A follow-up real-time laser disc coal operation method and system

Abstract

This application relates to a follow-up real-time laser coal inventory method and system. The method includes acquiring coal inventory operation command parameters and control commands, as well as the material yard type of the coal inventory operation area; controlling a mobile coal inventory device and other equipment in the coal inventory operation area to perform positioning operations based on the operation command parameters, thereby obtaining an operation start command; controlling the mobile coal inventory device to perform follow-up positioning stacking and / or retrieving operations in the coal inventory operation area based on the operation start command, control commands, and material yard type, and acquiring operation commands in real time; and controlling the mobile coal inventory device to move to the charging area of ​​the coal inventory operation area based on the operation commands. This method uses a robot equipped with a coal inventory analyzer to perform follow-up stacking and retrieving operations, facilitating real-time acquisition of coal inventory data, enabling data updates and processing with strong real-time performance; and employing different methods for follow-up stacking or retrieving operations based on different material yard types, achieving controllable operation range and improving the management of coal inventory operations.

Description

Technical Field

[0001] This application relates to the field of thermal power fuel operation technology, and in particular to a follow-up real-time laser coal panning operation method and system. Background Technology

[0002] Currently, common laser coal inventory methods in thermal power plants can be roughly divided into three types: handheld coal inventory devices used in small coal yards; multi-point fixed and gimbal-type laser coal inventory systems used in large and medium-sized non-open-air coal yards; and drone-based coal inventory systems used in open-air coal yards. Handheld coal inventory devices are relatively complex to operate. Considering safety factors, operators cannot perform coal inventory operations simultaneously with generator operations, resulting in a long inventory cycle and the inability to obtain data in real time. In non-open-air coal yards, laser coal inventory devices are installed in fixed locations using methods such as top-mounted supports. This is considered the mainstream coal inventory method. However, due to factors such as construction conditions and installation location, the coal inventory devices cannot cover every corner of the coal yard, necessitating the introduction of mathematical algorithms and manual coal inventory compensation methods, further increasing the cost of coal inventory.

[0003] With societal development and increasingly stringent environmental protection requirements, the construction of thermal power plant stockpiles is gradually transitioning to semi-enclosed and fully enclosed structures, resulting in a shrinking application scenario for drone coal handling. Safety factors also limit the simultaneous operation of drones and stacker-reclaimers.

[0004] Therefore, it can be seen that the existing laser coal inventory method commonly used in thermal power plants has problems such as poor real-time performance, inability to guarantee coverage, and inability to update small amounts of data in localized areas. Summary of the Invention

[0005] This application provides a follow-up real-time laser coal inventory method and system to solve the technical problems of poor real-time performance, inability to guarantee coverage, and inability to perform small-scale data update processing in localized areas, which are common laser coal inventory methods in existing thermal power plants.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] On the one hand, a follow-up real-time laser coal inventory method is provided, including the following steps:

[0008] Obtain the operation command parameters and control commands for coal inventory, as well as the material yard type of the coal inventory operation area;

[0009] Based on the operation instruction parameters, control the mobile coal palletizing equipment and the equipment in the coal palletizing operation area to perform positioning operations, and obtain the operation start instruction;

[0010] According to the operation start command, the control command and the material yard type, the mobile coal stacking equipment is controlled to perform following and positioning stacking and / or retrieving operations in the coal stacking operation area and to obtain operation commands in real time;

[0011] According to the operation instructions, control the mobile coal storage equipment to move to the charging area of ​​the coal storage operation area;

[0012] The operation command parameters include the fixed speed of the mobile coal-pressing equipment and the absolute position of the equipment in the coal-pressing industrial area. The mobile coal-pressing equipment is a robot equipped with a coal-pressing instrument. The operation commands include operation end commands and emergency stop commands. The coal-pressing operation area is equipped with a bucket wheel excavator position area, a scraper conveyor position area, a stacking cantilever device position area, a material-retrieving rotation position area, and a charging area. The control commands include the traveling speed of the main machine in the coal-pressing operation area, the moving direction of the stacking cantilever device, the rotation angular velocity of the stacking cantilever device, the rotation angle of the stacking cantilever device, the rotation angle of the scraper conveyor, and the absolute position, rotation speed, and rotation direction of the material-retrieving rotation. The operation start commands include coal-pressing operation command parameters and material-retrieving operation command parameters.

[0013] Preferably, the following are examples of material stacking and / or material retrieval operations controlled by the mobile coal stacking equipment within the coal stacking area according to the operation start command, the control command, and the material yard type:

[0014] If the material yard type is a strip material yard, the real-time linear movement speed of the moving coal tray equipment is determined according to the control command;

[0015] According to the operation start command and the linear real-time speed control, the mobile coal stacking equipment performs follow-up positioning stacking and / or retrieving operations in the coal stacking operation area.

[0016] Preferably, determining the real-time linear movement speed of the mobile coal stacking device according to the control command includes determining the real-time linear movement speed of the mobile coal stacking device based on the walking speed and the rotational angular velocity of the stacking cantilever device.

[0017] Preferably, the following are examples of material stacking and / or material retrieval operations controlled by the mobile coal stacking equipment within the coal stacking area according to the operation start command, the control command, and the material yard type:

[0018] If the material yard type is a circular material yard, the absolute alignment position of the moving coal panning equipment is transformed to correspond with the absolute alignment position of the scraper conveyor and the circumferential absolute alignment position of the stacking cantilever device.

[0019] The system acquires the real-time rotation position of the scraper conveyor and the real-time rotation position of the stacking cantilever device; and controls the moving coal stacking equipment to perform following and positioning stacking and / or retrieving operations in the coal stacking operation area based on the real-time rotation position of the scraper conveyor, the real-time rotation position of the stacking cantilever device, the rotation angle of the stacking cantilever device, and the rotation angle of the scraper conveyor.

[0020] Preferably, the following real-time laser coal inventory operation method includes: if the material yard type is a circular material yard and the stacking operation and the retrieving operation are carried out simultaneously, then the mobile coal inventory equipment is controlled to first perform a following and positioning retrieving operation in the coal inventory operation area; if the retrieving operation is suspended, then the following and positioning retrieving operation of the mobile coal inventory equipment in the coal inventory operation area is controlled to be converted into a following and positioning stacking operation.

[0021] Preferably, controlling the positioning operation of the mobile coal inventorying equipment and the equipment in the coal inventorying work area according to the operation instruction parameters includes: moving the mobile coal inventorying equipment and the equipment in the coal inventorying work area to the corresponding absolute position of the equipment in the coal inventorying work area at the fixed speed according to the absolute position of the alignment.

[0022] On another front, a follow-up real-time laser coal inventory system is provided, comprising a main control module and a coal inventory control module, a stacking and reclaiming equipment module, and an equipment control module connected to the main control module. The equipment control module includes a slide rail installed on the coal inventory work area and a mobile coal inventory device with a coal inventory unit installed on the slide rail. The stacking and reclaiming equipment module includes a stacking cantilever device and a scraper conveyor installed on the coal inventory work area. The mobile coal inventory device is bound one-to-one with the stacking cantilever device and the scraper conveyor. The main control module is used to control the coal inventory control module, the stacking and reclaiming equipment module, and the equipment control module to perform follow-up positioning stacking and / or reclaiming operations in the coal inventory work area according to the above-described follow-up real-time laser coal inventory method.

[0023] Preferably, the main control module is also used to calculate and determine the installation position range of the hoisting slide rail in the coal panning operation area based on the parameters of the stacking cantilever device and the parameters of the material yard using a position calculation formula;

[0024] If the material yard type is a strip material yard, a coordinate system is established by cutting perpendicular to the extension direction of the material yard, and the position calculation formula is: A=Lh / tanβ, B=h / tanβ;

[0025] If the material yard type is a circular material yard, a coordinate system is established with the center of the material yard plane, and the position calculation formula is: x=RH / tanβ+h / tanβ;y=r+h / tanβ;

[0026] In the formula, h is the hoisting height parameter of the slide rail, L is the width parameter of the material yard, β is the natural slope angle of the material yard, H is the height of the outer retaining wall of the circular material yard, R is the radius of the circular material yard, r is the boundary diameter of the material pile in the circular material yard, A and B are the abscissas of the two boundary points of the installation position range of the strip material yard in the coordinate system, and x and y are the near-center position coordinates and far-center position coordinates of the installation position range of the circular material yard in the coordinate system.

[0027] Preferably, the main control module is also used to select a full-coverage coal inventory mode in the coal inventory work area according to the coal inventory requirements to control the mobile coal inventory equipment to perform stacking and / or retrieving operations. The full-coverage coal inventory mode is that the mobile coal inventory equipment moves along the slide rails in the coal inventory work area.

[0028] Preferably, the coal inventory control module includes a data acquisition submodule, a data processing submodule, and a control submodule;

[0029] The data acquisition submodule is used to acquire operation command parameters, walking positioning, pitch positioning of the stacker-reclaimer arm, slewing positioning of the stacker-reclaimer arm, and positioning data of the moving coal stacking device on the slide rail; the operation command parameters include the distance between the installation position of the slide rail and the slewing center of the stacker cantilever device and the slewing angular velocity of the stacker cantilever device.

[0030] The data processing submodule is used to obtain the following speed of the moving coal panning equipment on the slide rail in the coal panning operation area according to the operation instruction parameters;

[0031] The control submodule is used to control the start or stop of the moving coal panning equipment according to control commands.

[0032] Preferably, the slide rail is suspended above the material yard in the coal panning operation area, and the mobile coal panning equipment moves axially on the slide rail.

[0033] Preferably, the mobile coal inventory device is equipped with a wireless communication module and a power supply module. The wireless communication module is used to interact with the main control module and the coal inventory control module, and the power supply module is used to supply power to the robot and the coal inventory instrument of the mobile coal inventory device. Corresponding to the power supply module, a charging compartment for charging the mobile coal inventory device is provided in the charging area of ​​the coal inventory work area.

[0034] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: The following real-time laser coal inventory method and system includes: acquiring coal inventory operation command parameters and control commands, as well as the material yard type of the coal inventory operation area; controlling the mobile coal inventory equipment and the equipment in the coal inventory operation area to perform positioning operations according to the operation command parameters, and obtaining the operation start command; controlling the mobile coal inventory equipment to perform follow-positioning stacking and / or material retrieval operations in the coal inventory operation area according to the operation start command, control commands, and material yard type, and acquiring operation commands in real time; and controlling the mobile coal inventory equipment to move to the charging area of ​​the coal inventory operation area according to the operation commands. This follow-time real-time laser coal inventory method uses a robot equipped with a coal inventory instrument to follow and perform stacking and retrieval operations, which facilitates the real-time acquisition of coal inventory data, realizes the updating and processing of coal inventory data, and has strong real-time performance; different methods are used to follow and stack or retrieve coal inventory data according to different material yard types, so that the operation range is controllable, which facilitates the management of coal inventory operations, and solves the technical problems of poor real-time performance, inability to guarantee coverage, and inability to achieve small data update processing in local areas common in existing laser coal inventory methods in thermal power plants.

[0035] This follow-up real-time laser coal inventory system uses a main control module to control the equipment control module to follow up on the stacking and retrieving operations, facilitating the real-time acquisition of coal inventory data and enabling the updating and processing of coal inventory data with strong real-time performance. It solves the technical problems of poor real-time performance, inability to guarantee coverage, and inability to update and process small amounts of data in localized areas that are common in existing laser coal inventory methods in thermal power plants. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating the steps of the follow-up real-time laser coal inventory method described in the embodiments of this application;

[0038] Figure 2 This is a schematic diagram of the structure of the coal inventory area in the follow-up real-time laser coal inventory method described in the embodiments of this application;

[0039] Figure 3 This is a schematic diagram of the framework of the follow-up real-time laser coal inventory system described in the embodiments of this application;

[0040] Figure 4 This is a flowchart of the follow-up real-time laser coal inventory system described in the embodiments of this application;

[0041] Figure 5 This is a schematic diagram of the installation and maintenance of the strip material yard in the follow-up real-time laser coal handling system described in the embodiments of this application;

[0042] Figure 6 This is a schematic diagram of the installation and maintenance of the circular material yard in the follow-up real-time laser coal handling system described in the embodiments of this application. Detailed Implementation

[0043] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0045] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0046] This application provides a follow-up real-time laser coal inventory method and system to solve the technical problems of poor real-time performance, inability to guarantee coverage, and inability to perform small-scale data update processing in localized areas, which are common laser coal inventory methods in existing thermal power plants.

[0047] Example 1:

[0048] Figure 1 This is a flowchart illustrating the steps of the follow-up real-time laser coal inventory method described in the embodiments of this application. Figure 2 This is a schematic diagram of the structure of the coal inventory area in the follow-up real-time laser coal inventory method described in the embodiments of this application.

[0049] like Figure 1 and Figure 2 As shown in the figure, this application provides a follow-up real-time laser coal inventory method, including the following steps:

[0050] S1. Obtain the operation command parameters and control commands for coal inventory, as well as the material yard type of the coal inventory operation area.

[0051] It should be noted that step S1 involves acquiring data for the follow-up coal inventory operation in the thermal power plant. The operation command parameters include the fixed speed of the moving coal inventory equipment and the absolute position of the equipment in the coal inventory industrial area. The coal inventory operation area is divided into a bucket wheel excavator position area, a scraper conveyor position area, a stacking cantilever device position area, a material retrieval rotation position area, and a charging area. The control commands include the traveling speed of the main machine in the coal inventory operation area, the moving direction of the stacking cantilever device, the rotational angular velocity of the stacking cantilever device, the rotational angle of the stacking cantilever device, the rotational angle of the scraper conveyor, and the absolute position, rotational speed, and rotational direction of the material retrieval device.

[0052] S2. Control the mobile coal inventory equipment and the equipment in the coal inventory work area to perform positioning operations according to the operation instruction parameters, and obtain the operation start command. Among them, controlling the mobile coal inventory equipment and the equipment in the coal inventory work area to perform positioning operations according to the operation instruction parameters includes: moving the mobile coal inventory equipment and the equipment in the coal inventory work area to the corresponding absolute position of the equipment in the coal inventory work area at a fixed speed according to the absolute position of alignment.

[0053] It should be noted that the operation start command includes the stacking operation command parameters and the material handling operation command parameters for coal inventory. The equipment in the coal inventory area includes a bucket wheel excavator, a scraper conveyor, and a stacking cantilever device. The mobile coal inventory equipment is a robot equipped with an inventory analyzer, which can acquire real-time three-dimensional point data of the material yard, facilitating auxiliary control of the coal inventory operation. In step S2, the mobile coal inventory equipment, bucket wheel excavator, scraper conveyor, and stacking cantilever device are controlled to move to the operation start position according to their corresponding absolute positions based on the operation command parameters, achieving equipment alignment and ensuring the accuracy of the coal inventory operation. The operation start command description controls the mobile coal inventory equipment to operate within the coal inventory area.

[0054] S3. Control the mobile coal stacking equipment to perform stacking and / or retrieving operations in the coal stacking operation area according to the operation start command, control command and material yard type, and obtain operation commands in real time.

[0055] It should be noted that the operation instructions include work end instructions and emergency stop instructions. In step S3, the mobile coal stockpiling equipment is controlled to perform follow-up and positioning stacking and / or retrieving operations in the coal stockpiling operation area according to the work start instructions, control instructions, and material yard type, and operation instructions are acquired in real time during the operation. In this embodiment, during the operation, the coal stockpiling device in the mobile coal stockpiling equipment is activated from the start of the operation to the end of the operation.

[0056] S4. According to the operation instructions, control the mobile coal panning equipment to move to the charging area of ​​the coal panning operation area.

[0057] It should be noted that the mobile coal panning equipment is moved to the charging compartment according to the operation completion command or emergency stop command.

[0058] This application provides a follow-up real-time laser coal inventory method. The method includes acquiring coal inventory operation command parameters and control commands, as well as the material yard type of the coal inventory operation area; controlling a mobile coal inventory device and equipment in the coal inventory operation area to perform positioning operations based on the operation command parameters, obtaining an operation start command; controlling the mobile coal inventory device to perform follow-up positioning stacking and / or retrieving operations in the coal inventory operation area based on the operation start command, control commands, and material yard type, and acquiring operation commands in real time; and controlling the mobile coal inventory device to move to the charging area of ​​the coal inventory operation area based on the operation commands. This follow-up real-time laser coal inventory method uses a robot equipped with a coal inventory device to perform follow-up stacking and retrieving operations, facilitating real-time acquisition of coal inventory data, enabling data update and processing, and ensuring high real-time performance. Different methods are used for follow-up stacking or retrieving operations based on different material yard types, ensuring controllable operation range and improving the management of coal inventory operations. This method solves the technical problems of poor real-time performance, unreliable coverage, and inability to perform small-scale data update processing in localized areas, which are common in existing laser coal inventory methods in thermal power plants.

[0059] It should be noted that this follow-up real-time laser coal inventory method, when applied to fuel management in thermal power plants, can effectively improve the accuracy and real-time performance of fuel management in thermal power plants.

[0060] In one embodiment of this application, controlling the mobile coal stacking equipment to perform follow-up positioning operations and / or retrieving operations in the coal stacking operation area according to the operation start command, control command, and material yard type includes:

[0061] If the material yard type is a strip material yard, the real-time linear movement speed of the moving coal panning equipment is determined according to the control command;

[0062] According to the operation start command and the real-time linear movement speed control, the mobile coal stacking equipment performs following and positioning stacking and / or retrieving operations in the coal stacking operation area;

[0063] The linear real-time speed of the moving coal stacking equipment is determined based on the walking speed and the rotational angular velocity of the stacking cantilever device.

[0064] It should be noted that before starting the operation, this follow-up real-time laser coal inventory method moves the bucket wheel excavator, scraper conveyor, and stacker cantilever device in the coal inventory area to the starting operation position through step S2. Then, the mobile coal inventory equipment is moved to the corresponding positioning position in the coal inventory industrial area at a fixed speed. For example, in automatic stacker-reclaimer operation, the scraper conveyor is positioned for travel and the bucket wheel excavator is positioned for operation start. After the equipment is positioned, the mobile coal inventory equipment is controlled to drive out of the charging compartment and move to the corresponding positioning position at a fixed speed to facilitate subsequent operation. According to the operation start command, the mobile coal inventory equipment starts to move, and the coal inventory instrument is started to operate. Based on the travel speed of the large machine (such as the bucket wheel excavator or stacker-reclaimer) and the rotational angular velocity of the stacker cantilever device, the linear real-time speed of the mobile coal inventory equipment is calculated through mathematical modeling. The linear real-time speed is used as the speed to control the follow-up coal inventory operation. Among them, the calculation of speed by mathematical modeling based on the acquired data is a relatively mature technology in this field, which will not be elaborated here. In this embodiment, the theoretical moving speed obtained from the parameters of the mobile coal stacking device itself differs from the actual speed in actual operation. This is related to factors such as actual voltage and bucket wheel excavator operating conditions. The following real-time laser coal stacking operation method obtains the real-time position information of the operation from the rotational angular velocity, walking speed and other pitch encoders of the stacking cantilever device, and obtains the corresponding linear real-time moving speed in actual operation on the existing mathematical model, thus achieving the following effect.

[0065] In one embodiment of this application, controlling the mobile coal stacking equipment to perform follow-up positioning operations and / or retrieving operations in the coal stacking operation area according to the operation start command, control command, and material yard type includes:

[0066] If the material yard type is a circular material yard, the absolute position of the moving coal stacking equipment is transformed to correspond with the absolute position of the scraper conveyor and the circumferential absolute position of the stacking cantilever device.

[0067] The system acquires the real-time rotation position of the scraper conveyor and the real-time rotation position of the stacking cantilever device; and controls the moving coal stacking equipment to perform following and positioning stacking and / or retrieving operations in the coal stacking operation area based on the real-time rotation position of the scraper conveyor, the real-time rotation position of the stacking cantilever device, the rotation angle of the stacking cantilever device, and the rotation angle of the scraper conveyor.

[0068] If the material yard is a circular material yard and the stacking and reclaiming operations are carried out simultaneously, the mobile coal stacking equipment is controlled to first perform a follow-position reclaiming operation in the coal stacking operation area; if the reclaiming operation is suspended, the follow-position reclaiming operation of the mobile coal stacking equipment in the coal stacking operation area is controlled to be converted into a follow-position stacking operation.

[0069] It should be noted that linear position control is more efficient and accurate than radian control in robot control. In circular stockyards, the control of the stacking cantilever and scraper conveyor is based on polar coordinates (radians). Before performing stacking or retrieving operations in a circular stockyard, this real-time laser coal inventory method requires a conversion between radians and linear coordinates based on the absolute alignment positions of the moving coal inventory device, the scraper conveyor, and the stacking cantilever, to achieve the corresponding position transformation. Upon receiving the operation start command, the moving coal inventory device begins to move, and the coal inventory system starts operating simultaneously. Subsequently, the real-time rotation positions and angles of the scraper conveyor and stacking cantilever are used to control the real-time following and positioning of the moving coal inventory device during the operation.

[0070] Example 2:

[0071] Figure 3 This is a schematic diagram of the framework of the follow-up real-time laser coal inventory system described in the embodiments of this application. Figure 4 This is a flowchart illustrating the workflow of the follow-up real-time laser coal inventory system described in the embodiments of this application. Figure 5 This is a schematic diagram illustrating the installation and maintenance of the strip material yard in the follow-up real-time laser coal handling system described in this application embodiment. Figure 6 This is a schematic diagram of the installation and maintenance of the circular material yard in the follow-up real-time laser coal handling system described in the embodiments of this application.

[0072] like Figures 3 to 6 As shown, this application provides a follow-up real-time laser coal inventory system, including a main control module 10 and a coal inventory control module 20, a stacking and reclaiming equipment module 30, and an equipment control module 40 connected to the main control module 10. The equipment control module 40 includes a slide rail 41 set on the coal inventory operation area and a mobile coal inventory device 43 with a coal inventory instrument 42 set on the slide rail 41. The stacking and reclaiming equipment module 30 includes a stacking cantilever device and a scraper conveyor installed on the coal inventory operation area. The mobile coal inventory device 43 is bound one-to-one with the stacking cantilever device and the scraper conveyor. The main control module 10 is used to control the coal inventory control module 20, the stacking and reclaiming equipment module 30, and the equipment control module 40 to perform follow-up positioning stacking and / or reclaiming operations in the coal inventory operation area according to the above-described follow-up real-time laser coal inventory method.

[0073] In this embodiment, the mobile coal inventory device 43 of the follow-up real-time laser coal inventory system can collect three-dimensional point cloud data of the material yard during the stacking and reclaiming process via the coal inventory analyzer 42. Then, the main control module 10 uses this three-dimensional point cloud data for real-time auxiliary control. This real-time auxiliary control includes edge rotation detection during material reclaiming and operational safety detection. This follow-up real-time laser coal inventory system improves the real-time performance of coal inventory operations by utilizing the three-dimensional point cloud data of the material yard acquired by the coal inventory analyzer.

[0074] It should be noted that the follow-up real-time laser coal inventory method in Embodiment 2 has been described in Embodiment 1, and the details of the follow-up real-time laser coal inventory method will not be elaborated in this embodiment. The coal inventory control module 20 is deployed in the power plant's safety zone 1 network, and the coal inventory control module 20 interacts with the unattended stacker-reclaimer system of the stacker-reclaimer module 30 for operation and coal inventory data exchange. Before starting the stacking and reclaiming operation, the coal inventory control module 20 needs to be initialized. The mobile coal inventory device 43 needs to be bound one-to-one with the stacking cantilever device and the scraper conveyor to control the one-to-one communication between the operation of the stacker and reclaimer (stacking cantilever device and scraper conveyor) and the coal inventory operation command of the mobile coal inventory device 43. This ensures communication and interaction between the mobile coal inventory device 43 and the stacker and reclaimer module 30, thereby ensuring the real-time data between the devices. This follow-up real-time laser coal inventory operation system controls the equipment control module to follow up the stacking and reclaiming operations through the main control module, which facilitates the real-time acquisition of coal inventory data, realizes the updating and processing of coal inventory data, and has strong real-time performance. It solves the technical problems of poor real-time performance, inability to guarantee coverage, and inability to update and process small amounts of data in local areas that are common in existing laser coal inventory methods in thermal power plants.

[0075] In one embodiment of this application, the main control module 10 is further configured to calculate and determine the installation position range of the hoisting slide rail in the coal panning operation area based on the parameters of the stacking cantilever device and the parameters of the material yard using a position calculation formula.

[0076] If the material yard type is a strip material yard, a coordinate system is established by cutting perpendicular to the extension direction of the material yard, and the position calculation formula is: A=Lh / tanβ, B=h / tanβ;

[0077] If the material yard type is a circular material yard, a coordinate system is established with the center of the material yard plane, and the position calculation formula is: x=RH / tanβ+h / tanβ;y=r+h / tanβ;

[0078] In the formula, h is the hoisting height parameter of the slide rail, L is the width parameter of the material yard, β is the natural slope angle of the material yard, H is the height of the outer retaining wall of the circular material yard, R is the radius of the circular material yard, r is the boundary diameter of the material pile in the circular material yard, A and B are the abscissas of the two boundary points of the installation position range of the strip material yard in the coordinate system, and x and y are the near-center position coordinates and far-center position coordinates of the installation position range of the circular material yard in the coordinate system.

[0079] It should be noted that, in a strip material yard, based on the zoning and block stacking requirements of the strip material yard, and combined with the single-rail and common-rail area division of the stacker-reclaimer's travel track in the coal panning operation area, it is necessary to determine the installation location range of the hoisting slide rail in the coal panning operation area. For example... Figure 5 As shown, the slope extension line can be obtained based on the natural slope angle of the material yard. The intersection point of the slope extension line and the hoisting height of the slide rail, and the range between these two intersection points, represents the selectable hoisting range of the slide rail. This ensures that the coal panning device moving on the slide rail can cover the coal piles on both sides of the slide rail's radial direction (the direction perpendicular to the axis of the slide rail). In a circular material yard, the optimal hoisting position can be selected from the circle at the radial midpoint of the designed material height plane of the circular pile. Figure 6 As shown, the slope extension line can be obtained based on the natural slope angle of the material yard. The intersection point of the slope extension line and the hoisting height of the slide rail, and the range between the two intersection points, is the selectable hoisting range of the slide rail to ensure complete laser coverage of the coal surface. This following real-time laser coal inventory system allows for reasonable and flexible arrangement of slide rail positions on the top of the material yard in the coal inventory area through the installation position of the hoisting slide rail, achieving full coverage of the material yard for coal inventory operations. Furthermore, depending on the actual situation of stacking and reclaiming operations, the following real-time laser coal inventory method can be used to meet various coal inventory needs, including following operations and full-coverage coal inventory.

[0080] like Figure 4 As shown, in one embodiment of this application, the main control module 10 is further configured to select a full-coverage coal inventory mode in the coal inventory work area according to the coal inventory requirements to control the mobile coal inventory equipment to perform stacking and / or retrieving operations. The full-coverage coal inventory mode is that the mobile coal inventory equipment moves along the slide rails in the coal inventory work area.

[0081] It should be noted that the main control module 10 can freely choose between full-coverage coal inventory or the following real-time laser coal inventory method according to the coal inventory requirements. When selecting the following real-time laser coal inventory method, after receiving the alignment command from the stacker-reclaimer module 30, the main control module 10 performs the stacking and / or reclaiming operations according to the following real-time laser coal inventory method. The control is communicated with the mobile coal inventory device 43 via the wireless network laid in the material yard. If the mobile coal inventory device 43 is idle, the operation is started immediately; otherwise, a logical judgment is made based on the current conditions before proceeding to the next step. After the stacker cantilever device and scraper conveyor complete the initial alignment, they can continue the operation without waiting for the current state of the mobile coal inventory device 43. In this embodiment, the next action is performed after logical judgment. For example, material handling and material stacking can be carried out simultaneously. If there is only one mobile coal stacking device 43, it is determined whether the current coal stacking (material stacking and material handling) operation has been completed. If it has, the mobile coal stacking device 43 is considered to be in an idle state and its remaining power is higher than 20%. The device can then be controlled to immediately start a new coal stacking operation. Alternatively, if the current material stacking operation is completed and another material handling operation is in progress, the remaining time of the material handling operation is obtained. If the remaining time is less than or equal to 15 minutes and the remaining power of the mobile coal stacking device 43 is greater than or equal to 20%, the device can be controlled to immediately start a new coal stacking operation. When the remaining current of the mobile coal stacking device 43 is less than 20%, it returns to the charging compartment to recharge.

[0082] In this embodiment, when the mobile coal stacking device 43 operates asynchronously with the stacking cantilever device and scraper conveyor of the stacking and reclaiming equipment module, the process of the mobile coal stacking device 43 completing the alignment action and catching up with the stacking cantilever device and scraper conveyor is an asynchronous operation process; similarly, the operation process in which the movement of the mobile coal stacking device 43 is synchronized with the movement of the stacking cantilever device and scraper conveyor is a synchronous operation process.

[0083] It should be noted that when the mobile coal stacking equipment 43 starts following the operation according to the operation start command, it is a synchronous operation; when it intervenes in the middle of the stacking and reclaiming operation, it is an asynchronous operation.

[0084] In this embodiment, the main control module 10 is also used to prioritize the material handling operation (scraper conveyor) over the material stacking operation based on the priority of the material handling operation (stacker) and the material stacking operation (stacker cantilever). That is, when the material handling operation and the material stacking operation are started at the same time, the movement trajectory of the scraper conveyor is prioritized. After the material handling operation is completed, the remaining power of the mobile coal stacking device 43 is used to determine whether to directly track the material stacking operation or return to the charging bin to complete the charging action.

[0085] In one embodiment of this application, the coal inventory control module 20 includes a data acquisition submodule, a data processing submodule, and a control submodule;

[0086] The data acquisition submodule is used to acquire operation command parameters, travel positioning, pitch positioning of the stacker-reclaimer arm, slewing positioning of the stacker-reclaimer arm, and positioning data of the moving coal stacker on the slide rail; the operation command parameters include the distance between the installation position of the slide rail and the slewing center of the stacker cantilever device and the slewing angular velocity of the stacker cantilever device;

[0087] The data processing submodule is used to obtain the following speed of the moving coal panning equipment on the slide rail in the coal panning work area according to the operation instruction parameters;

[0088] The control submodule is used to control the start or stop of the moving coal panning equipment according to control commands.

[0089] It should be noted that the data processing submodule calculates the following linear velocity of the moving coal inventory device 43 as v = l × β based on the distance l between the installation position of the slide rail and the rotation center of the stacking cantilever device, and the rotational angular velocity β of the stacking cantilever device. This following real-time laser coal inventory system can fully cover coal inventory and following coal inventory through the coal inventory control module 20, realizing the acquisition of full coal inventory data and small-area coal inventory data according to different needs.

[0090] In this embodiment, the coal control module 20 is also used to convert the absolute circumferential coordinate positions of the scraper conveyor and the stacking cantilever into the axial positioning coordinate points of the slide rail.

[0091] In one embodiment of this application, a slide rail is suspended above the material yard in the coal panning operation area, and the mobile coal panning equipment moves axially on the slide rail.

[0092] like Figure 2 As shown, in one embodiment of this application, the mobile coal inventory device is provided with a wireless communication module and a power supply module 44. The wireless communication module is used to interact with the main control module and the coal inventory control module, and the power supply module is used to supply power to the robot and the coal inventory instrument of the mobile coal inventory device. Corresponding to the power supply module 44, a charging compartment 101 for charging the mobile coal inventory device is provided in the charging area of ​​the coal inventory operation area.

[0093] It should be noted that the mobile coal counting device 43 is equipped with a network wireless communication module, enabling the uploading of the mobile coal counting device 43's position information and the reception and execution of axial (along the slide rail) motion control commands. The power supply module supports bidirectional power supply to both the mobile coal counting device 43 and the coal counting instrument. The charging compartment enables the charging function of the onboard power supply module of the mobile coal counting device 43.

[0094] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0098] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0099] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A follow-up real-time laser disc coal operation method, characterized by, The method comprises the following steps: obtaining operation instruction parameters and control instructions of disc coal and the type of the disc coal operation area; controlling the mobile disc coal equipment and the equipment in the disc coal operation area to perform positioning operation according to the operation instruction parameters, to obtain operation start instructions; controlling the mobile disc coal equipment to perform following positioning stacking operation and / or material taking operation in the disc coal operation area according to the operation start instructions, the control instructions and the type of the disc coal operation area, and obtaining operation instructions in real time; controlling the mobile disc coal equipment to move to the charging area of the disc coal operation area according to the operation instructions; wherein the operation instruction parameters include the fixed speed of the mobile disc coal equipment and the positioning absolute position of the equipment in the disc coal industrial area, the mobile disc coal equipment is a robot with a disc coal instrument, the operation instructions include operation end instructions and emergency stop instructions, the disc coal operation area is provided with a bucket wheel machine position area, a scraper position area, a stacking cantilever device position area, a material taking rotary position area and a charging area, the control instructions include the walking speed of the large machine in the disc coal operation area, the moving direction of the stacking cantilever device, the rotary angular velocity of the stacking cantilever device, the rotary angle of the stacking cantilever device, the rotary angle of the scraper, and the rotary absolute position, the rotary speed and the rotary direction of the material taking, and the operation start instructions include disc coal stacking operation instruction parameters and material taking operation instruction parameters.

2. The follow-up real-time laser disc coal operation method according to claim 1, characterized in that, controlling the mobile disc coal equipment to perform following positioning stacking operation and / or material taking operation in the disc coal operation area according to the operation start instructions, the control instructions and the type of the disc coal operation area includes: if the type of the disc coal operation area is a strip-shaped stockyard, determining the linear movement real-time speed of the mobile disc coal equipment according to the control instructions; controlling the mobile disc coal equipment to perform following positioning stacking operation and / or material taking operation in the disc coal operation area according to the operation start instructions and the linear movement real-time speed.

3. The follow-up real-time laser disc coal operation method according to claim 2, characterized in that, determining the linear movement real-time speed of the mobile disc coal equipment according to the walking speed and the rotary angular velocity of the stacking cantilever device.

4. The follow-up real-time laser disc coal operation method according to claim 1, characterized in that, controlling the mobile disc coal equipment to perform following positioning stacking operation and / or material taking operation in the disc coal operation area according to the operation start instructions, the control instructions and the type of the disc coal operation area includes: if the type of the disc coal operation area is a circular stockyard, transforming the positioning absolute position of the mobile disc coal equipment to correspond to the positioning absolute position of the scraper and the circumferential positioning absolute position of the stacking cantilever device; obtaining the real-time rotary position of the scraper and the real-time rotary position of the stacking cantilever device in real time, and controlling the mobile disc coal equipment to perform following positioning stacking operation and / or material taking operation in the disc coal operation area according to the real-time rotary position of the scraper, the real-time rotary position of the stacking cantilever device, the rotary angle of the stacking cantilever device and the rotary angle of the scraper.

5. The follow-up real-time laser disc coal operation method according to claim 4, characterized in that, if the type of the disc coal operation area is a circular stockyard and the stacking operation and the material taking operation are performed simultaneously, controlling the mobile disc coal equipment to perform following positioning material taking operation in the disc coal operation area first, and if the material taking operation is paused, controlling the mobile disc coal equipment to convert the following positioning material taking operation in the disc coal operation area to following positioning stacking operation. ​ 6. The follow-up real-time laser disc coal operation method according to claim 1, characterized in that, The positioning operation of the mobile coal depositing device and the device in the coal depositing operation area according to the operation instruction parameter comprises: moving the mobile coal depositing device and the device in the coal depositing operation area to the absolute position of the corresponding device in the coal depositing operation area at the fixed speed according to the absolute position.

7. A follow-up real-time laser disc coal operation system, characterized in that, The main control module, the coal depositing control module, the stockpile and rehandle device module and the device control module are connected, the device control module comprises a slide rail arranged on the coal depositing operation area and a mobile coal depositing device with a coal depositing instrument arranged on the slide rail, the stockpile and rehandle device module comprises a stockpile cantilever device and a scraper installed on the coal depositing operation area, the mobile coal depositing device is one-to-one bound with the stockpile cantilever device and the scraper respectively, and the main control module is used for controlling the coal depositing control module, the stockpile and rehandle device module and the device control module to perform the following operations: following positioning, stockpiling operation and / or rehandling operation in the coal depositing operation area according to the following method.

8. The follow-up real-time laser disc coal operation system according to claim 7, characterized in that, The main control module is further used for calculating the installation position range of the hoisting slide rail on the coal depositing operation area by using a position calculation formula according to the parameters of the stockpile cantilever device and the parameters of the stockyard. If the stockyard type is a strip stockyard, a coordinate system is established by cutting along a direction perpendicular to the extension direction of the stockyard, and the position calculation formula is A=L-h / tanβ and B=h / tanβ. If the stockyard type is a circular stockyard, a coordinate system is established by taking the center of the stockyard plane as the origin, and the position calculation formula is x=R-H / tanβ+h / tanβ and y=r+h / tanβ. In the formula, h is the hoisting height parameter of the slide rail, L is the width parameter of the stockyard, β is the natural slope angle of the stockyard, H is the height of the outer side retaining wall of the circular stockyard, R is the radius of the circular stockyard, r is the boundary variable diameter of the stockpile in the circular stockyard, A and B are the horizontal coordinates of two boundary points of the installation position range of the strip stockyard in the coordinate system respectively, and x and y are the near-center position coordinates and far-center position coordinates of the installation position range of the circular stockyard in the coordinate system respectively.

9. The follow-up real-time laser disc coal operation system according to claim 7, characterized in that, The main control module is further used for controlling the mobile coal depositing device to perform the stockpiling operation and / or the rehandling operation in the coal depositing operation area according to the coal depositing requirement by selecting a full-coverage coal depositing mode, and the full-coverage coal depositing mode is that the mobile coal depositing device moves on the slide rail in the coal depositing operation area.

10. The follow-up real-time laser disc coal operation system according to claim 8, characterized in that, The coal depositing control module comprises a data acquisition submodule, a data processing submodule and a control submodule. The data acquisition submodule is used for acquiring the operation instruction parameter, the walking positioning, the luffing positioning of the stockpile and rehandle arm, the slewing positioning of the stockpile and rehandle arm and the positioning data of the mobile coal depositing device on the slide rail, and the operation instruction parameter comprises the distance between the installation position of the slide rail and the slewing center of the stockpile cantilever device and the slewing angular velocity of the stockpile cantilever device. The data processing submodule is used for obtaining the following speed of the mobile coal depositing device on the slide rail in the coal depositing operation area according to the operation instruction parameter. The control submodule is used for controlling the start or stop of the mobile coal depositing device according to the control instruction.

11. The follow-up real-time laser disc coal operation system according to claim 7, characterized in that, The slide rail is hung on the top of a stockyard of a disc coal operation area, and the mobile disc coal equipment moves axially on the slide rail.

12. The follow-up real-time laser disc coal operation system according to claim 7, characterized in that, A wireless communication module and a power supply module are arranged on the mobile disc coal equipment, the wireless communication module is used for data interaction with the main control module and the disc coal control module, and the power supply module is used for power supply of a robot and a disc coal instrument of the mobile disc coal equipment; corresponding to the power supply module, a charging bin for charging the mobile disc coal equipment is arranged in a charging area of the disc coal operation area.

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