A digital coal yard unmanned control system and control method thereof

Abstract

The present invention discloses a digital coal yard unmanned control system and control method. The control system includes a left coal area track inspection robot disposed within the coal yard; the left coal area track inspection robot is disposed on the left coal area track, and a first left coal area wireless base station is disposed on one side of the left coal area track; the control system also includes a right coal area track inspection robot disposed within the coal yard opposite the left coal area track inspection robot; the right coal area track inspection robot is disposed on the right coal area track; a first right coal area wireless base station is disposed on one side of the right coal area track; a bucket wheel excavator running track is disposed within the coal yard between the left and right coal area tracks; a bucket wheel excavator is disposed on the upper portion of the bucket wheel excavator running track; a bucket wheel excavator body UWB positioning tag is disposed on the bucket wheel excavator body, and a stacker / reclaimer arm UWB positioning tag is disposed on the front end stacker / reclaimer arm of the bucket wheel excavator. The adoption of a new control concept simplifies the difficulty of system implementation and maintenance, and improves the system's intelligence level.

Description

Technical Field

[0001] The present invention belongs to the technical field of digital coal yards, and in particular relates to an unmanned control system for a digital coal yard and a control method thereof. Background Art

[0002] Large coal users, such as power plants, have their own coal yards. To meet national environmental protection requirements, these open-air coal yards are gradually being converted to closed yards. These closed yards require comprehensive monitoring of temperature, toxic and hazardous gases, dust concentration, smoke, coal inflow and outflow, and safe operations. Traditional manual operations and independent monitoring systems are no longer sufficient to meet the demands of the new digital, intelligent, and energy-efficient transformation.

[0003] Existing coal yard monitoring systems are mostly independent functions. The closed coal yard safety monitoring system is solely responsible for monitoring and alarming temperature, toxic and hazardous gases, dust concentration, and smoke within the closed coal yard. The coal yard automatic handling system is solely responsible for inventorying the coal pile volume within the coal yard. The bucket wheel excavator unmanned system is solely responsible for unmanned control of the bucket wheel excavator. Furthermore, the bucket wheel excavator unmanned system's automatic obstacle avoidance, real-time inventorying of stacking and reclaiming volume, and travel and return measurement all require the installation of numerous sensors on the bucket wheel excavator. This results in complex implementation, high failure rates, and difficult maintenance. These three independent systems operate independently and can only be integrated and coordinated through the host computer software in the centralized control room. Summary of the Invention

[0004] The present invention provides a digital coal yard unmanned control system and a control method thereof. The use of the control system and the control method can integrate the coal yard safety monitoring, automatic online coal handling and bucket wheel machine unmanned functions.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a digital coal yard unmanned control system, the control system comprising a left coal area track inspection robot arranged in the coal yard; the left coal area track inspection robot is arranged on the left coal area track and can reciprocate along the left coal area track; a first wireless base station in the left coal area is arranged on one side of the left coal area track; the control system also comprises a right coal area track inspection robot arranged in the coal yard opposite to the left coal area track inspection robot; the right coal area track inspection robot is arranged on the right coal area track and can reciprocate along the right coal area track; a first wireless base station in the right coal area is arranged on one side of the right coal area track; a bucket wheel machine walking track is arranged in the coal yard between the left coal area track and the right coal area track; a bucket wheel machine is arranged on the upper part of the bucket wheel machine walking track; a bucket wheel machine body UWB positioning tag is provided on the bucket wheel machine body, and a stacker and reclaimer arm UWB positioning tag is provided on the front end stacker and reclaimer arm of the bucket wheel machine.

[0006] Preferably, a second wireless base station in the left coal area is further provided on one side of the left coal area track; and a second wireless base station in the right coal area is further provided on one side of the right coal area track.

[0007] Preferably, the control system increases the number of wireless base stations according to the size of the coal yard.

[0008] Preferably, the control system further includes a robot maintenance platform, a wireless charging station, an on-site control cabinet and a host computer monitoring platform; the bucket wheel machine includes a bucket wheel arranged at the front end of the stacker and reclaimer arm and a counterweight arm arranged at the rear end of the bucket wheel machine.

[0009] Preferably, the left coal area track inspection robot and the right coal area track inspection robot both include a robot body; an operation indicator light and a power switch are provided on the robot body; an aviation socket and a sensor base plate are also provided on the robot body; a smoke sensor, a dust sensor, a carbon monoxide sensor and a methane sensor are installed on the lower part of the sensor base plate; a pan-tilt head is also provided on the robot body; a high-definition camera and an infrared thermal imager are installed on the pan-tilt head; a wireless data transmission module antenna is provided on the robot body.

[0010] Preferably, a laser scanner is also provided on the robot body.

[0011] Preferably, the robot body is also provided with a wireless charging receiver and a proximity switch.

[0012] Preferably, a travel sensor is provided inside the robot body.

[0013] Preferably, a rear ultrasonic ranging sensor and a rear emergency stop switch are installed at the rear end of the robot body; and a front ultrasonic ranging sensor and a front emergency stop switch are installed at the front end of the robot body.

[0014] A control method for a digital coal yard unmanned control system includes the following methods:

[0015] S1: When the bucket wheel excavator does not receive a new stacking and reclaiming task:

[0016] The bucket wheel excavator automatically rotates the stacker-reclaimer arm to a position parallel to the bucket wheel excavator's travel track through the internal controller;

[0017] The left coal area track inspection robots and the right coal area track inspection robots began to travel back and forth along their respective tracks to conduct inspections. The smoke sensors, dust sensors, carbon monoxide sensors, methane sensors, high-definition cameras, and infrared thermal imagers integrated on the sensor baseplates of the robots enabled them to monitor the safety of the entire coal yard.

[0018] And by sending a timed coal counting instruction to the robot, the laser scanner is started at a fixed time while the robot is performing safety monitoring and inspection, thus realizing the function of timing inventory counting of the coal pile;

[0019] S2: When the bucket wheel machine receives a new stacking and reclaiming task:

[0020] The bucket wheel automatically moves to the corresponding position of the bucket wheel travel track specified in the stacking and reclaiming operation task list. During the bucket wheel's travel, the track inspection robot exits its reciprocating inspection task along the track, starts the laser scanner, and stays in front of the bucket wheel according to its real-time position. It moves synchronously with the bucket wheel and performs real-time laser scanning of the area in front of the bucket wheel to achieve automatic obstacle avoidance during the bucket wheel's travel. After the bucket wheel reaches the required position, the stacking and reclaiming arm rotates to the corresponding coal area where stacking and reclaiming is required, and the stacking and reclaiming operation begins.

[0021] At this time, if the bucket wheel machine needs to stack and reclaim materials in the left coal area, the left coal area rail inspection robot will move to the top of the bucket wheel machine's stacking and reclaiming arm operating area, while the right coal area rail inspection robot will move to the top of the bucket wheel machine's counterweight arm area; if the bucket wheel machine needs to stack and reclaim materials in the right coal area, the right coal area rail inspection robot will move to the top of the bucket wheel machine's stacking and reclaiming arm operating area, while the left coal area rail inspection robot will move to the top of the bucket wheel machine's counterweight arm area;

[0022] The track inspection robot above the bucket wheel crane's stacker arm starts the laser scanner to scan and identify the contours of the working area around the bucket wheel, updates the volume of the stacked coal in real time and uploads it, and displays the stacking status of the coal pile in the coal yard in real time through three-dimensional modeling; and the track inspection robot identifies and extracts the contours scanned by the laser scanner, extracts the material height of the coal pile at the bucket wheel, the height information of the bucket wheel crane's stacker arm, and the contours of obstacles entering the bucket wheel's operating range. When the height of the bucket wheel crane's stacker arm and bucket wheel approaches the collision alarm area, the track inspection robot sends an alarm to the bucket wheel crane, prompting the bucket wheel crane to perform anti-collision and obstacle avoidance control on the stacker arm and bucket wheel. The bucket wheel crane performs anti-collision actions based on the received anti-collision information and the spatial coordinate positioning information of the stacker arm's UWB positioning tag. Similarly, when an external obstacle enters the alarm range of the stacker arm and bucket wheel obstacle avoidance operating area, the track inspection robot sends an emergency obstacle avoidance message to the bucket wheel crane, and the bucket wheel crane performs automatic obstacle avoidance actions.

[0023] The track inspection robot above the counterweight arm area simultaneously activates the laser scanner to perform a three-dimensional scan of the coal area within the effective range of the counterweight arm area. At the same time, it identifies obstacles within the counterweight arm range and sends counterweight arm obstacle avoidance information to the bucket wheel excavator;

[0024] At the same time, the high-definition camera looks down to monitor in real time the operating status and safety status of the bucket wheel excavator's stacker and reclaimer arm, the front and rear safety status of the bucket wheel excavator's fuselage, and the safety status around the bucket wheel excavator's counterweight arm.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. Track inspection robots are used to inspect coal storage areas. Sensors installed on the robots simultaneously monitor coal yard safety and perform coal inventorying. This solves the existing problem of coal yard safety monitoring, which requires multiple sets of sensors to be placed at certain intervals throughout the coal yard. Each sensor can only measure gas concentration at the installation point, making it impossible to measure the entire area.

[0027] 2. Because the robot only needs to carry one sensor system, there is no need to deploy multiple sets of sensor equipment at intervals in the coal yard, reducing coal yard safety monitoring costs and maintenance difficulties;

[0028] 3. The operation of the bucket wheel excavator is automatically controlled and obstacle avoidance is performed. By adopting a new control concept, there is no need to arrange a large number of sensors on the bucket wheel excavator for functions such as material height detection, automatic obstacle avoidance, and real-time stacking and reclaiming profile scanning. This greatly simplifies the difficulty of system implementation and maintenance, and improves the system's intelligence level and reliability.

[0029] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0031] Figure 1 This is an overall diagram of the control system of the present invention;

[0032] Figure 2 This is the first enlarged view of the track inspection robot with the control system of the present invention;

[0033] Figure 3 This is a second enlarged view of the track inspection robot with a control system according to the present invention;

[0034] Figure 4 This is a schematic diagram of UWB wireless positioning of the control system of the present invention;

[0035] Figure 5 This is a schematic diagram of the working state of the control system of the present invention;

[0036] In the figure: 1. Track inspection robot in the left coal area, 2. Track in the left coal area, 3. First wireless base station in the left coal area, 4. Second wireless base station in the left coal area, 5. Track inspection robot in the right coal area, 6. Track in the right coal area, 7. First wireless base station in the right coal area, 8. Second wireless base station in the right coal area, 9. UWB positioning tag of the stacker-reclaimer arm, 10. Bucket wheel excavator, 11. UWB positioning tag of the bucket wheel excavator body, 12. Bucket wheel excavator travel track, 13. Bucket wheel, 14. Stacker-reclaimer arm, 15. Counterweight arm, 101. Robot body, 102. Rear ultrasonic ranging sensor, 103. Rear emergency stop switch, 104. Operation indicator light, 105. Power switch, 106. Aviation socket, 107. Smoke sensor, 108. Dust sensor, 109. Carbon monoxide sensor, 110. Methane sensor, 111. HD camera, 112. PTZ, 113. Infrared thermal imager, 114. Sensor base plate, 115. Wireless data transmission module antenna, 116. Front emergency stop switch, 117. Front ultrasonic ranging sensor, 118. Laser scanner, 119. Wireless charging receiver, 120. Proximity switch. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0039] For ease of description, spatially relative terms such as "above," "above," "on the upper surface of," and "upper" may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in a drawing is inverted, a device described as "above" or "on top of" another device or structure would then be positioned as "below" or "beneath" the other device or structure. Thus, the exemplary term "above" can include both the "above" and "below" orientations. The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0040] See also Figure 1-5 The present invention provides a technical solution: a digital coal yard unmanned control system, the control system includes a left coal area track inspection robot 1 arranged in the coal yard; the left coal area track inspection robot 1 is arranged on the left coal area track 2 and can reciprocate along the left coal area track 2; a left coal area first wireless base station 3 is arranged on one side of the left coal area track 2; the control system also includes a right coal area track inspection robot 5 arranged in the coal yard and opposite to the left coal area track inspection robot 1; the right coal area track inspection robot 5 is arranged on the right coal area track 6 and can reciprocate along the right coal area track 6; a right coal area first wireless base station 7 is arranged on one side of the right coal area track 6; a bucket wheel machine walking track 12 is arranged in the coal yard between the left coal area track 2 and the right coal area track 6; a bucket wheel machine 10 is arranged on the upper part of the bucket wheel machine walking track 12; a bucket wheel machine body UWB positioning tag 11 is provided on the bucket wheel machine 10 body, and a stacker and reclaimer arm UWB positioning tag 9 is provided on the front end stacker and reclaimer arm of the bucket wheel machine 10.

[0041] The entire coal yard is controlled unmanned using UWB positioning tags on track inspection robots and bucket wheel excavators 10, integrating coal yard safety monitoring, automatic online coal handling, and unmanned bucket wheel excavator operations. The left coal area track 2 and the right coal area track 6 are both I-shaped tracks, installed on the maintenance runways above the left and right coal areas of the bucket wheel excavator 10, respectively. The left coal area track inspection robots 1 and the right coal area track inspection robots 5 are installed on their corresponding tracks, and wireless base stations are installed on the left and right maintenance runways. These wireless base stations contain wireless access points and UWB positioning base stations for wireless communication between the track inspection robots and positioning of the bucket wheel excavator's UWB tags. Both wireless base stations are connected to the on-site control cabinet via optical fiber. UWB positioning, or ultra-wideband positioning, offers advantages over traditional narrowband systems, such as shorter transmission and reception times, improved multipath mitigation, increased system security, and lower overall power consumption. Two UWB positioning tags are installed on the bucket wheel excavator 10: a UWB positioning tag 9 for the stacker / reclaimer arm and a UWB positioning tag 11 for the excavator body. These tags are used to accurately locate the stacker / reclaimer arm 14 and the excavator body. A track inspection robot travels back and forth on an I-shaped track installed beneath the horseway atop the coal shed, inspecting the coal pile area directly below the robot.

[0042] The UWB positioning base station within the wireless base station constitutes a coal yard wireless positioning base station network, which receives the location information sent by the UWB positioning tag 9 of the bucket wheel excavator stacker and the UWB positioning tag 11 of the bucket wheel excavator body, and transmits it to the industrial computer in the on-site control cabinet for analysis, and calculates the three-dimensional coordinates in the coal yard coordinate system for use in unmanned control.

[0043] A second wireless base station 4 is also installed on the left coal area track 2, and a second wireless base station 8 is also installed on the right coal area track 6. The control system increases the number of wireless base stations based on the size of the coal yard.

[0044] The control system also includes a robot maintenance platform, a wireless charging station, an on-site control cabinet, and a host computer monitoring platform. The bucket wheel excavator 10 includes a bucket wheel 13 located at the front end of a stacker / reclaimer arm 14 and a counterweight arm 15 located at the rear end of the excavator. The on-site control cabinet controls the inspection robot, analyzes the UWB positioning algorithm for the excavator, and calculates the spatial coordinate system for the robot and excavator.

[0045] The left coal area track inspection robot 1 and the right coal area track inspection robot 5 both include a robot body 101; an operation indicator light 104 and a power switch 105 are provided on the robot body 101; an aviation socket 106 and a sensor base plate 114 are also provided on the robot body 101; a smoke sensor 107, a dust sensor 108, a carbon monoxide sensor 109 and a methane sensor 110 are installed on the lower part of the sensor base plate 114; a pan-tilt head 112 is also provided on the robot body 101; a high-definition camera 111 and an infrared thermal imager 113 are installed on the pan-tilt head 112; a wireless data transmission module antenna 115 is provided on the robot body 101.

[0046] The robot's rear panel features an operating indicator light 104, a power switch 105, and an air plug 106. The operating indicator light 104 indicates the robot's operating status, communication status, battery status, sensor status, and alarm status. The air plug 106 includes a sensor group communication interface, a power interface, a robot debugging interface, and a function expansion interface.

[0047] The track inspection robot primarily comprises a robot body 101 and a sensor base plate 114, which is fixed beneath the robot body 101. The sensor base plate 114 integrates a smoke sensor 107, a dust sensor 108, a carbon monoxide sensor 109, a methane sensor 110, and a pan / tilt head 112. The pan / tilt head is equipped with a high-definition camera 111 and an infrared thermal imager 113. Through the robot's walking inspections, it enables safety monitoring of the entire coal yard area. Equipped with a high-definition camera 111 with a pan / tilt head and an infrared thermal imager 113, the robot's walking inspections enable continuous video surveillance and infrared thermal imaging temperature measurement throughout the coal yard area. Because the robot maintains a short distance from the coal pile surface, the infrared thermal imager's temperature measurement accuracy is guaranteed, resolving the problem of existing coal yard safety monitoring systems, which can only measure video and infrared temperature information in the area where the camera and infrared thermal imager are installed.

[0048] A wireless data transmission module is installed inside the robot, with the module antenna 115 extending from the right side of the robot. The module communicates with the wireless AP in the wireless base station and transmits data from the wireless base station to the on-site control cabinet and the host computer monitoring platform in the control room via optical fiber.

[0049] The robot body 101 is also equipped with a laser scanner 118. This is located on the lower front of the robot and is used for coal handling operations in the coal yard. As the robot moves, it can scan the surface contours of the coal pile and calculate the volume and weight of the coal pile using the industrial computer in the on-site control cabinet or the remote host computer software in the control room.

[0050] The robot body 101 is also equipped with a wireless charging receiver 119 and a proximity switch 120. The robot body 101 is battery-powered. After completing its inspection, the robot returns to the starting point of the track for wireless charging at a wireless charging station. The wireless charging receiver 119 and proximity switch 120 are mounted on the left side of the robot. The proximity switch 120 assists in positioning during wireless charging.

[0051] A travel sensor is installed inside the robot body 101. The robot can measure its absolute displacement relative to the track in real time through the internal travel sensor. Through the on-site control cabinet, the three-dimensional coordinates in the coal yard coordinate system can be calculated for use during unmanned control.

[0052] The track inspection robot uses its own travel sensors to achieve precise positioning. The bucket wheel excavator's stacker / reclaimer arm 14 and fuselage are precisely positioned using a UWB wireless positioning system. By fusing the robot's positioning coordinates with the bucket wheel excavator's UWB positioning coordinates and converting them into the coal yard's global spatial coordinate system, the absolute positions of the robot and excavator are determined. When the excavator is performing stacking and reclaiming operations, the robot automatically moves above the excavator's stacker / reclaimer arm 14 and counterweight arm 15 based on the obtained absolute position of the excavator in the coal yard's global spatial coordinate system and the robot's own absolute position. The robot's onboard laser scanner 118 then performs a three-dimensional scan of the excavator's operating area. The resulting three-dimensional point cloud data is used to extract coal pile contours and obstacle information, enabling the excavator's automatic obstacle avoidance and real-time coal handling functions. This new control concept eliminates the need for numerous sensors on the excavator for functions such as material height detection, automatic obstacle avoidance, and real-time stacker / reclaimer contour scanning. This significantly simplifies system implementation and maintenance, improving system intelligence and reliability.

[0053] The rear end of the robot body 101 is equipped with a rear ultrasonic ranging sensor 102 and a rear emergency stop switch 103; the front end of the robot body 101 is equipped with a front ultrasonic ranging sensor 117 and a front emergency stop switch 116. The front and rear sides of the robot are respectively equipped with the front ultrasonic ranging sensor 117, the front emergency stop switch 116, the rear ultrasonic ranging sensor 102, and the rear emergency stop switch 103. The ultrasonic ranging sensor is used by the robot body 101 to avoid obstacles and stop the robot immediately when there is an obstacle in front or behind. The emergency stop switch is used to stop the robot in an emergency in the event of a malfunction.

[0054] The control method of the digital coal yard unmanned control system includes the following methods:

[0055] S1: When the bucket wheel machine 10 does not receive a new stacking and reclaiming task:

[0056] The bucket wheel machine 10 automatically rotates the stacker-reclaimer arm to a position parallel to the bucket wheel machine travel track 12 through the internal controller;

[0057] The left coal area track inspection robot 1 and the right coal area track inspection robot 5 begin to walk back and forth along their respective tracks to perform inspections. The smoke sensor 107, dust sensor 108, carbon monoxide sensor 109, methane sensor 110, high-definition camera 111 and infrared thermal imager 113 integrated on the sensor base plate 114 provided on the robot body 101 realize the safety monitoring function of the entire coal yard.

[0058] Furthermore, by sending a timed coal counting instruction to the robot, the laser scanner 118 is started at a fixed time while the robot is performing safety monitoring and inspection, thereby realizing a timed coal counting function;

[0059] S2: When the bucket wheel machine 10 receives a new stacking and reclaiming task:

[0060] The bucket wheel machine 10 automatically moves to the corresponding position of the bucket wheel machine travel track 12 specified in the stacking and reclaiming operation task list. During the movement of the bucket wheel machine 10, the track inspection robot exits the reciprocating inspection task along the track and starts the laser scanner 118. According to the real-time position of the bucket wheel machine, it stays in front of the bucket wheel machine and moves synchronously with the bucket wheel machine to perform real-time laser scanning of the area in front of the bucket wheel machine to achieve automatic obstacle avoidance during the movement of the bucket wheel machine. After the bucket wheel machine moves to the required position, the stacking and reclaiming arm rotates to the position of the corresponding coal area where stacking and reclaiming is required, and the stacking and reclaiming operation begins.

[0061] At this time, if the bucket wheel machine 10 is to stack and reclaim materials in the left coal area, the left coal area track inspection robot 1 will move to above the working area of ​​the stacking and reclaiming arm 14 of the bucket wheel machine 10, while the right coal area track inspection robot 5 will move to above the area of ​​the counterweight arm 15 of the bucket wheel machine; if the bucket wheel machine 10 is to stack and reclaim materials in the right coal area, the right coal area track inspection robot 5 will move to above the working area of ​​the stacking and reclaiming arm 14 of the bucket wheel machine 10, while the left coal area track inspection robot 1 will move to above the area of ​​the counterweight arm 15 of the bucket wheel machine;

[0062] The track inspection robot above the bucket wheel machine stacker and reclaimer arm 14 starts the laser scanner 118 to scan the contour of the working area around the bucket wheel 13, updates the volume of the stacked coal in real time and uploads it, and displays the stacking status of the coal pile in the coal yard in real time through three-dimensional modeling; and the track inspection robot identifies and extracts the contour scanned by the laser scanner 118, extracts the material height of the coal pile at the bucket wheel 13, the height information of the bucket wheel machine stacker and reclaimer arm, and the contour of the obstacles entering the working range of the bucket wheel 13, when the stacker and reclaimer arm 10 of the bucket wheel machine 10 is opened. 4 and the bucket wheel 13 are close to the collision alarm area, the track inspection robot sends an alarm to the bucket wheel machine 10, prompting the bucket wheel machine to perform anti-collision and obstacle avoidance control on the stacker-reclaimer arm 14 and the bucket wheel 13. The bucket wheel machine performs anti-collision actions based on the received anti-collision information and the spatial coordinate positioning information of the stacker-reclaimer arm UWB positioning tag 9; similarly, when an external obstacle enters the alarm range of the obstacle avoidance operation area of ​​the stacker-reclaimer arm 14 and the bucket wheel 13, the track inspection robot sends an emergency obstacle avoidance information to the bucket wheel machine, and the bucket wheel machine performs automatic obstacle avoidance actions;

[0063] The track inspection robot above the counterweight arm 15 area simultaneously activates the laser scanner 118 to perform a three-dimensional scan of the coal area within the effective range of the counterweight arm 15 area, and simultaneously identifies obstacles within the counterweight arm 15 range and sends a counterweight arm 15 obstacle avoidance information to the bucket wheel excavator 10;

[0064] At the same time, the high-definition camera 111 looks down to monitor in real time the operating status and safety status of the bucket wheel excavator's stacker-reclaimer arm, the front and rear safety status of the bucket wheel excavator's fuselage, and the safety status around the bucket wheel excavator's counterweight arm.

[0065] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A digital coal yard unmanned control system, characterized by: The control system includes a left coal area track inspection robot (1) arranged in the coal yard; the left coal area track inspection robot (1) is arranged on the left coal area track (2) and can reciprocate along the left coal area track (2); a left coal area first wireless base station (3) is arranged on one side of the left coal area track (2); the control system also includes a right coal area track inspection robot (5) arranged in the coal yard and opposite to the left coal area track inspection robot (1); the right coal area track inspection robot (5) is arranged on the right coal area track (6 ) and can reciprocate along the right coal area track (6); a right coal area first wireless base station (7) is provided on one side of the right coal area track (6); a bucket wheel machine travel track (12) is provided in the coal yard between the left coal area track (2) and the right coal area track (6); a bucket wheel machine (10) is provided on the upper part of the bucket wheel machine travel track (12); a bucket wheel machine body UWB positioning tag (11) is provided on the bucket wheel machine (10) body, and a stacker and reclaimer arm UWB positioning tag (9) is provided on the front end stacker and reclaimer arm of the bucket wheel machine (10); The control system further includes a robot maintenance platform, a wireless charging station, an on-site control cabinet, and a host computer monitoring platform; the bucket wheel machine (10) includes a bucket wheel (13) arranged at the front end of a stacking and reclaiming arm (14) and a counterweight arm (15) arranged at the rear end of the bucket wheel machine (10); The left coal area track inspection robot (1) and the right coal area track inspection robot (5) both include a robot body (101); an operation indicator light (104) and a power switch (105) are provided on the robot body (101); an aviation socket (106) and a sensor base plate (114) are also provided on the robot body (101); a smoke sensor (107), a dust sensor (108), a carbon monoxide sensor (109) and a methane sensor (110) are installed on the lower part of the sensor base plate (114); a pan-tilt platform (112) is also provided on the robot body (101); a high-definition camera (111) and an infrared thermal imager (113) are installed on the pan-tilt platform (112); a wireless data transmission module antenna (115) is provided on the robot body (101); The robot body (101) is also provided with a laser scanner (118); S2: When the bucket wheel machine (10) receives a new stacking and reclaiming task: The bucket wheel machine (10) automatically moves to the corresponding position of the bucket wheel machine travel track (12) specified in the stacking and reclaiming operation task list. During the movement of the bucket wheel machine (10), the track inspection robot exits the reciprocating inspection task along the track, starts the laser scanner (118), and stays in front of the bucket wheel machine according to the real-time position of the bucket wheel machine, moves synchronously with the bucket wheel machine, and performs real-time laser scanning of the area in front of the bucket wheel machine to achieve automatic obstacle avoidance during the movement of the bucket wheel machine. After the bucket wheel machine moves to the required position, the stacking and reclaiming arm is rotated to the position of the corresponding coal area where stacking and reclaiming is required, and the stacking and reclaiming operation is started; At this time, if the bucket wheel machine (10) is to stack and reclaim materials in the left coal area, the left coal area track inspection robot (1) moves to the upper part of the bucket wheel machine (10) stacking and reclaiming arm (14) operating area, while the right coal area track inspection robot (5) moves to the upper part of the bucket wheel machine's counterweight arm (15); if the bucket wheel machine (10) is to stack and reclaim materials in the right coal area, the right coal area track inspection robot (5) moves to the upper part of the bucket wheel machine (10) stacking and reclaiming arm (14) operating area, while the left coal area track inspection robot (1) moves to the upper part of the bucket wheel machine's counterweight arm (15); The track inspection robot above the bucket wheel machine stacker arm (14) starts the laser scanner (118) to scan the contour of the working area around the bucket wheel (13), update the volume of the stacked coal in real time and upload it, and display the stacking status of the coal pile in the coal yard in real time through three-dimensional modeling; and the track inspection robot identifies and extracts the contour scanned by the laser scanner (118), extracts the material height of the coal pile at the bucket wheel (13), the height information of the bucket wheel machine stacker arm, and the contour of the obstacle entering the working range of the bucket wheel (13), and when the bucket wheel machine (10) stacker arm (118) is 4) When the height of the bucket wheel (13) and the bucket wheel (13) approaches the collision alarm area, the track inspection robot sends an alarm to the bucket wheel machine (10), prompting the bucket wheel machine to perform anti-collision obstacle avoidance control on the stacking and reclaiming arm (14) and the bucket wheel (13). The bucket wheel machine performs anti-collision action based on the received anti-collision information and the spatial coordinate positioning information of the UWB positioning tag (9) of the stacking and reclaiming arm; similarly, when the external obstacle enters the alarm range of the obstacle avoidance operation area of ​​the stacking and reclaiming arm (14) and the bucket wheel (13), the track inspection robot sends an emergency obstacle avoidance information to the bucket wheel machine, and the bucket wheel machine performs automatic obstacle avoidance action; The track inspection robot above the counterweight arm (15) area simultaneously starts the laser scanner (118) to perform a three-dimensional scan of the coal area within the effective range of the counterweight arm (15) area, and simultaneously identifies obstacles within the range of the counterweight arm (15), and sends a counterweight arm (15) obstacle avoidance information to the bucket wheel excavator (10); At the same time, the high-definition camera (111) looks down to monitor in real time the operating status and safety status of the bucket wheel machine's stacking and reclaiming arm, the front and rear safety status of the bucket wheel machine's fuselage, and the safety status of the bucket wheel machine's counterweight arm surrounding area.

2. The digital coal yard unmanned control system according to claim 1 is characterized by: A left coal area second wireless base station (4) is also provided on one side of the left coal area track (2); and a right coal area second wireless base station (8) is also provided on one side of the right coal area track (6).

3. The digital coal yard unmanned control system according to claim 1 is characterized by: The control system increases the number of wireless base stations accordingly according to the size of the coal yard.

4. The digital coal yard unmanned control system according to claim 1 is characterized by: The robot body (101) is also provided with a wireless charging receiver (119) and a proximity switch (120).

5. The digital coal yard unmanned control system according to claim 1 is characterized by: A travel sensor is provided inside the robot body (101).

6. The digital coal yard unmanned control system according to claim 1 is characterized by: A rear ultrasonic distance measuring sensor (102) and a rear emergency stop switch (103) are installed at the rear end of the robot body (101); and a front ultrasonic distance measuring sensor (117) and a front emergency stop switch (116) are installed at the front end of the robot body (101).

7. A control method for a digital coal yard unmanned control system according to any one of claims 1 to 6, comprising the following steps: S1: When the bucket wheel machine (10) does not receive a new stacking and reclaiming task: The bucket wheel machine (10) automatically rotates the stacker and reclaimer arm to a position parallel to the bucket wheel machine travel track (12) through an internal controller; The left coal area track inspection robot (1) and the right coal area track inspection robot (5) begin to walk back and forth along their respective tracks to perform inspections, and realize the safety monitoring function of the entire coal yard area through the smoke sensor (107), dust sensor (108), carbon monoxide sensor (109), methane sensor (110), high-definition camera (111) and infrared thermal imager (113) integrated on the sensor base plate (114) provided on the robot body (101); Furthermore, by sending a timed coal counting instruction to the robot, the laser scanner (118) is started at a fixed time while the robot is performing safety monitoring and inspection, thereby realizing a timed coal pile counting function.

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