Bucket Wheel Stacker-Reclaimer Operation Monitoring System and Method

Abstract

This disclosure relates to a monitoring system and method for a bucket wheel stacker-reclaimer. The system includes: a coal inventory device for periodically scanning a coal yard to obtain first scan data of the coal yard, wherein the coal yard includes at least one coal stack; a coal stack scanning device for real-time scanning of the coal stack currently being reclaimed by the bucket wheel stacker-reclaimer to obtain second scan data of the coal stack; and a central control system, communicatively connected to the coal inventory device and the coal stack scanning device, for dynamically updating the original coal yard storage model based on the received first and second scan data to generate a dynamic coal yard storage model; and further for determining the operating status of the bucket wheel stacker-reclaimer and / or the coal yard storage information based on the dynamic coal yard storage model. This solves the technical problem of low accuracy in manual inventory checks.

Description

Technical Field

[0001] This disclosure relates to the field of coal quantity management technology in thermal power plants, specifically to a bucket wheel stacker-reclaimer operation monitoring system and method. Background Technology

[0002] A stockyard is a general term for storage areas used in coal-fired power plants, smelters, ports, docks, etc., for the turnover of coal. A bucket wheel stacker-reclaimer is a new type of high-efficiency continuous loading and unloading machinery, mainly used for loading and unloading iron ore (sand), coal, sand, etc., in bulk cargo terminals, steel plants, large thermal power plants, and mines. Due to its high operating efficiency, this machine is widely used both domestically and internationally.

[0003] When using bucket wheel stacker-reclaimers to stack or reclaim coal in the coal yard of a thermal power plant, it is necessary to periodically inventory the coal stockpile to determine the amount of coal remaining. Currently, the main method for coal inventory is to use handheld instruments for on-site counting. However, manual counting suffers from low accuracy, long time consumption per count, high cost, and limited application, as it cannot be used to count the coal stockpile at any time. Summary of the Invention

[0004] The purpose of this disclosure is to provide a bucket wheel stacker-reclaimer operation monitoring system and method to solve problems in related technologies.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] Firstly, a bucket wheel stacker-reclaimer operation monitoring system is provided, the system comprising:

[0007] A coal inventory device is used to periodically scan a coal yard to obtain first scan data of the coal yard, wherein the coal yard includes at least one coal stack;

[0008] A coal stack scanning device is used to scan the coal stack currently being reclaimed by the bucket wheel stacker-reclaimer in real time to obtain second scan data of the coal stack.

[0009] The overall control system is communicatively connected to the coal inventory device and the coal stack scanning device. It is used to dynamically update the original coal storage model of the coal yard based on the received first and second scan data to generate a dynamic coal storage model of the coal yard. It is also used to determine the operating status of the bucket wheel stacker-reclaimer and / or the coal storage information of the coal yard based on the dynamic coal storage model of the coal yard.

[0010] Optionally, the bucket wheel stacker-reclaimer operation monitoring system also includes: a recommendation system for recommending at least one of the following: coal layer number, coal removal angle, or coal removal direction, based on a dynamic coal yard storage model.

[0011] Optionally, the bucket wheel stacker-reclaimer operation monitoring system also includes: a video tracking device for real-time tracking of the target location information of personnel in the coal yard; and a central control system connected to the video tracking device, which determines whether personnel are within a preset safe range based on the target location information.

[0012] Optionally, the bucket wheel stacker-reclaimer operation monitoring system also includes: a real-time coal yard display system, which is connected to the main control system and is used to display a dynamic coal yard storage model in 3D and / or display the operating status and / or coal yard storage information in 2D.

[0013] Optionally, the bucket wheel stacker-reclaimer operation monitoring system also includes: a coal pile height detection device and a flow detection device. The coal pile height detection device is installed at the cantilever head of the bucket wheel stacker-reclaimer to detect the coal pile height when the bucket wheel stacker-reclaimer is stacking material to obtain coal pile height information; the flow detection device is installed on the cantilever belt of the bucket wheel stacker-reclaimer to detect the coal flow rate when the bucket wheel stacker-reclaimer is reclaiming material in real time to obtain coal flow rate information; the main control system determines whether the material reclaiming control of the bucket wheel stacker-reclaimer is constant flow control based on the coal pile height information and the coal flow rate information.

[0014] Optionally, the bucket wheel stacker-reclaimer operation monitoring system also includes: a stacker-reclaimer positioning device, used to position the bucket wheel stacker-reclaimer to obtain its location information;

[0015] The stacker-reclaimer positioning device is connected to the main control system, which is used to determine the remaining coal in the current stack being reclaimed by the bucket wheel stacker-reclaimer in real time based on the location information and coal flow rate information.

[0016] Optionally, the bucket wheel stacker-reclaimer operation monitoring system also includes: an early warning device, which is connected to the main control system. The main control system is used to control the early warning device to issue an alarm when it is determined that the amount of coal stored in the coal yard is not within the first preset coal storage range or the remaining amount of coal in the coal pile currently being reclaimed by the bucket wheel stacker-reclaimer is not within the second preset coal storage range.

[0017] Secondly, a method for monitoring the operation of a bucket wheel stacker-reclaimer is also provided, which is applied to the bucket wheel stacker-reclaimer operation monitoring system provided in the first aspect. The method includes:

[0018] Acquire the first scan data of the coal stockpile and the second scan data of the coal pile currently being reclaimed by the bucket wheel stacker-reclaimer;

[0019] Based on the first and second scan data, the original coal storage model of the coal yard is dynamically updated to obtain a dynamic coal storage model of the coal yard.

[0020] The operating status of the bucket wheel stacker-reclaimer and / or the coal storage information of the coal yard are determined based on the dynamic coal yard storage model.

[0021] Optionally, based on the first and second scan data, the original coal storage model of the coal yard is dynamically updated to obtain a dynamic coal storage model, including:

[0022] The first scan data and the second scan data are unified in the same target coordinate system, wherein the first scan data includes a first timestamp and the second scan data includes a second timestamp, wherein the timestamp represents the time when the scan data was obtained;

[0023] Obtain the first timestamp of multiple first positioning points corresponding to the first scan data in the target coordinate system and the second timestamp of multiple second positioning points corresponding to the second scan data in the target coordinate system, wherein the first positioning point and the second positioning point correspond one-to-one;

[0024] Whether to replace the scanned data is determined based on the timestamp of the target positioning point pair, wherein the target positioning point pair includes a first positioning point and a second positioning point located in the same spatial position as the first positioning point;

[0025] If the first timestamp of the target location point is determined to be earlier than the second timestamp, delete the first scan data corresponding to the first timestamp and retain the second scan data corresponding to the second timestamp to dynamically update the original coal storage model and obtain the dynamic coal storage model.

[0026] If the first timestamp of the target location point is determined to be later than the second timestamp, delete the second scan data corresponding to the second timestamp, and retain the first scan data corresponding to the first timestamp to dynamically update the original coal storage model of the coal yard and obtain the dynamic coal storage model of the coal yard.

[0027] Optionally, the method further includes:

[0028] Based on the dynamic coal storage model, at least one of the following is recommended: coal layer number, coal extraction angle, or coal extraction direction, which is related to the coal stack currently being extracted by the bucket wheel stacker-reclaimer.

[0029] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0030] In the above technical solution, the initial coal stockpile storage model can be dynamically updated based on the first scan data of the coal stockpile periodically scanned by the coal inventory device and the second scan data of the coal stack currently being retrieved by the bucket wheel stacker-reclaimer in real time scanned by the coal stack scanning device. This generates a dynamic coal stockpile storage model, and the operating status of the bucket wheel stacker-reclaimer and / or the coal stockpile storage information are determined based on the dynamic coal stockpile storage model. The technical solution in this disclosure can dynamically update the original coal stockpile storage model based on the first and second scan data, thereby realizing the establishment of the coal stockpile storage model. The establishment of the dynamic coal stockpile storage model provides the latest coal stockpile operating condition information for the unmanned stacker-reclaimer operation system module, guiding the bucket wheel stacker-reclaimer to complete the stacking and reclaiming operations quickly, stably, and accurately. This solves the problems of low accuracy of manual inventory, long time consumption and high cost of a single inventory, and the inability to inventory the coal quantity in the coal yard at any time.

[0031] Other features and advantages of this disclosure will be described in detail in the following detailed description section.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0033] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of a bucket wheel stacker-reclaimer operation monitoring system according to an exemplary embodiment;

[0035] Figure 2 This is a schematic diagram of the structure of a bucket wheel stacker-reclaimer operation monitoring system according to another exemplary embodiment;

[0036] Figure 3 This is a flowchart illustrating a bucket wheel stacker-reclaimer operation monitoring method according to an exemplary embodiment.

[0037] Explanation of reference numerals in the attached figures

[0038] 10- Bucket wheel stacker-reclaimer operation monitoring system; 100- Coal inventory device; 110- Coal stack scanning device; 120- Central control system; 130- Recommendation system; 140- Video tracking device; 150- Real-time coal yard display system; 160- Coal stack height detection device; 170- Flow detection device; 180- Stacker-reclaimer positioning device; 190- Early warning device. Detailed Implementation

[0039] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0040] This disclosure provides an embodiment of a bucket wheel stacker-reclaimer operation monitoring system. Please refer to [link / reference]. Figure 1 , Figure 1 This is a schematic diagram illustrating an operation monitoring system for a bucket wheel stacker-reclaimer according to an exemplary embodiment.

[0041] The bucket wheel stacker-reclaimer operation monitoring system 10 may include:

[0042] The coal inventory device 100 is used to periodically scan the coal yard to obtain first scan data of the coal yard, wherein the coal yard includes at least one coal stack;

[0043] The coal stack scanning device 110 is used to scan the coal stack currently being reclaimed by the bucket wheel stacker-reclaimer in real time to obtain the second scan data of the coal stack.

[0044] The overall control system 120 is communicatively connected to the coal inventory device 100 and the coal stack scanning device 110. It is used to dynamically update the original coal storage model of the coal yard based on the received first and second scanning data to generate a dynamic coal storage model of the coal yard. It is also used to determine the operating status of the bucket wheel stacker-reclaimer and / or the coal storage information of the coal yard based on the dynamic coal storage model of the coal yard.

[0045] A bucket wheel stacker-reclaimer is a high-efficiency loading and unloading machine used in large dry bulk cargo yards, capable of both stacking and reclaiming materials. It consists of a belt conveyor arm that can tilt and swing horizontally, along with bucket wheels at its front end, a frame, and a running mechanism. The belt can run in both directions. During reclaiming, materials are picked up by the bucket wheel and delivered through the conveyor arm. During stacking, goods transported by the main conveyor are thrown into the yard through the conveyor arm.

[0046] In this embodiment of the disclosure, the bucket wheel stacker-reclaimer operation monitoring system 10 can monitor the operation process of one bucket wheel stacker-reclaimer or monitor the operation process of multiple bucket wheel stacker-reclaimers simultaneously. The number of bucket wheel stacker-reclaimers is not limited in this disclosure.

[0047] In this embodiment of the disclosure, the coal inventory device 100 is used to perform cross-sectional scanning of all coal stacks in the coal yard to perform controlled scanning and inventory work at regular intervals, thereby periodically acquiring the outline information of all coal stacks in the coal yard, i.e., the first scan data, and then obtaining the coal storage information in the coal yard, such as the weight data of the coal yard.

[0048] In this embodiment of the disclosure, at least one set of coal stack scanning devices 110 is installed at the front end of the conveyor arm of each bucket wheel stacker-reclaimer. Optionally, two sets of coal stack scanning devices 110 can be installed at the front end of the conveyor arm of each bucket wheel stacker-reclaimer. The coal stack scanning devices 110 can be laser scanning devices. By scanning the outline of the coal stack currently being reclaimed by the bucket wheel stacker-reclaimer in real time to obtain second scanning data, the outline information of the coal stack currently being reclaimed is updated in real time, providing real-time three-dimensional data of the material yard for the next stacking or reclaiming task of the bucket wheel stacker-reclaimer.

[0049] The main control system 120 is communicatively connected to the coal inventory device 100 and the coal stack scanning device 110. Optionally, the communication connection can be any one of wireless communication methods such as Wi-Fi, 4G, or 5G, or wired communication methods such as fiber optic connection. The first scan data and the second scan data are transmitted to the main control system 120 for data synthesis and calculation to generate a dynamic coal stockpile storage model. The dynamic coal stockpile storage model can be used to represent the real-time changes in the amount of coal stored in the coal stockpile, and the dynamic coal stockpile storage model is consistent with the actual changes in the coal stockpile. The first scan data can be the laser point cloud data of all coal stacks in the coal stockpile, and the second scan data can be the laser point cloud data of the coal stack currently being retrieved by the bucket wheel stacker-reclaimer. The main control system 120 uses a data preprocessing algorithm to filter and fuse these two types of laser point cloud data to obtain complete point cloud data of the coal stockpile; then, the main control system 120 processes the obtained complete point cloud data of the coal stockpile according to a three-dimensional modeling algorithm to obtain the dynamic coal stockpile storage model.

[0050] Based on the dynamic coal storage model of the coal yard and the density of each coal stack in the coal yard, the coal storage information of the coal yard can be calculated synchronously, thereby solving the problems of low accuracy, long time consumption and high cost of manual inventory, and inability to conduct inventory of coal quantity in the coal yard at any time. Among them, the general control system 120 can be any of the server, processor or controller, and this disclosure does not impose any restrictions.

[0051] The technical solution in this disclosure can dynamically update the original coal storage model of the coal stockpile based on the first and second scan data, thereby realizing the establishment of the coal stockpile storage model. The establishment of the dynamic coal stockpile storage model provides the latest working condition information of the coal stockpile for the unmanned stacker-reclaimer operation system module, guiding the bucket wheel stacker-reclaimer to complete the stacking and reclaiming operations quickly, stably, and accurately.

[0052] Please see Figure 2 As one possible implementation, the bucket wheel stacker-reclaimer operation monitoring system 10 further includes a recommendation system 130, which recommends at least one of the following: coal layer number, coal extraction angle, or coal extraction direction, which is related to the coal stack currently being extracted by the bucket wheel stacker-reclaimer, based on a dynamic coal yard storage model.

[0053] Based on the dynamic coal stockpile model, the bucket wheel stacker-reclaimer automatically recommends at least one of the following: coal layer number, coal removal angle, or coal removal direction, which is relevant to the coal stack currently being retrieved by the stacker-reclaimer. This enables the stacker-reclaimer to perform continuous automatic layer-changing retrieval operations. Optionally, the model can also automatically calculate the inner and outer boundary angles of the retrieval operation based on the dynamic coal stockpile model, thereby guiding the automatic retrieval operation of the stacker-reclaimer.

[0054] The material handling methods of a bucket wheel excavator stacker-reclaimer can include: rotary layered material handling and fixed-point ramp material handling. Rotary layered material handling is controlled by the height of the material pile and can be divided into two methods: layered segmented and layered without segmentation. Layered segmented material handling is beneficial for storing new coal and removing old coal during the coal storage process in the coal yard. Layered without segmentation material handling can maintain the shape of the coal pile after material handling. Fixed-point ramp material handling is suitable for starting material handling from the middle of the coal yard.

[0055] Optionally, in this embodiment, the material handling operation of the bucket wheel excavator stacker-reclaimer can be a layered and segmented material handling method, thereby realizing the material handling operation of the bucket wheel excavator stacker-reclaimer. The layered and segmented material handling operation process can be as follows: the main control system 120 generates a material handling control command based on the target material handling amount of the bucket wheel stacker-reclaimer, and determines the preset initial position for the bucket wheel stacker-reclaimer to start the material handling operation based on the dynamic coal stockpile coal storage model; the recommendation system 130, based on the material handling control command issued by the main control system 120, determines the key point coordinate set information related to material handling in each layer of the stockpile from the dynamic coal stockpile coal storage model, and determines at least one of the material handling angle, coal layer number, and coal handling direction of the bucket wheel stacker-reclaimer at the current material handling based on the key point coordinate set information related to material handling in each layer of the stockpile; the main control system 120 generates a material handling control command based on the target material handling amount of the bucket wheel stacker-reclaimer from the dynamic coal stockpile coal storage model, and determines at least one of the key point coordinate set information related to material handling in each layer of the stockpile; the main control system 120 generates a key point coordinate set information based on the target material handling control command issued by the main control system 120, and determines at least one of the key point coordinate set information of the key point coordinate set information of the bucket wheel stacker-reclaimer at the current material handling angle, coal layer number, and coal handling direction ... System 120 controls the bucket wheel stacker-reclaimer to start rotating and reclaiming material according to at least one of the coal reclaiming angle, coal layer number, and coal reclaiming direction recommended by system 130. After reaching the preset rotation range, the system controls the bucket wheel stacker-reclaimer to move a preset distance, and then starts rotating and reclaiming material again at the new position according to at least one of the coal reclaiming angle, coal layer number, and coal reclaiming direction recommended by system 130, until the coal in the current layer is completely reclaimed. Then, the system controls the bucket wheel stacker-reclaimer to start rotating and reclaiming material at a new layer in the coal pile according to at least one of the coal reclaiming angle, coal layer number, and coal reclaiming direction newly recommended by system 130.

[0056] Optionally, the recommendation system 130 determines at least one of the following: the coal extraction angle, the coal layer number, and the coal extraction direction of the bucket wheel stacker-reclaimer based on the coordinate set information of key points related to material extraction in each layer of the stockpile. This includes: determining whether to continue the material extraction operation based on the current position information of the bucket wheel stacker-reclaimer and the coordinate set information of key points related to material extraction in each layer of the dynamic coal storage model; if it is determined that the current position should continue the material extraction operation, then determining the current extraction angle based on the height information in the current position information of the bucket wheel stacker-reclaimer. The system determines the coal extraction angle and / or direction for the current extraction based on the coal layer number associated with the coal pile, the coordinate set of key points related to extraction in each layer of the pile at the end of the previous extraction, the position information at the end of the previous extraction, and the preset distance moved by the bucket wheel stacker-reclaimer each time. At least one of the determined extraction angle, coal layer number, and extraction direction is then recommended to the main control system 120, enabling the main control system 120 to control the bucket wheel stacker-reclaimer to extract coal according to at least one of the recommended extraction angle, coal layer number, and extraction direction. In other words, according to the above method steps, the recommendation system 130 can automatically recommend at least one of the coal layer number, extraction angle, or extraction direction associated with the coal pile currently being extracted by the bucket wheel stacker-reclaimer based on a dynamic coal yard storage model.

[0057] As one possible implementation, the bucket wheel stacker-reclaimer operation monitoring system 10 further includes: a video tracking device 140 for real-time tracking of the target location information of personnel in the coal yard; and a central control system 120 connected to the video tracking device 140, which determines whether the personnel are within a preset safe range based on the target location information.

[0058] In this embodiment, the video tracking device 140 can be a camera with a pan-tilt unit (PTZ). By first acquiring the position information of the camera's PTP, and then using a pre-trained video recognition model, the video tracking device 140 can track workers entering the coal yard in real time. The central control system 120 then determines whether the workers are within a preset safety range based on the real-time target position information of the personnel in the coal yard. By controlling the video tracking device 140 through the central control system 120, the safety hazards of workers entering the site during bucket wheel stacker-reclaimer operation can be resolved, ensuring the personal safety of the workers.

[0059] As one possible implementation, the bucket wheel stacker-reclaimer operation monitoring system 10 also includes: a real-time coal yard display system 150, which is connected to the main control system 120 and is used to display a dynamic coal yard storage model in 3D and / or display the operating status and / or coal yard storage information in 2D.

[0060] The real-time coal yard display system 150 can display a dynamic coal storage model of the coal yard in real time, accurately reflecting the coal storage information and the operating status of the bucket wheel stacker-reclaimer. The system shows the spatial distribution of the coal yard and the operating status of the bucket wheel stacker-reclaimer. The spatial distribution includes the distribution, length, and height of the current coal stacks being reclaimed; the operating status includes the current working area, the height of the reclaimed layer, the working direction, and the movement trajectory. Relevant personnel can pan, rotate, and zoom the dynamic coal storage model in the real-time coal yard display system 150 to observe from multiple perspectives, facilitating a more accurate understanding of the coal storage information.

[0061] As one possible implementation, the bucket wheel stacker-reclaimer operation monitoring system 10 further includes: a coal pile height detection device 160 and a flow detection device 170. The coal pile height detection device 160 is installed at the cantilever head of the bucket wheel stacker-reclaimer and is used to detect the coal pile height when the bucket wheel stacker-reclaimer is stacking material to obtain coal pile height information. The flow detection device 170 is installed on the cantilever belt of the bucket wheel stacker-reclaimer and is used to detect the coal flow rate when the bucket wheel stacker-reclaimer is reclaiming material in real time to obtain coal flow rate information. The main control system 120 determines whether the material reclaiming control of the bucket wheel stacker-reclaimer is constant flow control based on the coal pile height information and the coal flow rate information.

[0062] In this embodiment, the bucket wheel stacker-reclaimer can automatically stack materials using either a trolley-based fixed-point stacking method or a cantilever-based fixed-point stacking method. The stacking height can be detected in real time using a coal pile height detection device 160. The stacking height and width can be set according to actual needs. Furthermore, the bucket wheel stacker-reclaimer operation monitoring system 10 can automatically adjust the rotation speed and backward step during the stacking operation. The bucket wheel stacker-reclaimer operation monitoring system 10 can also set a target coal extraction amount based on the coal extraction demand and determine whether the material extraction control of the bucket wheel stacker-reclaimer is constant flow control based on the coal pile height information and coal flow rate information. If it is determined that it is not constant flow control, the system can control and change the extraction step and cantilever rotation to make the material extraction control of the bucket wheel stacker-reclaimer constant flow control.

[0063] The specific method for determining whether the material handling control of the bucket wheel stacker-reclaimer is constant flow control based on coal pile height information and coal flow rate information can be as follows: First, determine whether the coal handling process is constant flow coal handling based on whether the coal flow rate is within a preset flow rate threshold within a preset time period. Second, determine whether it is constant flow coal stacking based on at least one of the following: whether the change in coal pile height is within a preset height threshold or whether the growth rate of coal pile height is within a preset growth rate threshold within a preset time period. If both conditions are met, the material handling control of the bucket wheel stacker-reclaimer is determined to be constant flow control. If at least one of the two conditions is not met, the material handling control of the bucket wheel stacker-reclaimer is determined to be non-constant flow control. If it is determined that the current material handling is constant flow control, the current operating state of the bucket wheel stacker-reclaimer can be maintained. If it is determined that the current material handling is not constant flow control, the material handling step and cantilever rotation can be controlled to change the material handling control of the bucket wheel stacker-reclaimer to constant flow control.

[0064] As one possible implementation, the bucket wheel stacker-reclaimer operation monitoring system 10 further includes: a stacker-reclaimer positioning device 180, used to position the bucket wheel stacker-reclaimer to obtain the position information of the bucket wheel stacker-reclaimer;

[0065] The stacker-reclaimer positioning device 180 is connected to the main control system 120. The main control system 120 is used to determine the remaining coal information of the coal pile being reclaimed by the bucket wheel stacker-reclaimer in real time based on the location information and coal flow rate information.

[0066] In this embodiment of the disclosure, the stacker-reclaimer positioning device 180 can locate the bucket wheel stacker-reclaimer to obtain its position information. The overall control system 120 automatically calculates the positioning operation point and determines the remaining coal information of the coal pile currently being reclaimed by the bucket wheel stacker-reclaimer based on the position information of the bucket wheel stacker-reclaimer and the dynamic coal storage model of the coal yard.

[0067] Optionally, the stacker-reclaimer positioning device 180 may include an encoder positioning system, an tilt positioning system, and a radio frequency positioning system to obtain accurate position information of the bucket wheel stacker-reclaimer. Combining the position information obtained by the stacker-reclaimer positioning device 180 with the real-time flow detection data from the flow detection device 170, the remaining coal quantity of the currently being retrieved by the bucket wheel stacker-reclaimer can be calculated. Furthermore, based on the position information of the bucket wheel stacker-reclaimer determined by the stacker-reclaimer positioning device 180, the position of the currently being retrieved coal stack can be correspondingly determined. When the bucket wheel stacker-reclaimer has completed retrieving the currently being retrieved coal stack, and the overall control system 120 calculates the next target work point based on the dynamic coal yard coal storage model to generate control commands to move the bucket wheel stacker-reclaimer to the next target work point, it can determine whether the next target work point has been reached based on the position information obtained by the stacker-reclaimer positioning device 180.

[0068] As one possible implementation, the bucket wheel stacker-reclaimer operation monitoring system 10 further includes: an early warning device 190, which is connected to the main control system 120. The main control system 120 is used to control the early warning device 190 to issue an alarm when it is determined that the amount of coal stored in the coal yard is not within the first preset coal storage range or the remaining amount of coal in the coal pile currently being reclaimed by the bucket wheel stacker-reclaimer is not within the second preset coal storage range.

[0069] In this embodiment, the original coal storage model of the coal stockpile is dynamically updated by using first and second scan data, thereby establishing the dynamic coal stockpile storage model. The establishment of this dynamic model provides the unmanned stacker-reclaimer system module with the latest operating information of the coal stockpile, guiding the bucket wheel stacker-reclaimer to complete stacking and reclaiming operations quickly, stably, and accurately. Furthermore, it can improve stacking and reclaiming efficiency, reduce operating time, lower coal conveying unit consumption, reduce wear on rotating components, extend equipment lifespan, and reduce maintenance costs.

[0070] Based on the bucket wheel stacker-reclaimer operation monitoring system 10 described above, this disclosure provides a bucket wheel stacker-reclaimer operation monitoring method. Please refer to... Figure 3 , Figure 3 This is a flowchart illustrating an operation monitoring method for a bucket wheel stacker-reclaimer according to an exemplary embodiment, such as... Figure 2 As shown, the bucket wheel stacker-reclaimer operation monitoring method may include:

[0071] In step S101, the first scan data of the coal stockpile and the second scan data of the coal pile currently being reclaimed by the bucket wheel stacker-reclaimer are obtained.

[0072] In this embodiment of the disclosure, the first scan data of the coal stockpile and the second scan data of the coal stack currently being reclaimed by the bucket wheel stacker-reclaimer can be obtained based on the communication transmission between the overall control system and the coal inventory device and the coal stack scanning device.

[0073] In step S102, the original coal storage model of the coal yard is dynamically updated based on the first scan data and the second scan data to obtain a dynamic coal storage model of the coal yard.

[0074] In this embodiment of the disclosure, the overall control system obtains new scan data by comparing, deleting, and splicing the first scan data and the second scan data, and uses the new scan data to dynamically update the original coal storage model of the coal yard to obtain a dynamic coal storage model of the coal yard.

[0075] In step S103, the operating status of the bucket wheel stacker-reclaimer and / or the coal storage information of the coal yard are determined according to the dynamic coal yard storage model.

[0076] In this embodiment of the disclosure, by using the combination of timed first scan data and real-time second scan data to dynamically update the original coal storage model of the coal yard, the coal storage information of the coal yard can be updated in real time, thereby gaining a clearer understanding of the on-site bucket wheel stacker-reclaimer's operating status and the coal storage situation of the coal yard, thus improving the efficiency of coal stacking or reclaiming; and by using fully automated coal stacking, the utilization rate of the coal yard capacity can be improved.

[0077] As one possible implementation, the original coal storage model of the coal yard is dynamically updated based on the first scan data and the second scan data to obtain a dynamic coal storage model, including:

[0078] The first scan data and the second scan data are unified in the same target coordinate system, wherein the first scan data includes a first timestamp and the second scan data includes a second timestamp, wherein the timestamp represents the time when the scan data was obtained;

[0079] Obtain the first timestamp of multiple first positioning points corresponding to the first scan data in the target coordinate system and the second timestamp of multiple second positioning points corresponding to the second scan data in the target coordinate system, wherein the first positioning point and the second positioning point correspond one-to-one;

[0080] Whether to replace the scanned data is determined based on the timestamp of the target positioning point pair, wherein the target positioning point pair includes a first positioning point and a second positioning point located in the same spatial position as the first positioning point;

[0081] If the first timestamp of the target location point is determined to be earlier than the second timestamp, delete the first scan data corresponding to the first timestamp and retain the second scan data corresponding to the second timestamp to dynamically update the original coal storage model and obtain the dynamic coal storage model.

[0082] If the first timestamp of the target location point is determined to be later than the second timestamp, delete the second scan data corresponding to the second timestamp, and retain the first scan data corresponding to the first timestamp to dynamically update the original coal storage model of the coal yard and obtain the dynamic coal storage model of the coal yard.

[0083] In this embodiment, the first and second scan data are deleted and updated based on the time order of timestamps located at the same spatial position in the same coordinate system. The time order of the timestamps indicates when the scan data was obtained; the scan data corresponding to the timestamp closest to the current time better represents the real-time state of the coal yard. Therefore, the scan data corresponding to the earlier timestamp of the target location point pair is deleted, while the scan data corresponding to the later timestamp is retained. The original coal yard storage model is then dynamically updated using the scan data corresponding to the later timestamp of the target location point pair to obtain a dynamic coal yard storage model.

[0084] As one possible implementation, the bucket wheel stacker-reclaimer operation monitoring method may further include:

[0085] Based on the dynamic coal storage model, at least one of the following is recommended: coal layer number, coal extraction angle, or coal extraction direction, which is related to the coal stack currently being extracted by the bucket wheel stacker-reclaimer.

[0086] By recommending at least one of the coal layer number, coal extraction angle, or coal extraction direction associated with the coal stack currently being extracted by the bucket wheel stacker-reclaimer, the bucket wheel stacker-reclaimer can be controlled to achieve automated stacking and automated extraction operations.

[0087] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0088] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0089] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A monitoring system for a bucket wheel stacker-reclaimer operation, characterized in that, include: A coal inventory device is used to periodically scan a coal yard to obtain first scan data of the coal yard, wherein the coal yard includes at least one coal stack; The coal stack scanning device is used to scan the coal stack currently being reclaimed by the bucket wheel stacker-reclaimer in real time to obtain the second scan data of the coal stack; The overall control system is communicatively connected to the coal inventory device and the coal stack scanning device, and is used to dynamically update the original coal storage model of the coal yard according to the received first scanning data and second scanning data to generate a dynamic coal storage model; and is also used to determine the operating status of the bucket wheel stacker-reclaimer and / or the coal storage information of the coal yard according to the dynamic coal storage model. The step of dynamically updating the original coal storage model based on the first scan data and the second scan data to generate a dynamic coal storage model includes: The first scan data and the second scan data are unified in the same target coordinate system, wherein the first scan data includes a first timestamp and the second scan data includes a second timestamp, wherein the timestamp represents the time when the scan data was obtained; Obtain the first timestamp of multiple first positioning points corresponding to the first scan data in the target coordinate system and the second timestamp of multiple second positioning points corresponding to the second scan data in the target coordinate system, wherein the first positioning point and the second positioning point correspond one-to-one; Whether to replace the scanned data is determined based on the timestamp of the target positioning point pair, wherein the target positioning point pair includes one of the first positioning points and a second positioning point located in the same spatial position as the first positioning point; If it is determined that the first timestamp of the target location point pair is earlier than the second timestamp, delete the first scan data corresponding to the first timestamp, and retain the second scan data corresponding to the second timestamp to dynamically update the original coal stockpile coal storage model and obtain the dynamic coal stockpile coal storage model. If it is determined that the first timestamp of the target location point pair is later than the second timestamp, the second scan data corresponding to the second timestamp is deleted, and the first scan data corresponding to the first timestamp is retained to dynamically update the original coal storage model and obtain the dynamic coal storage model.

2. The bucket wheel stacker-reclaimer operation monitoring system according to claim 1, characterized in that, The bucket wheel stacker-reclaimer operation monitoring system further includes a recommendation system, which is used to recommend at least one of the following: coal layer number, coal extraction angle, or coal extraction direction related to the coal stack currently being extracted by the bucket wheel stacker-reclaimer, based on the dynamic coal yard storage model.

3. The bucket wheel stacker-reclaimer operation monitoring system according to claim 1, characterized in that, The bucket wheel stacker-reclaimer operation monitoring system also includes: a video tracking device for real-time tracking of the target location information of personnel in the coal yard; the main control system is connected to the video tracking device, and the main control system determines whether the personnel are within a preset safe range based on the target location information.

4. The bucket wheel stacker-reclaimer operation monitoring system according to claim 1, characterized in that, The bucket wheel stacker-reclaimer operation monitoring system also includes a real-time coal yard display system, which is connected to the overall control system and is used to display the dynamic coal yard storage model in 3D and / or the operating status and / or the coal yard storage information in 2D.

5. The bucket wheel stacker-reclaimer operation monitoring system according to claim 1, characterized in that, The bucket wheel stacker-reclaimer operation monitoring system further includes: a coal pile height detection device and a flow detection device. The coal pile height detection device is installed at the cantilever head of the bucket wheel stacker-reclaimer and is used to detect the coal pile height when the bucket wheel stacker-reclaimer is stacking material to obtain coal pile height information. The flow detection device is installed on the cantilever belt of the bucket wheel stacker-reclaimer and is used to detect the coal flow rate when the bucket wheel stacker-reclaimer is reclaiming material to obtain coal flow rate information in real time. The overall control system determines whether the material reclaiming control of the bucket wheel stacker-reclaimer is constant flow control based on the coal pile height information and the coal flow rate information.

6. The bucket wheel stacker-reclaimer operation monitoring system according to claim 5, characterized in that, The bucket wheel stacker-reclaimer operation monitoring system also includes: a stacker-reclaimer positioning device, used to position the bucket wheel stacker-reclaimer to obtain its location information; The stacker-reclaimer positioning device is connected to the overall control system, which is used to determine the remaining coal information of the coal pile being reclaimed by the bucket wheel stacker-reclaimer in real time based on the location information and the coal flow rate information.

7. The bucket wheel stacker-reclaimer operation monitoring system according to claim 6, characterized in that, The bucket wheel stacker-reclaimer operation monitoring system further includes an early warning device, which is connected to the main control system. The main control system is used to control the early warning device to issue an alarm when it is determined that the amount of coal stored in the coal yard is not within the first preset coal storage range or the remaining amount of coal in the coal pile currently being reclaimed by the bucket wheel stacker-reclaimer is not within the second preset coal storage range.

8. A method for monitoring the operation of a bucket wheel stacker-reclaimer, applied to the bucket wheel stacker-reclaimer operation monitoring system according to any one of claims 1-7, characterized in that, The method includes: Acquire the first scan data of the coal stockpile and the second scan data of the coal pile currently being reclaimed by the bucket wheel stacker-reclaimer; Based on the first scan data and the second scan data, the original coal storage model of the coal yard is dynamically updated to obtain a dynamic coal storage model of the coal yard. The operating status of the bucket wheel stacker-reclaimer and / or the coal storage information of the coal yard are determined based on the dynamic coal yard storage model. The step of dynamically updating the original coal storage model based on the first scan data and the second scan data to obtain a dynamic coal storage model includes: The first scan data and the second scan data are unified in the same target coordinate system, wherein the first scan data includes a first timestamp and the second scan data includes a second timestamp, wherein the timestamp represents the time when the scan data was obtained; Obtain the first timestamp of multiple first positioning points corresponding to the first scan data in the target coordinate system and the second timestamp of multiple second positioning points corresponding to the second scan data in the target coordinate system, wherein the first positioning point and the second positioning point correspond one-to-one; Whether to replace the scanned data is determined based on the timestamp of the target positioning point pair, wherein the target positioning point pair includes one of the first positioning points and a second positioning point located in the same spatial position as the first positioning point; If it is determined that the first timestamp of the target location point pair is earlier than the second timestamp, delete the first scan data corresponding to the first timestamp, and retain the second scan data corresponding to the second timestamp to dynamically update the original coal stockpile coal storage model and obtain the dynamic coal stockpile coal storage model. If it is determined that the first timestamp of the target location point pair is later than the second timestamp, the second scan data corresponding to the second timestamp is deleted, and the first scan data corresponding to the first timestamp is retained to dynamically update the original coal storage model and obtain the dynamic coal storage model.

9. The bucket wheel stacker-reclaimer operation monitoring method according to claim 8, characterized in that, The method further includes: Based on the dynamic coal yard storage model, at least one of the following is recommended: coal layer number, coal extraction angle, or coal extraction direction related to the coal stack currently being extracted by the bucket wheel stacker-reclaimer.

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