal extraction stored in the database, and record it as v. 参考 The collapse coefficient of the coal pile taken by each bucket wheel excavator The reference bucket wheel speed v for coal extraction by the bucket wheel excavator 参考 Substitute into the formula Obtain the appropriate bucket wheel speed for each bucket wheel excavator Where η represents the preset appropriate bucket wheel speed correction factor, and e represents the natural constant. This represents the preset threshold for the coal pile collapse coefficient.

[0032] The actual bucket wheel speed of each bucket wheel excavator is obtained from the instrument panel of each bucket wheel excavator control center and recorded as follows:

[0033] The appropriate bucket wheel speed for each bucket wheel excavator and actual bucket wheel speed Substitute into the formula The bucket wheel speed adjustment demand coefficient λ for each bucket wheel excavator is obtained. p , where Δv 设 This indicates the preset allowable difference in bucket wheel speed.

[0034] The bucket wheel speed adjustment demand coefficient of each bucket wheel excavator is compared with the preset bucket wheel speed adjustment demand coefficient threshold. If the bucket wheel speed adjustment demand coefficient of a certain bucket wheel excavator is greater than the preset bucket wheel speed adjustment demand coefficient threshold, then the bucket wheel speed of that bucket wheel excavator needs to be adjusted. The bucket wheel excavators whose bucket wheel speed needs to be adjusted are counted and recorded as each designated bucket wheel excavator, and the bucket wheel excavator speed adjustment module is executed.

[0035] Based on the above embodiments, the specific process of the bucket wheel excavator speed adjustment module is as follows: F1: Based on the suitable bucket wheel speed and actual bucket wheel speed of each bucket wheel excavator, the suitable bucket wheel speed and actual bucket wheel speed of each designated bucket wheel excavator are obtained. The actual bucket wheel speed of each designated bucket wheel excavator is compared with its corresponding suitable bucket wheel speed. If the actual bucket wheel speed of a designated bucket wheel excavator is greater than its corresponding suitable bucket wheel speed, the adjustment trend of the bucket wheel speed of the designated bucket wheel excavator is to decrease, and F2 is executed. If the actual bucket wheel speed of a designated bucket wheel excavator is less than its corresponding suitable bucket wheel speed, the adjustment trend of the bucket wheel speed of the designated bucket wheel excavator is to increase, and F3 is executed.

[0036] F2: Subtract the corresponding suitable bucket wheel speed from the actual bucket wheel speed of the specified bucket wheel machine to obtain the adjustment correction amount of the bucket wheel speed of the specified bucket wheel machine.

[0037] F3: Subtract the corresponding actual bucket wheel speed from the suitable bucket wheel speed of the specified bucket wheel machine to obtain the adjustment correction amount of the bucket wheel speed of the specified bucket wheel machine.

[0038] F4: By analogy, the adjustment trend and adjustment correction amount of the bucket wheel speed of each designated bucket wheel excavator are obtained and sent to the remote control terminal of the target coal yard, so as to regulate the bucket wheel speed of each designated bucket wheel excavator.

[0039] Compared with the prior art, the coal yard remote control and management system based on data acquisition described in this invention has the following beneficial effects: 1. The coal yard remote control and management system based on data acquisition provided by this invention obtains the estimated coal extraction time required for each coal yard sub-area, thereby determining whether the area division of each coal yard sub-area is reasonable and adjusting the division of the coal yard area accordingly; it obtains the appropriate bucket wheel speed and actual bucket wheel speed of each bucket wheel machine, thereby determining whether the bucket wheel speed of each bucket wheel machine needs to be adjusted, and obtains the adjustment parameters of the bucket wheel speed of each designated bucket wheel machine, realizing the clear allocation of coal extraction tasks in the coal yard, improving the overall working efficiency of the coal yard, and realizing intelligent adjustment of the bucket wheel speed of the bucket wheel machine, ensuring both the normal operation of the bucket wheel and the coal extraction efficiency.

[0040] 2. This invention obtains the estimated coal extraction time required for each coal yard sub-area, thereby determining whether the sub-area division is reasonable. Further adjustments are made to the division of sub-areas with lagging or advanced progress. By comprehensively considering factors such as coal storage capacity, extraction speed, and machine adjustment and maintenance time in each bucket wheel excavator's working area, the estimated time required for each bucket wheel excavator to complete its coal extraction task is analyzed. This allows for a determination of whether the working progress of each bucket wheel excavator is basically consistent, and timely adjustments to the workload are made. This ensures that each bucket wheel excavator completes its coal extraction task synchronously and at a unified pace, preventing subsequent idle bucket wheel excavators or excessive workloads, thereby improving the overall working efficiency of the coal yard.

[0041] 3. This invention obtains the suitable and actual bucket wheel speeds of each bucket wheel excavator, thereby determining whether the bucket wheel speed of each excavator needs adjustment. It also obtains the adjustment parameters for the bucket wheel speed of each specified bucket wheel excavator, comprehensively considering the state of the coal pile during coal extraction, the depth of the bucket wheel's advance into the coal pile, and the steepness of the coal pile's own accumulation. It analyzes whether to slow down the bucket wheel speed to obtain a suitable bucket wheel speed, preventing the bucket wheel from jamming due to a large amount of coal accumulating inside the wheel. Thus, while ensuring the normal operation of the bucket wheel, the speed of the bucket wheel is increased, improving coal extraction efficiency. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a system module connection diagram of the present invention.

[0044] Figure 2 This is a side view of the bucket wheel excavator for coal extraction according to the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Please see Figure 1 As shown, the present invention provides a remote control and management system for coal yards based on data acquisition, including a coal storage capacity acquisition module for coal yard areas, a work progress estimation module for coal yard areas, a rationality assessment module for coal yard area division, a coal yard area division adjustment module, a coal pile status monitoring module for bucket wheel excavator, a speed assessment module for bucket wheel excavator, a speed adjustment module for bucket wheel excavator, and a database.

[0047] The coal yard area work progress prediction module is connected to the coal yard area coal storage acquisition module and the coal yard area division rationality assessment module, respectively. The coal yard area division adjustment module is connected to the coal yard area division rationality assessment module and the bucket wheel excavator coal pile status monitoring module, respectively. The bucket wheel excavator speed assessment module is connected to the bucket wheel excavator coal pile status monitoring module and the bucket wheel excavator speed adjustment module, respectively. The database is connected to the coal yard area coal storage acquisition module, the coal yard area work progress prediction module and the bucket wheel excavator speed assessment module, respectively.

[0048] The coal yard area coal storage acquisition module is used to initially divide the target coal yard area according to preset principles to obtain each coal yard sub-area and acquire the coal storage of each coal yard sub-area.

[0049] Furthermore, the specific process of the coal storage acquisition module for the coal yard area is as follows: the target coal yard area is divided according to a preset grid division principle to obtain each coal yard sub-area; three-dimensional laser scanners are deployed on the surface of the bucket wheel excavator in each coal yard sub-area according to preset principles; and three-dimensional data models of each coal pile in each coal yard sub-area are acquired through the three-dimensional laser scanners deployed on the surface of the bucket wheel excavator in each coal yard sub-area, and the volume of each coal pile in each coal yard sub-area is further obtained and denoted as V. ij Let i represent the number of the i-th coal yard sub-region, i = 1, 2, ..., n, and j represent the number of the j-th coal pile in the coal yard sub-region, j = 1, 2, ..., m.

[0050] Extract the reference density of coal in the target coal yard stored in the database, denoted as ρ, and substitute the volume of each coal pile in each sub-region of the coal yard into formula a. ij =β*(ρ*V ij +Δa) yields the coal storage capacity a of each coal pile in each coal yard sub-region. ij, where β represents the preset correction factor for coal storage and Δa represents the preset compensation amount for coal storage.

[0051] The coal storage volume of each coal pile in each coal yard sub-region is summed to obtain the coal storage volume of each coal yard sub-region, which is denoted as b. i .

[0052] The coal yard area work progress estimation module is used to analyze the coal storage volume of each coal yard sub-area to obtain the estimated time required for each coal yard sub-area to complete the coal extraction task, and record it as the estimated coal extraction time required for each coal yard sub-area.

[0053] Furthermore, the specific process of the coal yard area work progress estimation module includes: extracting the coal extraction volume per unit time of the bucket wheel excavator stored in the database and recording it as c, and calculating the coal storage volume b of each coal yard sub-area. i Substitute into the formula Obtain the coal extraction time of the bucket wheel excavator in each coal yard sub-area. Where χ1 represents the preset correction factor for the coal extraction time of the bucket wheel excavator.

[0054] Obtain the location of each coal pile in each coal yard sub-region, plan the travel path of the bucket wheel excavator for coal collection in each coal yard sub-region, and based on the travel path of the bucket wheel excavator for coal collection in each coal yard sub-region, obtain the number of position adjustments of the bucket wheel excavator in each coal yard sub-region, and denote it as d. i By analyzing the formula Get the machine adjustment time of the bucket wheel excavator in each coal yard sub-area. Where χ2 represents the preset correction factor for the machine adjustment time of the bucket wheel excavator, and Δτ represents the preset time required for a single position adjustment of the bucket wheel excavator.

[0055] Furthermore, the specific process of the coal yard area work progress estimation module also includes: calculating the coal extraction time of the bucket wheel excavators in each coal yard sub-area. Adjust the duration with the machine Substitute into the formula The estimated coal extraction time for each coal yard sub-area is obtained. Where χ3 represents the preset correction factor for the estimated coal extraction time, t1 represents the preset maintenance and repair time for the bucket wheel excavator, and t2 represents the preset compensation amount for the estimated coal extraction time.

[0056] The coal yard area division rationality assessment module is used to determine whether the area division of each coal yard sub-area is reasonable based on the estimated coal extraction time required for each coal yard sub-area. If it is not reasonable, the coal yard sub-areas with unreasonable area division are marked as marked coal yard sub-areas, and the coal yard area division adjustment module is executed.

[0057] Furthermore, the specific process of the coal yard area division rationality assessment module is as follows: The estimated coal extraction time required for each coal yard sub-area is compared with each other to obtain the median of the estimated coal extraction time, which is denoted as t′. The estimated coal extraction time required for each coal yard sub-area is then... The work progress difference coefficient δ of each coal yard sub-area is obtained. i , where ε represents the preset work progress difference coefficient correction factor, and T represents the preset allowable coal extraction time difference.

[0058] The work progress difference coefficient of each coal yard sub-region is compared with the preset work progress difference coefficient threshold. If the work progress difference coefficient of a certain coal yard sub-region is greater than the preset work progress difference coefficient threshold, then the area division of the coal yard sub-region is unreasonable. The coal yard sub-regions with unreasonable area division are counted and recorded as each marked coal yard sub-region, and the coal yard area division adjustment module is executed.

[0059] The coal yard area division and adjustment module is used to obtain the estimated coal extraction time required for each marked coal yard sub-area, to obtain each lagging coal yard sub-area and each advanced coal yard sub-area, and to adjust the division of each lagging coal yard sub-area and each advanced coal yard sub-area.

[0060] Furthermore, the specific process of the coal yard area division and adjustment module includes: based on the estimated coal extraction time required for each coal yard sub-area, the estimated coal extraction time required for each marked coal yard sub-area is obtained by screening.

[0061] The estimated coal extraction time required for each marked coal yard sub-area is compared with the median estimated coal extraction time. If the estimated coal extraction time required for a marked coal yard sub-area is greater than the median estimated coal extraction time, the marked coal yard sub-area is marked as a lagging coal yard sub-area. If the estimated coal extraction time required for a marked coal yard sub-area is less than the median estimated coal extraction time, the marked coal yard sub-area is marked as a leading coal yard sub-area. The statistics of each lagging coal yard sub-area and each leading coal yard sub-area are obtained.

[0062] Furthermore, the specific process of the coal yard area division and adjustment module also includes: obtaining each adjacent coal yard sub-region of each lagging coal yard sub-region based on the location of each lagging coal yard sub-region; selecting the coal storage of each adjacent coal yard sub-region corresponding to each lagging coal yard sub-region based on the coal storage of each coal yard sub-region; comparing the coal storage of each adjacent coal yard sub-region corresponding to each lagging coal yard sub-region; recording the adjacent coal yard sub-region corresponding to the minimum coal storage as the matching adjacent coal yard sub-region of the lagging coal yard sub-region; and statistically obtaining the matching adjacent coal yard sub-regions of each lagging coal yard sub-region.

[0063] Based on the estimated coal extraction time required for each coal yard sub-area, the estimated coal extraction time required for each lagging coal yard sub-area is selected and denoted as follows: f represents the number of the f-th lagging coal yard sub-region, f = 1, 2, ..., g, representing the estimated coal extraction time required for each lagging coal yard sub-region. Substitute into the formula Obtain the amount of coal allocated to each lagging coal yard sub-area. Where φ1 represents the preset correction factor for the amount of coal to be drawn, and Δt″ represents the preset correction amount for the time required to extract coal.

[0064] The coal piles in each of the lagging coal yard sub-regions are sorted according to a preset order to obtain the delineation order of each coal pile in each of the lagging coal yard sub-regions.

[0065] Based on the coal storage volume of each coal pile in each coal yard sub-region, the coal storage volume of each coal pile in each lagging coal yard sub-region is screened out. Each coal pile in each lagging coal yard sub-region is then sequentially assigned to its corresponding matching adjacent coal yard sub-region according to the order of assignment, until a certain coal pile is assigned. At this point, the cumulative amount of coal storage of each coal pile before that coal pile is less than or equal to the amount of coal assigned to the lagging coal yard sub-region, and the cumulative amount of coal storage of each coal pile before the next adjacent coal pile is greater than the amount of coal assigned to the lagging coal yard sub-region. Thus, the division of each lagging coal yard sub-region is adjusted.

[0066] The amount of coal transferred into each advanced coal yard sub-region and the amount of coal stored in each coal pile in the corresponding adjacent coal yard sub-region are obtained, and then the division of each advanced coal yard sub-region is adjusted.

[0067] As a preferred embodiment, the adjustment of the division of each advanced coal yard sub-region is specifically as follows: based on the location of each advanced coal yard sub-region, the adjacent coal yard sub-regions of each advanced coal yard sub-region are obtained; based on the coal storage of each coal yard sub-region, the coal storage of each adjacent coal yard sub-region corresponding to each advanced coal yard sub-region is selected; the coal storage of each adjacent coal yard sub-region corresponding to each advanced coal yard sub-region is compared with each other; the adjacent coal yard sub-region corresponding to the largest coal storage is recorded as the matching adjacent coal yard sub-region of the advanced coal yard sub-region; and the matching adjacent coal yard sub-regions of each advanced coal yard sub-region are statistically obtained.

[0068] Based on the estimated coal extraction time required for each coal yard sub-area, the estimated coal extraction time required for each advanced coal yard sub-area is selected and denoted as follows: h represents the number of the h-th advanced coal yard sub-region, h = 1, 2, ..., k. The estimated coal extraction time required for each advanced coal yard sub-region is... Substitute into the formula Obtain the amount of coal transferred to each advanced coal yard sub-area. Where φ2 represents the preset correction factor for the amount of coal to be fed in, and Δt″ represents the preset correction amount for the time required to extract coal.

[0069] The coal piles in the adjacent coal yard sub-regions corresponding to each advanced coal yard sub-region are sorted in a preset order to obtain the delineation order of each coal pile in the adjacent coal yard sub-regions corresponding to each advanced coal yard sub-region.

[0070] Based on the coal storage volume of each coal pile in each coal yard sub-region, the coal storage volume of each coal pile in the corresponding adjacent coal yard sub-region of each advanced coal yard sub-region is selected. The coal piles in the corresponding adjacent coal yard sub-regions of each advanced coal yard sub-region are then sequentially assigned to the advanced coal yard sub-regions in the order of assignment until a certain coal pile is assigned. At this point, the cumulative coal storage volume of each coal pile preceding that coal pile is less than or equal to the amount of coal transferred into the advanced coal yard sub-region, and the cumulative coal storage volume of each coal pile preceding the next adjacent coal pile is greater than the amount of coal transferred into the advanced coal yard sub-region. Thus, the division of each advanced coal yard sub-region is adjusted.

[0071] As a preferred embodiment, the order in which each coal pile is demarcated in each lagging coal yard sub-region and the order in which each advanced coal yard sub-region is matched with the order in which each coal pile is demarcated in the adjacent coal yard sub-region can be arranged according to the order of distance between each coal pile and the boundary line of the coal yard sub-region from near to far.

[0072] As a preferred embodiment, the adjacent coal yard sub-regions refer to two coal yard sub-regions that do not cross any other coal yard sub-regions.

[0073] It should be noted that this invention obtains the estimated coal extraction time required for each coal yard sub-area, thereby determining whether the sub-area division of each coal yard is reasonable. Further adjustments are made to the division of sub-areas with lagging and advanced progress. By comprehensively considering factors such as coal storage capacity, extraction speed, and machine adjustment and maintenance time in each bucket wheel excavator's working area, the estimated time required for each bucket wheel excavator to complete its coal extraction task is analyzed. This allows for a determination of whether the working progress of each bucket wheel excavator is basically consistent, and timely adjustments to the workload are made. This ensures that each bucket wheel excavator completes its coal extraction task synchronously and at a unified pace, preventing subsequent idle bucket wheel excavators or excessive workloads, thereby improving the overall working efficiency of the coal yard.

[0074] The coal pile status monitoring module for the bucket wheel excavator is used to monitor the status of the coal pile during the coal extraction process of the bucket wheel excavator in each coal yard sub-area in real time, record it as the coal pile status of each bucket wheel excavator, and analyze it to obtain the coal pile collapse coefficient of each bucket wheel excavator.

[0075] Please see Figure 2As shown, the specific process of the bucket wheel excavator coal pile status monitoring module is as follows: A high-definition camera acquires a side view of the current coal pile being harvested by the bucket wheel excavator in each sub-area of ​​the coal yard, and records this as the side view of the current coal pile being harvested by each bucket wheel excavator. This allows for the acquisition of the first waist span width, second waist span width, first waistline length, second waistline length, and pile height of each coal pile being harvested by the bucket wheel excavator, which are then expressed as follows: and l p Let p represent the number of the p-th bucket wheel machine, where p = 1, 2, ..., q.

[0076] The height of the center point of the bucket wheel above the ground during the coal extraction process of each bucket wheel excavator is obtained by measuring instruments and recorded as the height of the bucket wheel above the ground for each excavator, and expressed as... The depth of horizontal propulsion of the coal pile by each bucket wheel excavator is obtained and recorded as the horizontal propulsion depth of each bucket wheel excavator, and expressed as...

[0077] By analyzing the formula The coal pile collapse coefficient of each bucket wheel excavator was obtained. Where γ represents the correction factor for the preset coal pile collapse coefficient.

[0078] As a preferred embodiment, each coal yard sub-area corresponds to one bucket wheel excavator in operation.

[0079] As a preferred embodiment, the coal pile is stacked in a trapezoidal manner.

[0080] As a preferred embodiment, the side view of the coal pile is trapezoidal, the length of the upper base of the trapezoid corresponds to the first waist span width of the coal pile, the length of the lower base corresponds to the second waist span width of the coal pile, the waist length of the trapezoid corresponds to the waist line length of the coal pile, the first waist line length refers to the waist line length corresponding to the coal taking side of the bucket wheel excavator, and the height of the trapezoid corresponds to the stacking height of the coal pile.

[0081] The bucket wheel excavator speed evaluation module is used to analyze the appropriate bucket wheel speed of each bucket wheel excavator based on the coal pile collapse coefficient of each bucket wheel excavator, obtain the actual bucket wheel speed of each bucket wheel excavator, and then determine whether the bucket wheel speed of each bucket wheel excavator needs to be adjusted. If adjustment is required, the bucket wheel excavators whose bucket wheel speed needs to be adjusted are recorded as designated bucket wheel excavators, and the bucket wheel excavator speed adjustment module is executed.

[0082] Furthermore, the specific process of the bucket wheel excavator speed evaluation module is as follows: extract the reference bucket wheel speed for coal extraction stored in the database, and record it as v. 参考 The collapse coefficient of the coal pile taken by each bucket wheel excavator The reference bucket wheel speed v for coal extraction by the bucket wheel excavator 参考 Substitute into the formula Obtain the appropriate bucket wheel speed for each bucket wheel excavator Where η represents the preset appropriate bucket wheel speed correction factor, and e represents the natural constant. This represents the preset threshold for the coal pile collapse coefficient.

[0083] The actual bucket wheel speed of each bucket wheel excavator is obtained from the instrument panel of each bucket wheel excavator control center and recorded as follows:

[0084] The appropriate bucket wheel speed for each bucket wheel excavator and actual bucket wheel speed Substitute into the formula The bucket wheel speed adjustment demand coefficient λ for each bucket wheel excavator is obtained. p , where Δv 设 This indicates the preset allowable difference in bucket wheel speed.

[0085] The bucket wheel speed adjustment demand coefficient of each bucket wheel excavator is compared with the preset bucket wheel speed adjustment demand coefficient threshold. If the bucket wheel speed adjustment demand coefficient of a certain bucket wheel excavator is greater than the preset bucket wheel speed adjustment demand coefficient threshold, then the bucket wheel speed of that bucket wheel excavator needs to be adjusted. The bucket wheel excavators whose bucket wheel speed needs to be adjusted are counted and recorded as each designated bucket wheel excavator, and the bucket wheel excavator speed adjustment module is executed.

[0086] The bucket wheel excavator speed adjustment module is used to obtain the adjustment parameters of the bucket wheel speed of each specified bucket wheel excavator, wherein the adjustment parameters include the adjustment trend and the adjustment correction amount, and perform corresponding processing.

[0087] Further, the specific process of the bucket wheel excavator speed adjustment module is as follows: F1: Based on the suitable bucket wheel speed and the actual bucket wheel speed of each bucket wheel excavator, the suitable bucket wheel speed and the actual bucket wheel speed of each designated bucket wheel excavator are obtained. The actual bucket wheel speed of each designated bucket wheel excavator is compared with its corresponding suitable bucket wheel speed. If the actual bucket wheel speed of a designated bucket wheel excavator is greater than its corresponding suitable bucket wheel speed, the adjustment trend of the bucket wheel speed of the designated bucket wheel excavator is to decrease, and F2 is executed. If the actual bucket wheel speed of a designated bucket wheel excavator is less than its corresponding suitable bucket wheel speed, the adjustment trend of the bucket wheel speed of the designated bucket wheel excavator is to increase, and F3 is executed.

[0088] F2: Subtract the corresponding suitable bucket wheel speed from the actual bucket wheel speed of the specified bucket wheel machine to obtain the adjustment correction amount of the bucket wheel speed of the specified bucket wheel machine.

[0089] F3: Subtract the corresponding actual bucket wheel speed from the suitable bucket wheel speed of the specified bucket wheel machine to obtain the adjustment correction amount of the bucket wheel speed of the specified bucket wheel machine.

[0090] F4: By analogy, the adjustment trend and adjustment correction amount of the bucket wheel speed of each designated bucket wheel excavator are obtained and sent to the remote control terminal of the target coal yard, so as to regulate the bucket wheel speed of each designated bucket wheel excavator.

[0091] It should be noted that this invention obtains the appropriate and actual bucket wheel speeds of each bucket wheel excavator, thereby determining whether the bucket wheel speed of each excavator needs adjustment. It also obtains the adjustment parameters for the bucket wheel speed of each specified bucket wheel excavator, comprehensively considering the state of the coal pile when the bucket wheel excavator is taking coal, the depth of the bucket wheel advancing into the coal pile, and the steepness of the coal pile itself, to analyze whether to slow down the bucket wheel speed, obtain an appropriate bucket wheel speed, prevent the bucket wheel from jamming due to a large amount of coal accumulating inside the wheel, and thus increase the speed of the bucket wheel while ensuring normal operation of the bucket wheel, thereby improving coal taking efficiency.

[0092] The database is used to store the reference density of coal in the target coal yard, the amount of coal taken out by the bucket wheel excavator per unit time, and the reference bucket wheel speed for coal taking out by the bucket wheel excavator.

[0093] The above description is merely an example and illustration of the concept of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined in the claims, they should all fall within the protection scope of the present invention.

Claims

1. A remote control and management system for coal yards based on data acquisition, characterized in that, include: Coal Yard Area Coal Storage Acquisition Module: This module is used to initially divide the target coal yard area according to preset principles, obtain each coal yard sub-area, and acquire the coal storage capacity of each coal yard sub-area. Coal Yard Area Work Progress Forecasting Module: Based on the coal storage capacity of each coal yard sub-area, this module analyzes and calculates the estimated time required for each sub-area to complete its coal extraction task, and records this as the estimated coal extraction time required for each sub-area. Coal yard area division rationality assessment module: It is used to determine whether the area division of each coal yard sub-area is reasonable based on the estimated coal extraction time required for each coal yard sub-area. If it is not reasonable, the coal yard sub-areas with unreasonable area division are marked as each marked coal yard sub-area, and the coal yard area division adjustment module is executed. Coal yard area division adjustment module: used to obtain the estimated coal extraction time required for each marked coal yard sub-area, obtain each lagging coal yard sub-area and each advanced coal yard sub-area, and adjust the division of each lagging coal yard sub-area and each advanced coal yard sub-area. Bucket wheel excavator coal pile status monitoring module: used to monitor the status of the coal pile during the coal extraction process of the bucket wheel excavator in each coal yard sub-area in real time, record it as the coal pile status of each bucket wheel excavator, and analyze to obtain the coal pile collapse coefficient of each bucket wheel excavator. Bucket wheel excavator speed evaluation module: It is used to analyze the appropriate bucket wheel speed of each bucket wheel excavator based on the coal pile collapse coefficient of each bucket wheel excavator, obtain the actual bucket wheel speed of each bucket wheel excavator, and then determine whether the bucket wheel speed of each bucket wheel excavator needs to be adjusted. If adjustment is required, the bucket wheel excavators whose bucket wheel speed needs to be adjusted are recorded as designated bucket wheel excavators, and the bucket wheel excavator speed adjustment module is executed. Bucket wheel excavator speed adjustment module: used to acquire adjustment parameters of the bucket wheel speed of each specified bucket wheel excavator, including adjustment trend and adjustment correction amount, and perform corresponding processing; Database: Used to store the reference density of coal in the target coal yard, the amount of coal taken out by the bucket wheel excavator per unit time, and the reference bucket wheel speed for coal taking out by the bucket wheel excavator; The specific process of the bucket wheel excavator coal pile status monitoring module is as follows: High-definition cameras are used to acquire side images of the coal piles currently being taken out by bucket wheel excavators in each sub-region of the coal yard. These images are recorded as side images of the coal piles currently being taken out by each bucket wheel excavator. This allows for the acquisition of the first waist span width, second waist span width, first waistline length, second waistline length, and pile height of each coal pile, which are then represented as follows: , , , and , Indicates the first The serial number of the bucket wheel excavator ; The height of the center point of the bucket wheel above the ground during the coal extraction process of each bucket wheel excavator is obtained by measuring instruments and recorded as the height of the bucket wheel above the ground for each bucket wheel excavator, and expressed as... The depth of horizontal propulsion of the coal pile by the bucket wheels of each bucket wheel excavator is obtained and recorded as the horizontal propulsion depth of each bucket wheel excavator, and expressed as... ; By analyzing the formula The coal pile collapse coefficient of each bucket wheel excavator was obtained. ,in This represents the correction factor for the preset coal pile collapse coefficient; The specific process of the bucket wheel excavator speed evaluation module is as follows: Extract the reference bucket wheel speed for coal extraction from the database and record it as . The collapse coefficient of the coal pile taken by each bucket wheel excavator Reference bucket wheel speed for coal extraction by bucket wheel excavator Substitute into the formula Obtain the appropriate bucket wheel speed for each bucket wheel excavator ,in This represents the preset appropriate bucket wheel speed correction factor, where e represents the natural constant. This represents the preset threshold for the coal pile collapse coefficient; The actual bucket wheel speed of each bucket wheel excavator is obtained from the instrument panel of each bucket wheel excavator control center and recorded as follows: ; The appropriate bucket wheel speed for each bucket wheel excavator and actual bucket wheel speed Substitute into the formula Obtain the bucket wheel speed adjustment requirement coefficient for each bucket wheel excavator. ,in This indicates the preset allowable difference in bucket wheel speed; The bucket wheel speed adjustment demand coefficient of each bucket wheel excavator is compared with the preset bucket wheel speed adjustment demand coefficient threshold. If the bucket wheel speed adjustment demand coefficient of a certain bucket wheel excavator is greater than the preset bucket wheel speed adjustment demand coefficient threshold, then the bucket wheel speed of that bucket wheel excavator needs to be adjusted. The bucket wheel excavators whose bucket wheel speed needs to be adjusted are counted and recorded as each designated bucket wheel excavator, and the bucket wheel excavator speed adjustment module is executed. The specific process of the bucket wheel excavator speed adjustment module is as follows: Based on the suitable and actual bucket wheel speeds of each bucket wheel excavator, suitable and actual bucket wheel speeds for each specified bucket wheel excavator are selected. The actual bucket wheel speed of each specified excavator is compared with its corresponding suitable bucket wheel speed. If the actual bucket wheel speed of a specified excavator is greater than its corresponding suitable bucket wheel speed, the adjustment trend for the bucket wheel speed of that specified excavator is to decrease, and the process is executed. If the actual bucket wheel speed of a specified bucket wheel excavator is less than its corresponding suitable bucket wheel speed, the adjustment trend for the bucket wheel speed of that specified bucket wheel excavator will be to increase, and the following actions will be taken: ; Subtracting the corresponding suitable bucket wheel speed from the actual bucket wheel speed of the specified bucket wheel machine yields the adjustment correction amount for the bucket wheel speed of the specified bucket wheel machine. Subtracting the actual bucket wheel speed from the suitable bucket wheel speed of the specified bucket wheel excavator yields the adjustment and correction amount for the bucket wheel speed of the specified bucket wheel excavator. By analogy, the adjustment trend and adjustment correction amount of the bucket wheel speed of each designated bucket wheel excavator are obtained and sent to the remote control terminal of the target coal yard, so as to regulate the bucket wheel speed of each designated bucket wheel excavator.

2. The coal yard remote control and management system based on data acquisition according to claim 1, characterized in that: The specific process of the coal yard area coal storage acquisition module is as follows: The target coal yard area is divided into sub-regions according to a pre-defined gridding principle. Three-dimensional laser scanners are then deployed on the surface of the bucket wheel excavator in each sub-region, according to the pre-defined principle. These scanners acquire three-dimensional data models of each coal pile within each sub-region, further determining the volume of each coal pile. This volume is then denoted as... , Indicates the first The sub-area number of each coal yard , Indicates the first sub-region of the coal yard The number of each coal pile, ; Extract the reference density of coal from the target coal yard stored in the database, and denote it as... Substitute the volume of each coal pile in each coal yard sub-region into the formula. Obtain the coal storage capacity of each coal pile in each coal yard sub-region. ,in This represents a correction factor for the preset coal storage capacity. This indicates the compensation amount for the preset coal storage capacity; The coal storage volume of each coal pile in each coal yard sub-region is summed to obtain the coal storage volume of each coal yard sub-region, which is denoted as . .

3. The coal yard remote control and management system based on data acquisition according to claim 2, characterized in that: The specific process of the coal yard area work progress prediction module includes: Extract the coal extraction volume per unit time of the bucket wheel excavator stored in the database and record it as... The coal storage capacity of each coal yard sub-area Substitute into the formula Obtain the coal extraction time of the bucket wheel excavator in each coal yard sub-area. ,in This represents a correction factor indicating the preset coal extraction time of the bucket wheel excavator; Obtain the location of each coal pile in each coal yard sub-region, plan the travel path of the bucket wheel excavator for coal collection in each coal yard sub-region, and based on the travel path of the bucket wheel excavator for coal collection in each coal yard sub-region, obtain the number of position adjustments of the bucket wheel excavator in each coal yard sub-region, and record them as follows: By analyzing the formula Get the machine adjustment time of the bucket wheel excavator in each coal yard sub-area. ,in This indicates the correction factor for the preset adjustment time of the bucket wheel excavator. This indicates the preset time required for a single position adjustment of the bucket wheel excavator.

4. The coal yard remote control and management system based on data acquisition according to claim 3, characterized in that: The specific process of the coal yard area work progress prediction module also includes: The coal extraction time of the bucket wheel excavators in each coal yard sub-area Adjust the duration with the machine Substitute into the formula The estimated coal extraction time for each coal yard sub-area is obtained. ,in This represents a preset correction factor for the estimated coal extraction time. This indicates the preset maintenance and repair time required for the bucket wheel excavator equipment. This indicates the amount of compensation for the estimated time required for coal extraction.

5. A remote control and management system for coal yards based on data acquisition as described in claim 4, characterized in that: The specific process of the coal yard area division rationality assessment module is as follows: The estimated coal extraction time for each coal yard sub-area is compared among themselves to obtain the median of the estimated coal extraction time, which is denoted as . The estimated coal extraction time for each coal yard sub-area Substitute into the formula Obtain the work progress difference coefficient for each coal yard sub-area. ,in This represents the preset work progress difference coefficient correction factor. This indicates the preset difference in the allowable coal extraction time. The work progress difference coefficient of each coal yard sub-area is compared with the preset work progress difference coefficient threshold. If the work progress difference coefficient of a certain coal yard sub-area is greater than the preset work progress difference coefficient threshold, then the area division of the coal yard sub-area is unreasonable. The coal yard sub-areas with unreasonable area division are counted and recorded as each marked coal yard sub-area, and the coal yard area division adjustment module is executed.

6. The coal yard remote control and management system based on data acquisition according to claim 4, characterized in that: The specific process of the coal yard area division and adjustment module includes: Based on the estimated coal extraction time required for each coal yard sub-area, the estimated coal extraction time required for each marked coal yard sub-area is obtained by screening. The estimated coal extraction time required for each marked coal yard sub-area is compared with the median estimated coal extraction time. If the estimated coal extraction time required for a marked coal yard sub-area is greater than the median estimated coal extraction time, the marked coal yard sub-area is marked as a lagging coal yard sub-area. If the estimated coal extraction time required for a marked coal yard sub-area is less than the median estimated coal extraction time, the marked coal yard sub-area is marked as a leading coal yard sub-area. The statistics of each lagging coal yard sub-area and each leading coal yard sub-area are obtained.

7. A remote control and management system for coal yards based on data acquisition as described in claim 6, characterized in that: The specific process of the coal yard area division and adjustment module also includes: Based on the location of each lagging coal yard sub-region, the adjacent coal yard sub-regions of each lagging coal yard sub-region are obtained. Based on the coal storage of each coal yard sub-region, the coal storage of each adjacent coal yard sub-region corresponding to each lagging coal yard sub-region is screened. The coal storage of each adjacent coal yard sub-region corresponding to each lagging coal yard sub-region is compared with each other. The adjacent coal yard sub-region corresponding to the smallest coal storage is recorded as the matching adjacent coal yard sub-region of the lagging coal yard sub-region. The matching adjacent coal yard sub-regions of each lagging coal yard sub-region are statistically obtained. Based on the estimated coal extraction time required for each coal yard sub-area, the estimated coal extraction time required for each lagging coal yard sub-area is selected and denoted as follows: , Indicates the first The numbering of the sub-area of ​​the coal yard with lagging progress. The estimated coal extraction time required for each lagging coal yard sub-area is calculated. Substitute into the formula Obtain the amount of coal allocated to each lagging coal yard sub-area. ,in This represents the preset correction factor for the amount of coal to be delineated. This indicates the preset adjustment amount for the coal extraction time. The coal piles in each delayed coal yard sub-region are sorted according to a preset order to obtain the delineation order of each coal pile in each delayed coal yard sub-region. Based on the coal storage volume of each coal pile in each coal yard sub-region, the coal storage volume of each coal pile in each lagging coal yard sub-region is screened out. Each coal pile in each lagging coal yard sub-region is then assigned to its corresponding matching adjacent coal yard sub-region in the order of assignment, until a certain coal pile is assigned. At this point, the cumulative amount of coal storage of each coal pile before that coal pile is less than or equal to the amount of coal assigned to the lagging coal yard sub-region, and the cumulative amount of coal storage of each coal pile before the next adjacent coal pile is greater than the amount of coal assigned to the lagging coal yard sub-region. Thus, the division of each lagging coal yard sub-region is adjusted. The amount of coal transferred into each advanced coal yard sub-region and the amount of coal stored in each coal pile in the corresponding adjacent coal yard sub-region are obtained, and then the division of each advanced coal yard sub-region is adjusted.

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