A coal blending method, device, computer equipment and storage medium

Abstract

The application relates to the technical field of coal bulk blending, in particular to a coal blending method and device, computer equipment and a storage medium. A coal blending method comprises the following steps: acquiring pose information of a material taking device on a reference material taking line, wherein the pose information comprises walking pose, rotating pose and pitching pose; obtaining a reference instantaneous flow of the reference material taking line according to the walking pose, the rotating pose, the pitching pose and a coal type; obtaining a following instantaneous flow of a following material taking line through an incremental delta algorithm according to the reference instantaneous flow and a blending heat value; and controlling coal blending according to the reference instantaneous flow and the following instantaneous flow. Through multi-modal data of real-time operation of a coal blending material taking device, high-precision flow and automatic adjustment capacity of the incremental delta algorithm, the coal blending operation can be efficiently and accurately performed, so that the work labor intensity of workers is effectively reduced, the coal blending accuracy and operation efficiency are improved, and the value-added business of a port is further improved.

Description

Technical Field

[0001] This application relates to the field of bulk coal blending technology, and in particular to a coal blending method, apparatus, computer equipment, and storage medium. Background Technology

[0002] Currently, with the development of the national economy, my country is advancing its energy revolution, and green and efficient utilization are the directions for the development of traditional fossil energy. Regarding coal development, the overall requirement to strengthen the clean and efficient utilization of coal has been proposed. Coal blending involves mixing coals with different calorific values ​​to meet the calorific value requirements of coal users, better utilize coal resources, and satisfy the overall requirements of national coal development. As a crucial link in coal transportation and transshipment, bulk ports will benefit from research on refined coal blending processes as an important value-added service, further enhancing their business competitiveness.

[0003] In related fields, coal blending processes are mainly based on manual coal blending and static automatic coal blending methods with set flow rates. Manual coal blending is achieved by operators using their historical experience to operate the material handling equipment. Flow-based static automatic coal blending, on the other hand, uses automation technology to maintain the position and speed of the material handling equipment and the bucket wheel during the coal handling process, achieving a coal blending operation with a predetermined flow rate.

[0004] The drawbacks of manual coal blending include: it requires highly skilled personnel, who cannot accurately estimate the weight and quality of the coal stockpile, precisely control the coal extraction flow rate, or maintain the correct blending ratio, resulting in inconsistent blend quality and ultimately hindering precise operation. Furthermore, the process is susceptible to numerous external influences, and the blending process requires multiple personnel and high levels of teamwork, making it impossible for manual blending to achieve high precision and meet the actual requirements of coal users.

[0005] The disadvantages of static automatic coal blending based on flow rate settings are as follows: While static automatic coal blending based on flow rate settings reduces the workload of personnel to some extent and eliminates the subjective negative impact of operators' professional skills and emotions, thus improving the quality of coal blending, it cannot handle special situations during the coal blending process. For example, when the coal pile is being taken to the edge, or when the coal pile suddenly collapses slightly, causing a sharp decrease in the material taking flow rate, other coal types cannot follow the change in real time, resulting in low coal blending accuracy and difficulty in meeting the required coal quality and calorific value.

[0006] In the field of coal blending, how to achieve high-precision coal blending is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] Therefore, it is necessary to provide a coal blending method, apparatus, computer equipment, and storage medium to address the aforementioned technical problems.

[0008] In a first aspect, this application provides a coal blending method, including: Obtain the position and posture information of the material handling equipment on the reference material handling line, including walking posture, rotation posture and pitch posture; Based on the position information and coal type, the reference instantaneous flow rate of the reference feed line is obtained; Based on the baseline instantaneous flow rate and the calorific value of the coal blend, the following instantaneous flow rate of the feed line is obtained through the incremental delta algorithm; Coal blending is controlled based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0009] In one embodiment, before acquiring the pose information of the material handling device on the reference material handling line, the pose information including walking pose, rotation pose, and pitch pose further includes: A 3D model of a coal pile with a coal stack-shaped boundary is constructed based on point cloud data.

[0010] In one embodiment, the reference instantaneous flow rate of the reference feed line is obtained based on the pose information and the coal type, including: Determine the displacement value of the coal pile from the confluence point on the feed line for each type of coal; The feed line with the smallest displacement value from the coal pile to the confluence point is determined as the reference feed line.

[0011] In one embodiment, the reference instantaneous flow rate of the reference feed line is obtained based on the pose information and the coal type, including: The coal volume is obtained based on the rotation and pitch positions. The coal quality is obtained based on the coal volume and coal type. The baseline instantaneous flow rate is obtained based on the coal extraction quality, displacement value, and walking posture.

[0012] In one embodiment, the reference instantaneous flow rate is obtained based on the coal extraction quality, displacement value, and walking posture, including: The rendezvous time is obtained based on the displacement value and walking posture; The baseline instantaneous flow rate is obtained based on the coal extraction quality and the convergence time.

[0013] In one embodiment, the following instantaneous flow rate of the feed line is obtained using an incremental delta algorithm based on the baseline instantaneous flow rate and the calorific value of the coal, including: The coal blending ratio following the feed line is determined based on the calorific value of the coal. The instantaneous flow rate following the feed line is obtained based on the coal blending ratio.

[0014] In one embodiment, the instantaneous flow rate of the following feed line is obtained according to the coal blending ratio, including: Based on the baseline increment of the baseline material reclaiming line, the follow-up increment of the following material reclaiming line is obtained through the coal blending ratio. The instantaneous flow rate is obtained by following the increment.

[0015] Secondly, this application also provides a coal blending device, comprising: The acquisition unit is used to acquire the pose information of the material handling equipment on the reference material handling line. The pose information includes walking pose, rotation pose and pitch pose. The reference instantaneous flow rate unit is used to obtain the reference instantaneous flow rate of the reference feed line based on the pose information and the coal type. The following instantaneous flow unit is used to obtain the following instantaneous flow of the feed line based on the reference instantaneous flow and the calorific value of the coal blending using the incremental delta algorithm; The coal blending unit is used to control coal blending based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0016] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps: Obtain the position and posture information of the material handling equipment on the reference material handling line, including walking posture, rotation posture and pitch posture; Based on the position information and coal type, the reference instantaneous flow rate of the reference feed line is obtained; Based on the baseline instantaneous flow rate and the calorific value of the coal blend, the following instantaneous flow rate of the feed line is obtained through the incremental delta algorithm; Coal blending is controlled based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0017] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps: Obtain the position and posture information of the material handling equipment on the reference material handling line, including walking posture, rotation posture and pitch posture; Based on the position information and coal type, the reference instantaneous flow rate of the reference feed line is obtained; Based on the baseline instantaneous flow rate and the calorific value of the coal blend, the following instantaneous flow rate of the feed line is obtained through the incremental delta algorithm; Coal blending is controlled based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0018] The aforementioned coal blending method, apparatus, computer equipment, and storage medium acquire the positional information of the material handling equipment on the reference material handling line, including walking, turning, and pitching positions. Based on the walking, turning, and pitching positions and the coal type, a reference instantaneous flow rate of the reference material handling line is obtained. Based on the reference instantaneous flow rate and the calorific value of the blended coal, a following instantaneous flow rate of the following material handling line is obtained using an incremental delta algorithm. Coal blending is controlled based on the reference instantaneous flow rate and the following instantaneous flow rate. This application utilizes the multimodal data from the real-time operation of the coal blending and material handling equipment, and leverages the high-precision flow rate and automatic adjustment capability of the incremental delta algorithm to perform coal blending operations efficiently and accurately. This effectively reduces the labor intensity of operators, improves the accuracy and efficiency of coal blending, and further enhances the value-added services of the port. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating a coal blending method in one embodiment; Figure 2 This is a schematic diagram of the baseline instantaneous flow rate of a coal blending method in one embodiment; Figure 3 This is a schematic diagram of the baseline instantaneous flow rate of the coal blending method in another embodiment; Figure 4 This is a schematic diagram of the specific process of the reference instantaneous flow rate of the coal blending method in one embodiment; Figure 5 This is a schematic diagram of the instantaneous flow rate following a coal blending method in one embodiment; Figure 6 This is a schematic diagram of the coal blending method following the instantaneous flow rate in another embodiment; Figure 7 This is a schematic diagram of a coal blending management system for a coal blending method in one embodiment; Figure 8 This is a schematic diagram of the material collection and coal transfer process in one embodiment of the coal blending method; Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0021] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all couplings of one or more of the associated listed items.

[0023] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0024] This application provides a coal blending method that can be applied to value-added services at bulk coal ports and the field of refined coal blending. During the blending process, as the coal quality and flow rate of the benchmark coal receiving line changes, the coal quality and flow rate of the following coal receiving line are proportionally adjusted accordingly. This achieves a high-precision, automatically adjustable flow rate in the coal blending process, improving the quality of the coal blending ratio. Specifically, various sensors, including Global Navigation Satellite System (GNSS), tilt encoders, lidar modeling systems, bucket wheel rotation angle sensors, and array belt scales, are used to collect multimodal data from the coal receiving equipment in real time. Furthermore, the incremental delta algorithm is used to control the coal receiving flow rate as the coal quality and flow rate of the benchmark coal receiving line changes in real time, thereby achieving a proportional change in the real-time coal quality and flow rate of the following coal receiving line and realizing a high-precision, automated coal blending process.

[0025] Example 1 like Figure 1 As shown, in this embodiment, a coal blending method is provided, including the following steps: S101: Obtain the position and orientation information of the material handling equipment on the reference material handling line.

[0026] The pose information includes walking pose, turning pose, and pitch pose.

[0027] Specifically, the coal blending and reclaiming equipment in the stockpile includes a stacker-reclaimer and a reclaimer. The coal blending unit utilizes a GNSS high-precision positioning system and a tilt sensor composite positioning system installed on the coal blending and reclaiming equipment to acquire the position and attitude information of the reclaiming equipment on the baseline reclaiming line. This position and attitude information includes walking posture, rotation posture, and pitch posture. Specifically, GNSS is used to acquire the horizontal walking posture and boom rotation posture information of the coal blending and reclaiming equipment on the track beam, while the tilt sensor is used to acquire the boom pitch posture information of the coal blending and reclaiming equipment.

[0028] S102: Based on the position information and coal type, obtain the reference instantaneous flow rate of the reference feed line.

[0029] Specifically, the coal blending unit utilizes positional information to construct the coal blending and reclaiming equipment, positioning its coordinates in a unified three-dimensional space within the stockpile. Then, based on the walking posture, turning posture, pitch posture, and coal type, the baseline instantaneous flow rate of the baseline reclaiming line is obtained.

[0030] S103: Based on the baseline instantaneous flow rate and the calorific value of the coal blending, the following instantaneous flow rate of the feed line is obtained through the incremental delta algorithm.

[0031] Specifically, the coal blending device uses tilt sensors to acquire the boom pitch posture information of the coal blending and reclaiming equipment, as well as coal type information, based on the horizontal walking posture and boom rotation posture information in the track beam, to obtain the baseline instantaneous flow rate of the baseline reclaiming line. Based on the baseline instantaneous flow rate and the calorific value of the blended coal, the incremental delta algorithm is used to obtain the following instantaneous flow rate of the following reclaiming line. S104: Coal blending is controlled based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0032] Specifically, when the coal blending unit starts the loading process, it will move the ship loader to load coal, and realize the coal flow direction in real time through the rotating ship loader chute and throwing plate, and control the coal blending according to the reference instantaneous flow rate and the following instantaneous flow rate.

[0033] In this embodiment, a coal blending method is provided. This method involves acquiring the positional information of the material handling equipment on a baseline material handling line, including its walking, turning, and pitching positions. Based on these positions and the coal type, a baseline instantaneous flow rate of the baseline material handling line is obtained. Then, based on the baseline instantaneous flow rate and the calorific value of the blended coal, an incremental delta algorithm is used to obtain the following instantaneous flow rate of the following material handling line. Finally, coal blending is controlled based on the baseline and following instantaneous flow rates. This application utilizes multimodal data from the real-time operation of the coal blending and material handling equipment, leveraging the high-precision flow rate and automatic adjustment capabilities of the incremental delta algorithm to efficiently and accurately perform coal blending operations. This effectively reduces the workload of operators, improves the accuracy and efficiency of coal blending, and further enhances the port's value-added services.

[0034] Example 2 In this embodiment, before step S101: obtaining the pose information of the material handling equipment on the reference material handling line, including the walking pose, rotation pose, and pitch pose, the following steps are provided: A 3D model of a coal pile with a coal stack-shaped boundary is constructed based on point cloud data.

[0035] Specifically, the coal blending unit utilizes the GNSS high-precision positioning system and tilt sensor composite positioning system installed on the coal blending and reclaiming equipment to construct unified three-dimensional spatial positioning coordinate information for the coal blending and reclaiming equipment in the stockpile. The coal blending unit then uses the acquired coal quality information and the lidar coal pile modeling system installed on the coal blending and reclaiming equipment, along with the point cloud data scanned by the lidar, to construct a three-dimensional model of the coal pile boundary.

[0036] In this embodiment, the coal blending device constructs a 3D model of the coal pile with a stacked boundary based on point cloud data. The device utilizes multiple high-precision sensors to collect multimodal data and establish a 3D model of the coal pile. Through the establishment of the coal pile model, it enables the prediction and estimation of coal type and weight, achieves multimodal data fusion, and visualizes the extraction of flow control information.

[0037] Example 3 like Figure 2 As shown, in this embodiment, step S102 is provided: obtaining the reference instantaneous flow rate of the reference feed line based on the pose information and coal type, including the following steps: S1021: Determine the displacement value of the coal pile from the confluence point on the feed line for each type of coal.

[0038] Specifically, the coal blending device acquires the horizontal walking position and speed of the coal blending and reclaiming equipment, i.e., the positioning information of the coal blending and reclaiming equipment on the track beam of the BDQ line in the stockpile. It then determines the displacement value from the coal blending equipment position to the BJ conveyor belt for the ship loading transition, denoted as bj. The coal blending point is located at the BZ conveyor belt of the ship loading line, and the merging point position is fixed. This allows the acquisition of the displacement value from the coal blending equipment to the material return point, denoted as bz. The displacement value from the bucket wheel drop point on the reclaiming equipment to the central hopper is bd. The total displacement value from the bucket wheel digging point to the coal blending point is: L = bj + bz + bd.

[0039] S1022: The feed line with the smallest displacement value from the coal pile to the confluence point is determined as the reference feed line.

[0040] Specifically, the coal blending device acquires the walking posture of each coal blending and reclaiming device, including horizontal walking position information and speed, and determines the displacement value Ln of different coal blending and reclaiming devices to the convergence point. The coal blending device sets the reclaiming line corresponding to the minimum value of Ln as the reference reclaiming line, and the other reclaiming lines as the following reclaiming lines.

[0041] In this embodiment, step S102 is provided: based on the pose information and coal type, the reference instantaneous flow rate of the reference feed line is obtained, such as... Figure 3 As shown, it also includes the following steps: S1023: Obtain the coal volume based on the rotation and pitch positions.

[0042] Specifically, the coal blending device acquires information on the horizontal travel position and boom rotation position of the coal blending and reclaiming equipment, enabling real-time monitoring of the bucket wheel reclaiming process. By controlling the bucket wheel excavation speed, bucket wheel excavation depth, and boom pitch position information of the coal blending and reclaiming equipment, the approximate volume of coal reclaimed is obtained.

[0043] S1024: The coal quality is obtained based on the coal volume and coal type.

[0044] Specifically, the coal blending device calculates the coal mass based on the coal volume and coal density. Since the modeling system has low precision in controlling coal flow rate, an array belt scale is used to measure the weight of the coal to obtain the accurate coal mass.

[0045] S1025: The baseline instantaneous flow rate is obtained based on the coal extraction quality, displacement value, and walking posture.

[0046] Specifically, the coal blending device obtains the approximate volume and weight of coal taken per unit time from the benchmark coal taking line, and uses an array-type belt scale to achieve accurate weight measurement of the coal. Using a bucket wheel rotation speed sensor installed on the coal blending and taking equipment, the speed of the bucket wheel's automatic operation is obtained, and then the benchmark instantaneous flow rate is calculated based on the displacement value.

[0047] In this embodiment, the coal blending device uses a variety of high-precision sensors to collect multimodal data on displacement, bucket wheel speed, tunneling depth, and pitch posture information during the coal blending and extraction process, and performs fine-tuning to achieve a high-precision coal extraction process.

[0048] like Figure 4 As shown, in this embodiment, step S1025 is provided: obtaining the reference instantaneous flow rate based on the coal extraction quality, displacement value, and walking posture. The specific steps include: S10251: The rendezvous time is obtained based on the displacement value and walking posture.

[0049] Specifically, the coal blending device acquires information on the horizontal walking position and the boom rotation position. It uses the bucket wheel rotation speed sensor installed on the coal blending and material collection equipment to obtain the speed of the bucket wheel's automatic operation. The belt conveyor has a fixed belt speed of V, and the time from coal blending and material collection to the convergence point is T=L / V.

[0050] S10252: The baseline instantaneous flow rate is obtained based on the coal extraction quality and the confluence time.

[0051] Specifically, the coal blending device monitors the bucket wheel in real time during the material handling process, obtains the approximate volume and weight of coal handled per unit time, and uses an array-type belt scale to achieve accurate weight measurement of the coal. Based on the time T to the confluence point obtained in step S10251, the baseline instantaneous flow rate is obtained.

[0052] In this embodiment, the coal blending device obtains the convergence time based on the displacement value and walking posture, and obtains the baseline instantaneous flow rate based on the coal extraction quality and convergence time. By acquiring information on coal extraction quality and convergence time, the coal blending device constructs an automated and refined coal yard management system, achieving information visualization and precise control of coal extraction flow rate.

[0053] Example 4 like Figure 5 As shown, in this embodiment, step S103 is provided: based on the baseline instantaneous flow rate and the calorific value of the coal blending, the following instantaneous flow rate of the following feed line is obtained through the incremental delta algorithm, including:

[0054] S1031: Construct the coal blending ratio that follows the feed line based on the calorific value of the coal blending.

[0055] Specifically, the coal blending device constructs the coal blending ratio according to the requirements of the calorific value of the coal, and constructs the coal blending ratio formula based on the three types of coal as m:n:p.

[0056] S1032: The instantaneous flow rate of the following feed line is obtained based on the coal blending ratio.

[0057] Specifically, the coal blending device constructs the coal blending ratio based on the required calorific value of the blended coal, using a formula of m:n:p for the three types of coal. That is, when the baseline instantaneous flow rate is v, the following instantaneous flow rates are nv / m and pv / m according to the formula m:n:p.

[0058] like Figure 6 As shown, in this embodiment, step S1032 is provided: obtaining the instantaneous flow rate of the following feed line according to the coal blending ratio.

[0059] S10321: Based on the baseline increment of the baseline feed line, the follow-up increment of the follow-up feed line is obtained through the coal blending ratio.

[0060] Specifically, the coal blending device employs the delta incremental algorithm, meaning that when the reference instantaneous flow rate of the coal blending and reclaiming equipment changes... That is, the coal quality and flow rate increase or decrease proportionally with the coal blending and reclaiming equipment. or If the increment satisfies this ratio requirement, then Therefore, the delta increments are respectively , .

[0061] S10322: Obtain the instantaneous flow rate based on the following increment.

[0062] Specifically, the coal blending device calculates the following instantaneous flow rate based on the increment obtained in the previous step S10321 and the time corresponding to the increment.

[0063] In this embodiment, the coal blending device constructs the coal blending ratio following the feeding line based on the calorific value of the blended coal; and obtains the instantaneous flow rate following the feeding line based on the coal blending ratio. The coal blending device acquires information from the automated and refined coal yard management system, enabling multimodal data fusion, visualization, and PLC flow control information extraction capabilities. The coal blending device utilizes the Delta incremental algorithm to achieve precise control of coal flow rate, thereby realizing the operational control of the coal blending and feeding equipment.

[0064] Example 5 like Figure 7 As shown in this embodiment, the stockyard includes stacker-reclaimers and reclaimers, i.e., coal blending and reclaiming equipment, as well as the reclaiming-to-ship process and coal blending process. The stockyard has eight reclaiming lines, named BDQ1-8, corresponding to eight stacker-reclaimers and two reclaimers. The stacker-reclaimers are named SR1-8 (single-line reclaiming), and the reclaimers are named R2-3 (dual-line reclaiming). Reclaimed materials converge onto the ship loading transition conveyor belt (BJ line), which has four lines. Any conveyor belt on the BDQ line can connect to any conveyor belt on the BJ line. After passing through the BJ line, the process enters the ship loading line (BZ line), which has four lines. Four ship loaders, named SL1-4, are installed in the BZ line wharf area. The ship loading process involves using any stacker-reclaimer or reclaimer to reclaim materials from the coal piles in the stockyard. By implementing the above sequence of operations, four ships can operate simultaneously, with a maximum capacity of 12,000 t / h. The coal blending process involves using multiple coal blending and reclaiming devices to reclaim coal of different types from different locations in the stockpile, and then converging at the intersection of their respective BDQ and BJ lines to complete the coal blending task, and finally completing the loading process via the BZ line.

[0065] like Figure 8 As shown, in this embodiment, a coal blending method is provided, including the following steps: Step 1: Construct a unified three-dimensional spatial positioning coordinate information for the coal blending and reclaiming equipment in the stockpile.

[0066] Specifically, the coal blending device utilizes coal blending and reclaiming equipment in the stockpile, such as stacker-reclaimers and reclaimers, and a GNSS high-precision positioning system and a tilt sensor composite positioning system installed on the coal blending and reclaiming equipment to construct unified three-dimensional spatial positioning coordinate information of the coal blending and reclaiming equipment in the stockpile. Specifically, GNSS is used to acquire the horizontal walking posture and boom rotation posture information of the coal blending and reclaiming equipment in the track beam, and the tilt sensor is used to acquire the boom pitch posture information of the coal blending and reclaiming equipment.

[0067] Step 2: Construct a 3D model of the coal stack boundary.

[0068] Specifically, the coal blending device uses lidar installed on the coal blending and retrieving equipment to build a coal pile modeling system, and uses the point cloud data scanned by the lidar to build a three-dimensional model of the coal pile boundary.

[0069] Step 3: Predict and estimate the quality of coal.

[0070] Specifically, the coal blending device uses the acquired coal quality information and the three-dimensional model of the coal pile constructed by the coal pile modeling lidar system to predict and estimate the quality of the coal type.

[0071] Step 4: Use an array-type belt scale to measure the coal quality.

[0072] Specifically, the coal blending device acquires information on the horizontal travel position and the boom rotation position, and uses a bucket wheel rotation speed sensor installed on the coal blending and reclaiming equipment to obtain the speed of the bucket wheel's automatic operation. This enables real-time monitoring of the bucket wheel during the reclaiming process and obtains the approximate volume and weight of coal reclaimed per unit time, and uses an array-type belt scale to measure the quality of the reclaimed coal.

[0073] Step 5: Obtain the positioning information of the coal blending and reclaiming equipment on the track beam of the BDQ line in the stockpile.

[0074] Specifically, the coal blending device obtains the horizontal movement position information of the coal blending and reclaiming equipment, that is, the positioning information of the coal blending and reclaiming equipment on the track beam of the BDQ line in the stockpile, and determines the displacement value information from the position of the coal blending equipment to the loading transition belt line BJ, denoted as bj. The coal blending point is located at the loading line BZ belt line, and the confluence point is fixed. The displacement value information from the coal blending equipment to the material return point can be obtained, denoted as bz. Among them, the displacement value from the material drop point of the bucket wheel on the reclaiming equipment to the center hopper is bd. The total displacement value from the bucket wheel digging point to the coal blending and mixing point is: L=bj+bz+bd. The belt speed of the belt conveyor is fixed as V. The time to realize the coal blending and reclaiming to the confluence point is: T=L / V.

[0075] Step 6: Determine the benchmark coal blending equipment.

[0076] Specifically, the coal blending device sets the minimum value of L as the reference coal blending equipment based on the displacement value L of different coal blending equipment to the convergence point, and other coal production lines are the following coal blending equipment, and obtains the belt running time T of different coal types.

[0077] Step 7: Construct a coal blending ratio formula based on the three types of coal: m:n:p.

[0078] Specifically, the coal blending device constructs the coal blending ratio based on the calorific value requirements of the coal, and constructs a coal blending ratio formula based on the three types of coal: m:n:p.

[0079] Step 8: Determine the increment.

[0080] Specifically, the coal blending device employs the incremental delta algorithm: that is, when the coal intake flow rate of the baseline coal blending device changes... That is, the coal quality flow rate increases or decreases proportionally with the equipment. or If the increment satisfies this ratio requirement, then And the increment They are respectively ; for .

[0081] Step 9: Based on the instantaneous flow rate of the benchmark coal blending equipment... The instantaneous flow rate of the coal blending equipment is controlled in real time using the coal blending ratio and incremental delta algorithm.

[0082] Specifically, the coal blending device monitors the instantaneous flow rate of the reference coal blending equipment in real time. Utilizing coal blending ratios and increments The algorithm controls the instantaneous flow rate of the coal blending equipment in real time. and .

[0083] Step 10: Control coal blending based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0084] Specifically, when the coal blending unit starts the loading process, it will move the ship loader to load coal, and realize the coal flow direction in real time through the rotating ship loader chute throwing plate.

[0085] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0086] Based on the same inventive concept, this application also provides a coal blending device for implementing the coal blending method described above. The solution provided by this coal blending device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the coal blending device provided below can be found in the limitations of the coal blending method described above, and will not be repeated here.

[0087] In one embodiment, a coal blending device is provided, comprising: The acquisition unit is used to acquire the pose information of the material handling equipment on the reference material handling line. The pose information includes walking pose, rotation pose and pitch pose. The reference instantaneous flow rate unit is used to obtain the reference instantaneous flow rate of the reference feed line based on the position information and coal type. The following instantaneous flow unit is used to obtain the following instantaneous flow of the feed line based on the reference instantaneous flow and the calorific value of the coal blending using the incremental delta algorithm; The coal blending unit is used to control coal blending based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0088] In one embodiment, before acquiring the pose information of the material handling device on the reference material handling line, the pose information including walking pose, rotation pose, and pitch pose further includes: The model building unit is used to construct a 3D model of a coal pile with a coal stack-shaped boundary based on point cloud data.

[0089] In one embodiment, the reference instantaneous flow rate of the reference feed line is obtained based on the pose information and the coal type, including: The displacement analysis unit is used to determine the displacement value of the coal pile from the confluence point on the feed line for each type of coal. The reference feed line determination unit is used to determine the feed line with the smallest displacement value from the coal pile to the confluence point as the reference feed line.

[0090] In one embodiment, the reference instantaneous flow rate of the reference feed line is obtained based on the pose information and the coal type, including: The coal extraction volume determination unit is used to obtain the coal extraction volume based on the rotation and pitch positions. The coal extraction quality determination unit is used to determine the coal extraction quality based on the coal extraction volume and coal type. The reference instantaneous flow rate determination unit is used to obtain the reference instantaneous flow rate based on the coal extraction quality, displacement value, and walking posture.

[0091] In one embodiment, the reference instantaneous flow rate is obtained based on the coal extraction quality, displacement value, and walking posture, including: The rendezvous time analysis unit is used to obtain the rendezvous time based on the displacement value and walking posture. The baseline instantaneous flow analysis unit is used to obtain the baseline instantaneous flow rate based on the coal extraction quality and the confluence time.

[0092] In one embodiment, the following instantaneous flow rate of the feed line is obtained using an incremental delta algorithm based on the baseline instantaneous flow rate and the calorific value of the coal, including: The coal blending ratio determination unit is used to construct the coal blending ratio following the feed line based on the calorific value of the blended coal. The instantaneous flow rate determination unit is used to obtain the instantaneous flow rate of the following feed line based on the coal blending ratio.

[0093] In one embodiment, the instantaneous flow rate of the following feed line is obtained according to the coal blending ratio, including: The follow-up increment analysis unit is used to obtain the follow-up increment of the follow-up feed line based on the benchmark increment of the benchmark feed line and the coal blending ratio. The instantaneous flow analysis unit is used to obtain the instantaneous flow based on the follower increment.

[0094] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows. Figure 9 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores periodic task allocation data, such as configuration files, theoretical operating parameters and theoretical deviation ranges, and task attribute information. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a coal blending method.

[0095] Those skilled in the field can understand, Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0096] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to perform the following steps: Obtain the position and posture information of the material handling equipment on the reference material handling line, including walking posture, rotation posture and pitch posture; Based on the position information and coal type, the baseline instantaneous flow rate of the baseline feed line is obtained; Based on the baseline instantaneous flow rate and the calorific value of the coal blend, the following instantaneous flow rate of the feed line is obtained through the incremental delta algorithm; Coal blending is controlled based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0097] In one embodiment, before the processor executes the computer program to acquire the pose information of the material handling equipment on the reference material handling line, the pose information including the walking pose, rotation pose, and pitch pose, it further includes: A 3D model of a coal pile with a coal stack-shaped boundary is constructed based on point cloud data.

[0098] In one embodiment, when the processor executes a computer program, it obtains the reference instantaneous flow rate of the reference feed line based on the pose information and the coal type, including: Determine the displacement value of the coal pile from the confluence point on the feed line for each type of coal; The feed line with the smallest displacement value from the coal pile to the confluence point is determined as the baseline feed line.

[0099] In one embodiment, when the processor executes a computer program, it obtains the reference instantaneous flow rate of the reference feed line based on the pose information and the coal type, including: The coal volume is obtained based on the rotation and pitch positions. The coal quality is obtained based on the coal volume and coal type. The baseline instantaneous flow rate is obtained based on the coal extraction quality, displacement value, and walking posture.

[0100] In one embodiment, when the processor executes a computer program, it obtains a reference instantaneous flow rate based on the coal extraction quality, displacement value, and walking posture, including: The rendezvous time is obtained based on the displacement value and walking posture; The baseline instantaneous flow rate is obtained based on the coal extraction quality and the convergence time.

[0101] In one embodiment, when the processor executes a computer program, it calculates the following instantaneous flow rate of the feed line based on a reference instantaneous flow rate and the calorific value of the coal using an incremental delta algorithm, including: The coal blending ratio following the feed line is determined based on the calorific value of the coal. The instantaneous flow rate following the feed line is obtained based on the coal blending ratio.

[0102] In one embodiment, when the processor executes a computer program, it calculates the instantaneous flow rate of the following feed line based on the coal blending ratio, including: Based on the baseline increment of the baseline material reclaiming line, the follow-up increment of the following material reclaiming line is obtained through the coal blending ratio. The instantaneous flow rate is obtained by following the increment.

[0103] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor: Obtain the position and posture information of the material handling equipment on the reference material handling line, including walking posture, rotation posture and pitch posture; Based on the position information and coal type, the baseline instantaneous flow rate of the baseline feed line is obtained; Based on the baseline instantaneous flow rate and the calorific value of the coal blend, the following instantaneous flow rate of the feed line is obtained through the incremental delta algorithm; Coal blending is controlled based on the baseline instantaneous flow rate and the following instantaneous flow rate.

[0104] In one embodiment, before the computer program is executed by the processor to acquire the pose information of the material handling device on the reference material handling line, the pose information includes the walking pose, rotation pose, and pitch pose, it further includes: A 3D model of a coal pile with a coal stack-shaped boundary is constructed based on point cloud data.

[0105] In one embodiment, when the computer program is executed by the processor, it obtains the reference instantaneous flow rate of the reference feed line based on the pose information and the coal type, including: Determine the displacement value of the coal pile from the confluence point on the feed line for each type of coal; The feed line with the smallest displacement value from the coal pile to the confluence point is determined as the baseline feed line.

[0106] In one embodiment, when the computer program is executed by the processor, it calculates the reference instantaneous flow rate of the reference feed line based on the pose information and the coal type, including: The coal volume is obtained based on the rotation and pitch positions. The coal quality is obtained based on the coal volume and coal type. The baseline instantaneous flow rate is obtained based on the coal extraction quality, displacement value, and walking posture.

[0107] In one embodiment, when the computer program is executed by the processor, it calculates a reference instantaneous flow rate based on the coal extraction quality, displacement value, and walking posture, including: The rendezvous time is obtained based on the displacement value and walking posture; The baseline instantaneous flow rate is obtained based on the coal extraction quality and the convergence time.

[0108] In one embodiment, when the computer program is executed by a processor, it implements the following instantaneous flow rate of the feed line by using an incremental delta algorithm based on a baseline instantaneous flow rate and the calorific value of the coal, including: The coal blending ratio following the feed line is determined based on the calorific value of the coal. The instantaneous flow rate following the feed line is obtained based on the coal blending ratio.

[0109] In one embodiment, when the computer program is executed by the processor, it calculates the instantaneous flow rate of the following feed line based on the coal blending ratio, including: Based on the baseline increment of the baseline material reclaiming line, the follow-up increment of the following material reclaiming line is obtained through the coal blending ratio. The instantaneous flow rate is obtained by following the increment.

[0110] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0111] The various embodiments in this disclosure are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0112] The scope of protection of this disclosure is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its scope and spirit. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A coal blending method, characterized in that, The coal blending method includes: Acquire the position and pose information of the material handling equipment on the reference material handling line, wherein the position and pose information includes walking position, rotation position and pitch position; Determine the displacement value from the coal pile to the confluence point on the feed line for each type of coal; determine the feed line with the smallest displacement value from the coal pile to the confluence point as the benchmark feed line; The coal extraction volume is obtained based on the rotation posture and the pitch posture, including: acquiring the horizontal travel position and boom rotation position information of the coal blending and extraction equipment, realizing real-time monitoring of the bucket wheel extraction process, and obtaining the coal extraction volume by controlling the bucket wheel tunneling speed, bucket wheel tunneling depth and boom pitch posture information of the coal blending and extraction equipment. The coal mass is obtained based on the coal volume and coal type. The convergence time is obtained based on the displacement value and the walking posture; The baseline instantaneous flow rate is obtained based on the coal extraction quality and the convergence time; Based on the baseline instantaneous flow rate and the calorific value of the coal blending, the following instantaneous flow rate of the feed line is obtained through the incremental delta algorithm; Coal blending is controlled based on the baseline instantaneous flow rate and the following instantaneous flow rate.

2. The coal blending method according to claim 1, characterized in that, Before acquiring the pose information of the material handling equipment on the reference material handling line, which includes walking pose, rotation pose, and pitch pose, the method further includes: A 3D model of a coal pile with a coal stack-shaped boundary is constructed based on point cloud data.

3. The coal blending method according to claim 1, characterized in that, The step of obtaining the following instantaneous flow rate of the feed line based on the baseline instantaneous flow rate and the calorific value of the coal using the incremental delta algorithm includes: The coal blending ratio for the following feed line is constructed based on the calorific value of the coal blending. The instantaneous flow rate of the following feed line is obtained based on the coal blending ratio.

4. The coal blending method according to claim 3, characterized in that, The step of obtaining the instantaneous flow rate of the following feed line based on the coal blending ratio includes: Based on the baseline increment of the baseline material intake line, the follower increment of the follower material intake line is obtained through the coal blending ratio; The instantaneous flow rate is obtained based on the following increment.

5. A coal blending device for implementing the coal blending method of claim 1, characterized in that, The coal blending device includes: The acquisition unit is used to acquire the position and pose information of the material handling equipment on the reference material handling line, the position and pose information including walking position, rotation position and pitch position; The reference instantaneous flow rate unit is used to obtain the reference instantaneous flow rate of the reference feed line based on the pose information and the coal type. The following instantaneous flow unit is used to obtain the following instantaneous flow of the feed line based on the reference instantaneous flow and the calorific value of the coal blending using an incremental delta algorithm; A coal blending unit is used to control coal blending based on the reference instantaneous flow rate and the following instantaneous flow rate.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

Images