A control system for automatically controlling coal unloading

Abstract

The present invention relates to the technical field of coal unloading, and particularly to a control system for automatically controlling coal unloading. The system includes a layout module, a planning module, a monitoring module, a path correction module, and a collision avoidance module. By setting the installation position of the laser scanner, the present invention ensures that the entire height change range of the coal seam can be covered. By generating a coal seam distribution map based on the scanning results of the laser scanner to process the scanning data and retain the coal storage height data, the accuracy of the monitoring data of the laser scanner is ensured. By analyzing the real-time data, an optimal path planning for the coal unloading trolley is generated, and the working path and speed of the coal unloading trolley are dynamically adjusted to avoid the operation of the coal unloading trolley without coal, reduce energy waste, and ensure efficient coal unloading. By calculating the storage and conveying capacity of each coal unloading pit, it is ensured that the trolley always unloads coal at a position with an appropriate coal seam thickness, matches the optimal coal unloading path, and ensures the efficient and stable operation of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of coal unloading, and particularly to a control system for automatically controlling coal unloading. Background Art

[0002] In the traditional coal unloading process, manual operation or semi-automatic equipment is often used for coal unloading. This method has some obvious disadvantages: low efficiency, the manual coal unloading method requires a large amount of human resources and has low efficiency; although semi-automatic equipment improves efficiency to a certain extent, it still requires manual intervention and cannot achieve fully automated operation; potential safety hazards, during the manual coal unloading process, operators need to be in close contact with coal and coal unloading equipment, posing significant safety risks such as collapse and mechanical injuries; harsh environment, coal dust, noise, etc. have an adverse impact on the health of workers; environmental pollution, the traditional coal unloading method generates a large amount of coal dust, causing air pollution and affecting the surrounding environment; coal may scatter during the unloading process, resulting in ground pollution; high cost, due to the need for a large amount of manual participation, the labor cost is high; the equipment maintenance and energy consumption costs are also high; Therefore, there is an urgent need for a fully automatic control system for coal receiving pits based on laser scanning and automatic control technology to improve coal unloading efficiency and safety, and reduce environmental pollution and costs.

[0003] The patent document with the publication number CN116281235A discloses an automatic control system for a coal receiving pit unloading device. The control system includes an execution unit, a processing unit, a multi-party monitoring unit, and a server; the multi-party monitoring unit is used to obtain the operating status of the unloading device and relevant information of the transportation equipment; the server receives the starting position of the transportation equipment and the working position of the unloading device, processes and feeds back the driving operation information of the transportation equipment to the processing unit. It can be seen that the existing coal unloading technology lacks a real-time monitoring of the coal seam height based on laser scanning to timely adjust the path and speed of the coal unloading trolley, and it is difficult to achieve the optimal path planning and real-time operation adjustment of the coal unloading trolley. Summary of the Invention

[0004] To this end, the present invention provides a control system for automatically controlling coal unloading to overcome the problem in the prior art that the path and speed of the coal unloading trolley cannot be dynamically adjusted, resulting in low coal unloading efficiency.

[0005] To achieve the above object, the present invention provides a control system for automatically controlling coal unloading, including,

[0006] A layout module for determining a number of monitoring areas according to the actual scope of the coal receiving pit, and a laser scanner is set in each of the monitoring areas;

[0007] A planning module for determining the starting coal unloading position and generating an initial coal unloading path according to the coal unloading operation requirements and the initial coal seam distribution map, and determining a standard operation area according to the starting coal unloading position;

[0008] A monitoring module for monitoring the coal unloading process in real time, generating a real-time scanned image corresponding to the starting coal unloading position and a current coal seam distribution map within the standard operation area according to the scanning results of the laser scanner;

[0009] A path correction module for determining the coal unloading position to be selected according to the current coal seam distribution map, correcting the initial coal unloading path according to the coal unloading position to be selected, and generating an intermediate coal unloading path;

[0010] A collision avoidance module for correcting the intermediate coal unloading path according to the safety range of the coal unloading trolley to obtain a target coal unloading path.

[0011] Furthermore, the planning module includes a path planning unit and an operation area determination unit, where

[0012] The path planning unit is used to determine the starting coal unloading position according to the coal unloading operation requirements and the initial coal seam distribution map and generate an initial coal unloading path;

[0013] The operation area determination unit is used to determine the standard operation area according to the starting coal unloading position and the coal unloading operation requirements.

[0014] Furthermore, the path planning unit includes an acquisition subunit, a determination subunit, and a path generation subunit, where

[0015] The acquisition subunit is used to acquire the coal unloading positions where the real-time coal seam height in the initial coal seam distribution map falls within the second standard coal seam height range;

[0016] The determination subunit is used to calculate the coal receiving height corresponding to each coal unloading position according to the initial coal seam distribution map, and select the coal unloading position with the maximum coal receiving height as the starting coal unloading position;

[0017] The path generation subunit sorts the coal unloading positions in ascending order of the real-time coal seam height, generates an initial coal unloading sequence number according to the sorting result, and generates an initial coal unloading path according to the starting coal unloading position and the initial coal unloading sequence number;

[0018] Wherein, the path generation subunit uses the starting coal unloading position as the origin, and the coal unloading positions corresponding to the ascending order of each initial coal unloading sequence number as waypoints to generate an initial coal unloading path.

[0019] Furthermore, the monitoring module includes an acquisition unit, a thickness analysis unit, a coal unloading state analysis unit, and a path correction unit, where

[0020] The acquisition unit is used to acquire the real-time scanned image and the real-time coal seam height corresponding to the starting coal unloading position;

[0021] The thickness analysis unit is used to analyze the real-time scanned image and determine whether the coal seam thickness in the coal receiving pit is uniform according to the analysis result;

[0022] The coal unloading state analysis unit is used to adjust the real-time coal unloading speed to the corrected coal unloading speed when it is determined that the coal seam thickness is non-uniform, and is used to monitor the coal unloading state in real time when it is determined that the coal seam thickness is uniform;

[0023] The path correction unit is used to correct the initial coal unloading path to the intermediate coal unloading path according to the current coal seam distribution map.

[0024] Further, the acquisition unit includes a data acquisition subunit and a height calculation subunit, where

[0025] The data acquisition subunit is used to record the coal receiving pit corresponding to the starting coal unloading position as the coal receiving pit to be monitored, and acquire the coal seam height imaging of the coal receiving pit to be monitored;

[0026] The height calculation subunit is used to calculate the maximum height deviation value and the real-time coal seam height according to the coal seam height imaging.

[0027] Further, the coal unloading state analysis unit includes a determination subunit, a comparison subunit and a control subunit, where

[0028] The determination subunit is used to determine the real-time coal seam height according to the second standard coal seam height range;

[0029] The comparison subunit is used to compare the real-time coal seam height with the second standard coal seam height range when the real-time coal seam height is not within the second standard coal seam height range, so as to analyze the running state of the trolley;

[0030] The control subunit is used to output a coal unloading stop instruction when the real-time coal seam height is greater than the maximum value of the second standard coal seam height range.

[0031] Further, the path correction unit includes a data acquisition subunit, a data processing subunit, a standard value calculation subunit and a data analysis subunit, where

[0032] The data acquisition subunit is used to acquire the current coal seam distribution map of the standard monitoring area when the real-time coal seam height is greater than the maximum value of the second standard coal seam height range;

[0033] The data processing subunit is used to acquire the real-time coal seam height at the adjacent position of the starting coal unloading position according to the current coal seam distribution map;

[0034] The standard value calculation subunit calculates the first standard coal seam height according to the real-time coal unloading demand intensity;

[0035] The data analysis subunit is used to correct the initial coal unloading path according to the comparison result between the real-time coal seam height and the first standard coal seam height.

[0036] Further, the height calculation subunit divides the coal seam height image into several simulated coal seam units with vertical lines, calculates the average coal seam height of each simulated coal seam unit and records it as the simulated coal seam height, adds up the simulated coal seam heights and divides by the number of simulated coal seam units to obtain the real-time coal seam height of the coal receiving bunker to be monitored, subtracts the real-time coal seam height from each simulated coal seam height respectively to obtain several coal seam height differences, takes the absolute value of each coal seam height difference, and obtains the maximum value among the absolute values as the maximum height deviation value.

[0037] Further, the collision avoidance module includes a range calculation unit and a route regulation unit, where

[0038] The range calculation unit is used to calculate the safety range according to the actual distance between the coal unloading trolley and other coal unloading trolleys;

[0039] The route regulation unit is used to control the coal unloading trolley to travel outside the safety range.

[0040] Further, the path correction unit obtains the number of coal unloading positions to be selected and records it as the real-time correction number, and corrects the remaining actual coal unloading positions in the initial coal unloading path to the coal unloading positions to be selected with the real-time correction number to obtain the intermediate coal unloading positions.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting the installation position of the laser scanner according to the area size of the actual coal receiving bunker, it is ensured that the entire height change range of the coal seam can be covered. By generating a coal seam distribution map based on the scanning results of the laser scanner to process the scanning data, retaining the coal storage height data and deleting other data, the accuracy of the dynamic scanning coal storage height data is improved, ensuring the accuracy of the monitoring data of the laser scanner. By analyzing the real-time data, an optimal path planning for the coal unloading trolley is generated, dynamically adjusting the working path and speed of the coal unloading trolley, avoiding the operation of the coal unloading trolley without coal, reducing energy waste, ensuring efficient coal unloading, and by calculating the storage and conveying capacity of each coal unloading bunker, ensuring that the trolley always unloads coal at a position with an appropriate coal seam thickness, matching the best coal unloading path, and ensuring the efficient and stable operation of the system.

[0042] Further, by dividing the coal seam height image into several simulated coal seam units, that is, simulating and segmenting the coal seam height, calculating the average height of each area as the simulated coal seam height of each simulated coal seam unit, calculating the average value of the simulated coal seam heights as the real-time coal seam height, by comparing the real-time coal seam height with the simulated coal seam height, calculating the height difference, and selecting the largest height difference as the maximum height deviation value, to ensure accurate calculation.

[0043] Furthermore, by setting up a collision avoidance module, it is ensured that the path planning of the coal unloading trolley avoids unstable or dangerous areas, maintaining the operation stability and improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a connection schematic diagram of the control system for automatically controlling coal unloading in the embodiment of the present invention;

[0045] Figure 2 It is a top view of arranging a laser scanner in the coal receiving pit in the embodiment of the present invention;

[0046] Figure 3 It is a connection schematic diagram of the monitoring module in the embodiment of the present invention;

[0047] Figure 4 It is a connection schematic diagram of the path correction unit in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0050] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0051] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0052] Please refer to Figure 1 、 Figure 2 and Figure 4 as shown, Figure 1Schematic connection diagram of the control system for automatically controlling coal unloading in an embodiment of the present invention Figure 2 Top view of arranging a laser scanner in a coal receiving pit in an embodiment of the present invention Figure 4 Schematic connection diagram of a path correction unit in an embodiment of the present invention. The present invention provides a control system for automatically controlling coal unloading, including

[0053] A layout module for determining a number of monitoring areas according to the actual scope of the coal receiving pit, and arranging a laser scanner in each of the monitoring areas

[0054] A planning module for determining a starting coal unloading position and generating an initial coal unloading path according to the coal unloading operation requirements and an initial coal seam distribution map, and determining a standard operation area according to the starting coal unloading position

[0055] A monitoring module connected to the layout module for monitoring the coal unloading process in real time, and generating a real-time scanned image corresponding to the starting coal unloading position and a current coal seam distribution map within the standard operation area according to the scanning results of the laser scanner

[0056] A path correction module connected to the monitoring module for determining a coal unloading position to be selected according to the current coal seam distribution map, and correcting the initial coal unloading path according to the coal unloading position to be selected to generate an intermediate coal unloading path

[0057] A collision avoidance module connected to the path correction module for correcting the intermediate coal unloading path according to the safety range of the coal unloading trolley to obtain a target coal unloading path

[0058] A coal unloading operation module for adjusting the driving path and speed according to the received instruction

[0059] By setting the installation position of the laser scanner according to the area size of the actual coal receiving pit, it is ensured that the entire height change range of the coal seam can be covered. By generating a coal seam distribution map according to the scanning results of the laser scanner, the scanning data is processed, the coal storage height data is retained, and other data is deleted, improving the accuracy of dynamically scanning the coal storage height data and ensuring the accuracy of the monitoring data of the laser scanner. By analyzing the real-time data, an optimal path planning for the coal unloading trolley is generated, dynamically adjusting the working path and speed of the coal unloading trolley, avoiding the operation of the coal unloading trolley without coal, reducing energy waste, ensuring efficient coal unloading, and ensuring the efficient and stable operation of the system by calculating the storage and transportation capacity of each coal receiving pit, ensuring that the trolley always unloads coal at a position with an appropriate coal seam thickness and matching the best coal unloading path

[0060] In this embodiment, the coal unloading trolley is equipped with a high-precision positioning and navigation system to ensure driving along the path generated by the planning module. The control system of the coal unloading trolley communicates with each module and receives adjustment instructions in real time

[0061] Specifically, the planning module includes a path planning unit and an operation area determination unit. Among them,

[0062] The path planning unit is used to determine the starting coal unloading position and generate an initial coal unloading path according to the coal unloading operation requirements and the initial coal seam distribution map;

[0063] The operation area determination unit is used to determine the standard operation area according to the starting coal unloading position and the coal unloading operation requirements;

[0064] Among them, the standard operation area represents the set of points where the distance from all coal unloading positions to the starting coal unloading position is less than or equal to the first preset radius;

[0065] Bi = {x: d(x, Qi) ≤ R}, where Bi represents the standard operation area, Qi represents the starting coal unloading position, d represents the actual distance from any other coal unloading position to the starting coal unloading position, and R represents the first preset radius.

[0066] In this embodiment, the first preset radius is the smaller distance when the set coal unloading trolley performs operations. Affected by the coal unloading volume of the coal unloading trolley and the arrangement of each coal receiving pit, it can be set to 10m. The standard operation area represents a smaller operation area. Within this area range, the moving distance of the coal unloading trolley is not large, so that the coal unloading trolley can quickly perform the coal unloading operation.

[0067] In this embodiment, the initial coal seam distribution map represents the coal seam data collected before the start of the coal unloading operation. The coal unloading position represents the designated position where coal is unloaded from the coal unloading trolley, and the coal is unloaded safely and accurately according to the operation requirements.

[0068] First, plan the operation path of the coal unloading trolley according to the actual capacity of each coal receiving pit, and preferentially select the coal unloading position with a large capacity to ensure efficient coal unloading.

[0069] Specifically, the path planning unit includes an acquisition subunit, a determination subunit, and a path generation subunit. Among them,

[0070] The acquisition subunit is used to acquire the coal unloading positions where the real-time coal seam height in the initial coal seam distribution map falls within the second standard coal seam height range;

[0071] The determination subunit is used to calculate the coal receiving height corresponding to each coal unloading position according to the initial coal seam distribution map, and select the coal unloading position with the maximum coal receiving height as the starting coal unloading position;

[0072] The path generation subunit sorts each coal unloading position in ascending order of the real-time coal seam height, generates an initial coal unloading sequence number according to the sorting result, and generates an initial coal unloading path according to the starting coal unloading position and the initial coal unloading sequence number;

[0073] Among them, the path generation subunit takes the starting coal unloading position as the origin, and generates an initial coal unloading path with the coal unloading positions corresponding to the ascending order of each initial coal unloading sequence number from small to large as waypoints.

[0074] In this embodiment, the real-time coal seam height represents the vertical distance from the bottom of the coal unloading pit to the top of the coal seam, the coal receiving height represents the vertical distance from the top of the coal seam to the top of the coal unloading pit, the number of the starting coal unloading position is denoted as 0, and the initial coal unloading sequence number increases sequentially from 1, such as 1, 2, 3...

[0075] Refer to Figure 3 As shown, it is a connection schematic diagram of the monitoring module in an embodiment of the present invention;

[0076] Specifically, the monitoring module includes an acquisition unit, a thickness analysis unit, a coal unloading state analysis unit, and a path correction unit. Among them,

[0077] The acquisition unit is used to acquire a real-time scanned image corresponding to the starting coal unloading position;

[0078] The thickness analysis unit is used to analyze the real-time scanned image and determine whether the coal seam thickness of the coal receiving pit is uniform according to the analysis result;

[0079] The coal unloading state analysis unit is used to adjust the real-time coal unloading speed to a corrected coal unloading speed when it is determined that the coal seam thickness is uneven;

[0080] The path correction unit is used to correct the initial coal unloading path into an intermediate coal unloading path according to the current coal seam distribution map.

[0081] Specifically, the acquisition unit includes a data acquisition subunit and a height calculation subunit. Among them

[0082] The data acquisition subunit is used to record the coal receiving pit corresponding to the starting coal unloading position as the coal receiving pit to be monitored, and collect the coal seam height imaging of the coal receiving pit to be monitored;

[0083] The height calculation subunit is used to calculate the maximum height deviation value according to the coal seam height imaging;

[0084] Among them, the height calculation subunit divides the coal seam height imaging into several simulated coal seam units with vertical lines, calculates the average coal seam height of each simulated coal seam unit and records it as the simulated coal seam height, adds up the simulated coal seam heights and divides by the number of simulated coal seam units to obtain the real-time coal seam height of the coal receiving pit to be monitored, subtracts the real-time coal seam height from each simulated coal seam height respectively to obtain several coal seam height differences, takes the absolute value of each coal seam height difference, and obtains the maximum value among the absolute values as the maximum height deviation value.

[0085] By dividing the coal seam height imaging into several simulated coal seam units, that is, simulating and segmenting the coal seam height, calculating the average height of each area as the simulated coal seam height of each simulated coal seam unit, calculating the average value of each simulated coal seam height as the real-time coal seam height, comparing the real-time coal seam height with the simulated coal seam height, calculating the height difference, and selecting the largest height difference as the maximum height deviation value to ensure accurate calculation.

[0086] Specifically, the thickness analysis unit obtains the maximum height deviation value according to the real-time scan image, and judges the maximum height deviation value according to the standard height deviation value.

[0087] If the maximum height deviation value is less than or equal to the standard height deviation value, it is determined that the coal seam thickness is uniform, and the real-time coal seam height is obtained.

[0088] If the maximum height deviation value is greater than the standard height deviation value and the thickness is uneven, the coal unloading state analysis unit adjusts the real-time coal unloading speed of the coal unloading trolley within a small range to the corrected coal unloading speed.

[0089] Among them, Vs’ = Vs × [1 + (ΔHm - ΔHs) / ΔHm], where Vs’ is the corrected coal unloading speed, Vs is the real-time coal unloading speed, ΔHm is the maximum height deviation value, and ΔHs is the standard height deviation value.

[0090] In this embodiment, the standard height deviation value represents the allowable fluctuation difference of the coal seam thickness in the real-time scan image. The coal seam thickness is the vertical distance from the bottom of the coal unloading pit to the top of the coal seam, that is, the actual vertical thickness of the coal at a specific point. If the maximum height deviation value is within the range of the standard height deviation value, it means that the coal seam thickness is uniform. Generally, the range of the standard height deviation value is set between 0.3 meters and 0.8 meters, and it is adjusted adaptively according to the specifications of the actual coal unloading pit. If it is determined that the maximum height deviation value is greater than the standard height deviation value, it means that the coal seam thickness is uneven. This is because the coal unloading speed is slow, causing coal to accumulate in some areas and insufficient coal unloading in other areas, resulting in uneven thickness. In this case, the coal unloading speed needs to be adjusted adaptively.

[0091] Specifically, when it is determined that the maximum height deviation value is less than or equal to the standard height deviation value, the coal unloading state analysis unit compares the real-time coal seam height with the second standard coal seam height range.

[0092] If the real-time coal seam height is not within the second standard coal seam height range, the real-time coal seam height is compared with the second standard coal seam height range to analyze the running state of the trolley.

[0093] If the real-time coal seam height is within the second standard coal seam height range, it is determined that the running state of the trolley is normal and no adjustment is required.

[0094] Specifically, compare the real-time coal seam height with the second standard coal seam height range.

[0095] If the real-time coal seam height is less than the minimum value of the second standard coal seam height range, conduct on-site inspection and processing.

[0096] If the real-time coal seam height is greater than the maximum value of the second standard coal seam height range, stop coal unloading, calculate the real-time coal unloading demand intensity, analyze the current coal seam distribution map, and determine whether to correct the initial coal unloading path according to the analysis result to obtain the intermediate coal unloading path.

[0097] In this embodiment, the second standard coal seam height is set to represent the coal seam height corresponding to the maximum capacity of the coal receiving pit, which theoretically approaches the vertical distance from the bottom to the top of the coal receiving pit. The second standard coal seam height and the error height form the second standard coal seam height range. The error height represents the error value of the detection data caused by the uneven actual materials inside the coal receiving pit. Generally, it is set between 1 cm and 5 cm and is adaptively selected according to the actual specifications of the coal receiving pit and the coal quality.

[0098] Specifically, the analysis of the current coal seam distribution map includes:

[0099] Obtain the current coal seam distribution map of the standard monitoring area;

[0100] Obtain the real-time coal seam height at the adjacent position of the starting coal unloading position according to the current coal seam distribution map;

[0101] Calculate the first standard coal seam height according to the real-time coal unloading demand intensity;

[0102] Compare the first standard coal seam height with the real-time coal seam height;

[0103] If the real-time coal seam height is less than or equal to the first standard coal seam height, mark the corresponding coal pit position as the coal unloading position to be selected to correct the initial coal unloading path;

[0104] If the real-time coal seam height is greater than the first standard coal seam height, compare the real-time coal seam height corresponding to the next adjacent coal pit position until the determination of all coal pit positions in the standard monitoring area is completed. If there is a real-time coal seam height less than or equal to the first standard coal seam height, mark the corresponding coal pit position as the coal unloading position to be selected. If it is still determined that the real-time coal seam height is greater than the first standard coal seam height, determine the next coal unloading position according to the initial coal unloading path.

[0105] In this embodiment, the real-time coal unloading demand intensity represents the actual coal loading volume in the coal unloading trolley, with the unit of volume. The first standard coal seam height represents the vertical distance from the bottom to the top of the coal actually contained in the coal receiving pit when the coal receiving pit accommodates this actual coal loading volume, which is obtained by subtracting the value of the real-time coal unloading demand intensity divided by the cross-sectional area of the coal receiving pit from the actual height of the coal unloading pit, thereby obtaining the real-time coal unloading demand intensity.

[0106] By analyzing the coal unloading pit adjacent to the current transportation position of the coal unloading trolley, it is determined whether to optimize the coal unloading route according to the actual accommodation capacity of the coal unloading pit, that is, to preferentially transport the coal to a closer coal unloading pit for coal unloading work to improve the coal unloading efficiency.

[0107] Specifically, the correction of the initial coal unloading path includes,

[0108] Obtain the number of coal unloading positions to be selected, denoted as the real-time correction number, and correct the remaining actual coal unloading positions in the initial coal unloading path to the coal unloading positions to be selected according to the real-time correction number.

[0109] Specifically, the collision avoidance module corrects the intermediate coal unloading path according to the safety range of the coal unloading trolley to avoid collisions;

[0110] Among them, Di = {x: d(x, Oi) ≤ R'}, Di represents the safety range, Oi represents the coal unloading trolley, d represents the actual distance between the coal unloading trolley and other coal unloading trolleys, and R' represents the second preset radius;

[0111] Among them, the second preset radius represents the minimum safety distance between the coal unloading trolley and other trolleys or obstacles during operation, so that the coal unloading trolley always operates within the safety range. The second preset radius is set between 0.2 meters and 0.5 meters and is adaptively selected and adjusted according to the size, characteristics, and quantity of the actual coal unloading trolley or obstacles.

[0112] When a possible collision risk is recognized, the collision avoidance module will correct the intermediate coal unloading path according to the safety range of the coal unloading trolley. By adjusting the path, the coal unloading trolley can avoid potential collision obstacles or other vehicles, ensuring safe passage. By effectively keeping the route of the coal unloading trolley outside the safety range and ensuring the safety and smooth progress of the coal unloading process, the collision risk is reduced, and the overall safety and efficiency of the coal unloading system are improved.

[0113] In this embodiment, a certain number (standard) of 3D scanning radars are installed above the coal receiving bunker, and 3D scanning is performed at a certain period. The scanning results are transmitted to the computer center in real time, and the software is used to analyze the coal seam height distribution in the coal receiving bunker to determine the X / Y / Z values of the high points and low points. The computer software sorts the data of the high points and low points, and controls the automatic operation of the coal unloading trolley through the PLC system according to the control strategy. In the initial stage, the coal unloading trolley operates in the full range, and records the position information and running current information in real time to estimate the coal seam state at each position point. After working back and forth several times, it can perform coal unloading work in a small range according to the real-time coal seam height to ensure the working efficiency of the coal unloading trolley, avoid the situation of empty running as much as possible, and improve the coal unloading efficiency.

[0114] Specifically, according to the situation of the coal yard, several fixed hanging laser scanners are installed at the designated position on the top of the coal receiving bunker. The length of both coal receiving bunkers is 250 meters and the width is 7 meters. The coal receiving bunker is divided into 30 direction bins of 7 meters × 7 meters. It is designed to install 12 fixed laser 3D radars, and the laser 3D radars are installed directly above the coal pile. The laser 3D radar adopts an outdoor enhanced laser scanner, and the scanning radius of this scanner for the coal pile is more than 50 meters. The 12 radars can achieve full-range coverage of the coal pile in the yard.

[0115] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0116] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic control system for coal unloading, characterized in that, Including, A layout module for determining a number of monitoring areas according to the actual scope of the coal receiving pit, and arranging a laser scanner for each of the monitoring areas; A planning module for determining a starting coal unloading position and generating an initial coal unloading path according to the coal unloading operation requirements and the initial coal seam distribution map, and determining a standard operation area according to the starting coal unloading position; A monitoring module for monitoring the coal unloading process in real time, and generating a real-time scanned image corresponding to the starting coal unloading position and a current coal seam distribution map within the standard operation area according to the scanning results of the laser scanner; A path correction module for determining a coal unloading position to be selected according to the current coal seam distribution map, and correcting the initial coal unloading path according to the coal unloading position to be selected to generate an intermediate coal unloading path; A collision avoidance module for correcting the intermediate coal unloading path according to the safety range of the coal unloading trolley to obtain a target coal unloading path; The monitoring module includes an acquisition unit, a thickness analysis unit, a coal unloading state analysis unit, and a path correction unit, where The acquisition unit is used to acquire a real-time scanned image corresponding to the starting coal unloading position and the real-time coal seam height; The thickness analysis unit is used to analyze the real-time scanned image, and determine whether the coal seam thickness in the coal receiving pit is uniform according to the analysis result; The coal unloading state analysis unit is used to adjust the real-time coal unloading speed to a corrected coal unloading speed when it is determined that the coal seam thickness is not uniform, and is used to monitor the coal unloading state in real time when it is determined that the coal seam thickness is uniform; The path correction unit is used to correct the initial coal unloading path to an intermediate coal unloading path according to the current coal seam distribution map.

2. The control system for automatically controlled coal unloading according to claim 1, wherein The planning module includes a path planning unit and an operation area determination unit, where The path planning unit is used to determine a starting coal unloading position and generate an initial coal unloading path according to the coal unloading operation requirements and the initial coal seam distribution map; The operation area determination unit is used to determine a standard operation area according to the starting coal unloading position and the coal unloading operation requirements.

3. The control system for automatically controlling coal unloading according to claim 2, characterized in that, The path planning unit includes an acquisition subunit, a determination subunit, and a path generation subunit, where The acquisition subunit is used to acquire the coal unloading positions in the initial coal seam distribution map where the real-time coal seam height falls within the second standard coal seam height range; The determination subunit is used to calculate the coal receiving height corresponding to each coal unloading position according to the initial coal seam distribution map, and select the coal unloading position with the maximum coal receiving height as the starting coal unloading position; The path generation subunit sorts the coal unloading positions in ascending order of the real-time coal seam height, generates an initial coal unloading sequence number according to the sorting result, and generates an initial coal unloading path according to the starting coal unloading position and the initial coal unloading sequence number; Among them, the path generation subunit uses the starting coal unloading position as the origin, and uses the coal unloading positions corresponding to the initial coal unloading sequence numbers in ascending order as waypoints to generate an initial coal unloading path.

4. The control system for automatically controlling coal unloading according to claim 1, wherein, The acquisition unit includes a data acquisition subunit and a height calculation subunit, where The data acquisition subunit is used to record the coal receiving pit corresponding to the starting coal unloading position as the coal receiving pit to be monitored, and acquire the coal seam height imaging of the coal receiving pit to be monitored; The height calculation subunit is used to calculate the maximum height deviation value and the real-time coal seam height according to the coal seam height imaging.

5. The control system for automatically controlling coal unloading according to claim 4, characterized in that The coal unloading state analysis unit includes a determination subunit, a comparison subunit, and a control subunit, where the determination subunit is used to determine the real-time coal seam height according to the second standard coal seam height range; the comparison subunit is used to compare the real-time coal seam height with the second standard coal seam height range when the real-time coal seam height is not within the second standard coal seam height range, so as to analyze the operation state of the trolley; the control subunit is used to output a coal unloading stop instruction when the real-time coal seam height is greater than the maximum value of the second standard coal seam height range.

6. The control system for automatically controlling coal unloading according to claim 5, wherein, The path correction unit includes a data acquisition subunit, a data processing subunit, a standard value calculation subunit, and a data analysis subunit, where the data acquisition subunit is used to obtain the current coal seam distribution map of the standard monitoring area when the real-time coal seam height is greater than the maximum value of the second standard coal seam height range; the data processing subunit is used to obtain the real-time coal seam height at the adjacent position of the starting coal unloading position according to the current coal seam distribution map; the standard value calculation subunit calculates the first standard coal seam height according to the real-time coal unloading demand intensity; the data analysis subunit is used to correct the initial coal unloading path according to the comparison result between the real-time coal seam height and the first standard coal seam height.

7. The control system for automatically controlling coal unloading according to claim 4, wherein The height calculation subunit divides the coal seam height image into several simulated coal seam units with vertical lines, calculates the average coal seam height of each simulated coal seam unit and records it as the simulated coal seam height, adds up the simulated coal seam heights and divides by the number of simulated coal seam units to obtain the real-time coal seam height of the coal receiving pit to be monitored, subtracts the real-time coal seam height from each simulated coal seam height respectively to obtain several coal seam height differences, takes the absolute value of each coal seam height difference, and obtains the maximum value among the absolute values as the maximum height deviation value.

8. The control system for automatically controlling coal unloading according to claim 1, characterized in that, The collision avoidance module includes a range calculation unit and a route regulation unit, where the range calculation unit is used to calculate the safety range according to the actual distance between the coal unloading trolley and other coal unloading trolleys; the route regulation unit is used to control the coal unloading trolley to travel outside the safety range.

9. The control system for automatically controlling coal unloading according to claim 1, wherein, The path correction unit obtains the number of coal unloading positions to be selected and records it as the real-time correction number, and corrects the remaining actual coal unloading positions in the initial coal unloading path to the coal unloading positions to be selected according to the real-time correction number to obtain the intermediate coal unloading positions.

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