Artificial intelligent pebble coal transfer system of medium-speed coal mill and intelligent control method

Abstract

The invention relates to the field of pebble coal transfer of medium-speed coal mills, and provides an artificial intelligent pebble coal transfer system of a medium-speed coal mill and an intelligent control method. The emission control subsystem is used for calculating the pebble coal amount in the medium-speed coal mill in real time, generating an emission instruction when the pebble coal amount reaches a preset emission limit value, and controlling the medium-speed coal mill to discharge pebble coal according to the emission instruction; according to the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem, a planned transfer path is generated in real time; and the transfer subsystem is used for feeding back the real-time position coordinate information to the discharge control subsystem, executing transfer operation, acquiring pebble coal discharged by the medium-speed coal mill, and transferring the acquired pebble coal to a specified position area according to a planned transfer path generated by the discharge control subsystem in real time. The pebble coal transfer cost is effectively reduced, pebble coal transfer intelligence is improved, and a pebble coal transfer ecological chain with low cost and high intelligence is achieved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of pebble coal transportation for medium-speed coal mills, and in particular to an artificial intelligence transportation system and intelligent control method for pebble coal for medium-speed coal mills. Background Art

[0002] The medium-speed coal mill direct-blowing pulverizing system is currently the most widely used type of pulverizing system in coal-fired power station boilers due to its advantages of simple equipment, low power consumption, and flexible operation and adjustment. However, during the operation of the medium-speed coal mill, its grinding capacity for impurities such as gangue and stones carried in the raw coal is limited. These impurities cannot be effectively ground into coal powder, but are separated and discharged through the slag discharge hole at the bottom of the coal mill to form a certain amount of stone coal.

[0003] Generally, pebble coal is mainly composed of coal gangue, coal blocks, stones, coal powder and other debris. Its particle size is generally less than or equal to 50mm, and the bulk density range is usually 1300kg / m 3 ~1500kg / m 3 , the temperature is usually around 150℃. According to the ash composition test results, the mass percentage of ash in stone coal is very high, among which silicon dioxide, iron oxide and aluminum oxide have the highest content, which is the main reason for the high density and hardness of stone coal. Due to its high density, high hardness, high temperature and high dust, thermal power plants have certain difficulties in handling and transporting stone coal.

[0004] The medium-speed coal mill will continuously discharge pebble coal during normal operation. Therefore, it is necessary to regularly discharge the pebble coal from the slag discharge port of the medium-speed coal mill and transport it to the designated stacking location. Otherwise, the pebble coal will block the slag discharge port of the medium-speed coal mill and affect the normal operation of the medium-speed coal mill.

[0005] The existing stone coal discharge methods mainly include four technical routes, namely manual transfer, mechanical transfer, hydraulic transfer, and pneumatic transfer. Among them, the manual transfer method is the simplest and most widely used, but it has significant problems such as low automation level, poor on-site environment, and high labor intensity. The mechanical transfer method can largely solve the problems of the manual transfer method, but it has high requirements on the site. The newly added steel belt, vibrating transfer machine, scraper transfer machine, etc. all require a large installation space on site, which is difficult to implement on site. The number of newly added equipment is large, and the workload of later maintenance is large. The hydraulic transfer method consumes water resources and needs to solve problems such as water treatment. At the same time, the hydraulic transfer method also requires the excavation of hydraulic transfer pipelines in the vicinity of the coal mill, which has high requirements on site conditions. The pipelines used in the pneumatic transfer method are thinner and easy to arrange, and can also solve the problem of secondary dust pollution on site, but its transfer distance is short, there are many newly added equipment, and the workload of later wear and equipment maintenance is large, and the investment cost is high. Summary of the invention

[0006] The present disclosure aims to solve at least one of the problems existing in the prior art and provide an artificial intelligence transfer system and intelligent control method for pebble coal in a medium-speed coal mill.

[0007] In one aspect of the present disclosure, there is provided an artificial intelligence transfer system for pebble coal in a medium-speed coal mill, the transfer system comprising an emission control subsystem and a transfer subsystem;

[0008] The emission control subsystem is used to calculate the amount of pebble coal in the medium-speed coal mill in real time, generate an emission instruction when the amount of pebble coal reaches a preset emission limit, and control the medium-speed coal mill to discharge the pebble coal according to the emission instruction; and generate a planned transfer route in real time according to the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem;

[0009] The transfer subsystem is used to feed back the real-time position coordinate information to the emission control subsystem, execute the transfer operation, obtain the pebble coal discharged from the medium-speed coal mill, and transfer the obtained pebble coal to the designated location area according to the planned transfer path generated in real time by the emission control subsystem.

[0010] Optionally, the emission control subsystem includes an intelligent controller and a local control cabinet electrically connected to the intelligent controller, the number of the local control cabinets is the same as the number of the medium-speed coal mills, and each of the local control cabinets is electrically connected to each of the medium-speed coal mills in a one-to-one correspondence;

[0011] The intelligent controller is used to read the real-time operating parameters of each of the medium-speed coal mills from the DCS system, calculate the amount of pebble coal in each of the medium-speed coal mills according to the real-time operating parameters, generate a corresponding pebble coal discharge instruction when the calculated amount of pebble coal in a certain medium-speed coal mill reaches the preset discharge limit, and send the pebble coal discharge instruction to the local control cabinet corresponding to the medium-speed coal mill;

[0012] The local control cabinet is used to receive the pebble coal discharge instruction, and according to the pebble coal discharge instruction, execute the automatic discharge process flow according to the preset discharge program, and control the corresponding medium-speed coal mill to discharge the pebble coal.

[0013] Optionally, the intelligent controller is used to calculate the amount of pebble coal in each of the medium-speed coal mills according to the real-time operating parameters, including:

[0014] The intelligent controller is used to calculate the amount of pebble coal in the medium-speed coal mill according to the following formula:

[0015] M_s=M×k;

[0016] Wherein, M_s represents the amount of pebble coal in the medium-speed coal mill; M represents the total coal consumption of the medium-speed coal mill from the last time the pebble coal was discharged to the current time t2 and t represents time, m represents the real-time coal quantity data of the medium-speed coal mill; k represents the pebble coal emission rate of the medium-speed coal mill and k=f(x1,…,xn), x1,…,xn are the 1st,…,nth real-time operating parameters of the medium-speed coal mill respectively, and f represents the pebble coal emission rate calculation model.

[0017] Optionally, the transfer subsystem includes a weight metering device; the weight metering device is used to weigh the weight of the pebble coal discharged from the medium-speed coal mill in a single time;

[0018] The intelligent controller is also used for:

[0019] Determine the actual pebble coal discharge rate of the medium-speed coal mill according to the total coal consumption of the medium-speed coal mill in a single time and the weight of the pebble coal discharged in a single time;

[0020] The pebble coal emission rate calculation model is corrected according to the actual pebble coal emission rate and the corresponding real-time operating parameters of the medium-speed coal mill.

[0021] Optionally, the intelligent controller is further used for:

[0022] When the amount of pebble coal in a medium-speed coal mill calculated in real time reaches a preset percentage of the preset emission limit, a preparation discharge instruction is generated, and the pebble coal discharge time of the medium-speed coal mill is estimated. According to the preparation discharge instruction, the transfer subsystem is controlled to arrive at the position where the medium-speed coal mill discharges the pebble coal before the pebble coal discharge time arrives; wherein the preset percentage satisfies the requirement of being greater than 0 and less than 1.

[0023] Optionally, the intelligent controller is further used for:

[0024] When the estimated pebble coal emission times of several medium-speed coal mills are the same, the preset emission limit corresponding to each medium-speed coal mill is lowered so that each medium-speed coal mill reaches the corresponding lowered preset emission limit in turn, so that each medium-speed coal mill can discharge pebble coal at staggered peaks.

[0025] Optionally, the transport subsystem includes a grabbing and fixing device, an intelligent transporter, and a discharge device;

[0026] The grabbing and fixing device is used to grab the pebble coal slag bucket loaded with pebble coal from the position where the pebble coal is discharged from the corresponding medium-speed coal mill, and is fastened to the grabbed pebble coal slag bucket;

[0027] The intelligent transporter is used to transport the pebble coal slag bucket loaded with pebble coal to the designated location area according to the planned transport route;

[0028] The unloading device is used to unload the pebble coal in the pebble coal slag bucket to the designated location area when the pebble coal slag bucket loaded with pebble coal is transported to the designated location area;

[0029] The intelligent transporter is also used to transport the empty pebble coal slag bucket back to the corresponding medium-speed coal mill discharge pebble coal position according to the planned transport path;

[0030] The grabbing and fixing device is also used to put the empty pebble coal slag bucket back to the position where the corresponding medium-speed coal mill discharges pebble coal.

[0031] Optionally, the intelligent transporter includes a real-time image transmission unit, a positioning coordinate unit, an obstacle detection unit, and a mechanical driving unit;

[0032] The real-time image transmission unit is used to obtain the surrounding image of the intelligent transporter in real time during the driving process of the intelligent transporter, and transmit the surrounding image to the emission control subsystem;

[0033] The positioning coordinate unit is used to determine the real-time position coordinate information of the intelligent transporter during the driving process of the intelligent transporter, feed back the expected coordinate information of the intelligent transporter at the next moment on the planned transport path, and transmit the real-time position coordinate information to the emission control subsystem;

[0034] The obstacle detection unit is used to detect obstacles on the planned transport path in real time during the driving process of the intelligent transporter, obtain laser distance sensing information of the obstacles, and transmit the laser distance sensing information of the obstacles to the emission control subsystem;

[0035] The mechanical driving unit is used to control the intelligent transporter to travel along the planned transport path according to the intelligent driving instructions issued by the emission control subsystem;

[0036] The emission control subsystem is also used to generate a new planned transfer path based on the surrounding images, the real-time location coordinate information, and the laser distance sensing information of the obstacle to bypass the obstacle, and to issue an alarm signal and manual assistance information when the new planned transfer path exceeds the preset safe driving area.

[0037] Optionally, the transport subsystem adopts an electric drive mode; a charging pile is provided in the preset safe driving area;

[0038] The emission control subsystem is also used for:

[0039] The transfer subsystem is controlled to dock and serve at the charging pile position when the transfer operation is not performed, and the charging pile is controlled to charge the transfer subsystem when the power of the transfer subsystem is insufficient.

[0040] Another aspect of the present disclosure provides an intelligent control method for a medium-speed coal mill pebble coal artificial intelligence transfer system, which is applied to the medium-speed coal mill pebble coal artificial intelligence transfer system described above; the transfer method comprises:

[0041] The emission control subsystem calculates the amount of pebble coal in the medium-speed coal mill in real time, generates an emission instruction when the amount of pebble coal reaches a preset emission condition, and controls the medium-speed coal mill to discharge the pebble coal according to the emission instruction;

[0042] The transport subsystem feeds back real-time position coordinate information to the emission control subsystem;

[0043] The emission control subsystem generates a planned transfer route in real time according to the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem;

[0044] The transfer subsystem performs transfer operations, obtains the pebble coal discharged from the medium-speed coal mill, and transfers the obtained pebble coal to a designated location area according to the planned transfer route generated in real time by the emission control subsystem.

[0045] Compared with the existing technology, the present invention designs an artificial intelligence pebble coal transfer system and an intelligent control method for a medium-speed coal mill, which can completely replace the existing manual transfer and incompletely automated transfer systems of pebble coal, aiming at the application scenario of pebble coal transfer. It can effectively reduce the cost of pebble coal transfer, improve the intelligence of pebble coal transfer, and realize a low-cost and highly intelligent pebble coal transfer ecological chain. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0047] Figure 1 A schematic diagram of the structure of an artificial intelligence transfer system for pebble coal in a medium-speed coal mill provided in one embodiment of the present disclosure;

[0048] Figure 2 A flow chart of an intelligent control method for an artificial intelligence transfer system for pebble coal in a medium-speed coal mill provided in another embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in each embodiment of the present disclosure, many technical details are proposed in order to enable readers to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed for protection in the present disclosure can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present disclosure. The various embodiments can be combined and referenced with each other without contradiction.

[0050] One embodiment of the present disclosure relates to an artificial intelligence transfer system for pebble coal in a medium-speed coal mill, including an emission control subsystem and a transfer subsystem.

[0051] The emission control subsystem is used to calculate the amount of pebble coal in the medium-speed coal mill in real time. When the amount of pebble coal reaches the preset emission limit, an emission instruction is generated, and the medium-speed coal mill is controlled to discharge the pebble coal according to the emission instruction. The emission control subsystem is also used to generate a planned transfer route in real time based on the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem.

[0052] Specifically, the preset emission limit can be set according to actual needs. The planned transfer path refers to the transportation path of the pebble coal planned by the emission control subsystem, so that the transfer subsystem transfers the pebble coal to the designated location area along the planned transfer path. When generating the planned transfer path, the emission control subsystem can use any path planning algorithm, as long as it can generate the planned transfer path based on the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem.

[0053] The transfer subsystem is used to feed back real-time position coordinate information to the emission control subsystem, execute transfer operations, obtain the pebble coal discharged from the medium-speed coal mill, and transfer the obtained pebble coal to the designated location area according to the planned transfer path generated in real time by the emission control subsystem.

[0054] Specifically, the transfer operation refers to the operation process in which the transfer subsystem transfers the pebble coal discharged from the medium-speed coal mill to a designated location area. The designated location area can be any area in the pebble coal storage yard.

[0055] Compared with the existing technology, the artificial intelligence transfer system for pebble coal in a medium-speed coal mill provided in the embodiment of the present disclosure can completely replace the existing manual transfer and incompletely automated transfer systems for pebble coal, reduce the cost of pebble coal transfer, improve the intelligence of pebble coal transfer, and realize a low-cost, highly intelligent pebble coal transfer ecological chain.

[0056] Exemplary, combined Figure 1 The emission control subsystem includes an intelligent controller 3 and a local control cabinet 6 electrically connected to the intelligent controller 3. The number of the local control cabinets 6 is the same as the number of the medium-speed coal mills 7, and each local control cabinet is electrically connected to each medium-speed coal mill in a one-to-one correspondence. Figure 1 As shown, when there are two medium-speed coal mills 7 , the emission control subsystem may include two local control cabinets 6 , and each local control cabinet 6 is electrically connected to each medium-speed coal mill 7 in a one-to-one correspondence.

[0057] The intelligent controller 3 is used to read the real-time operating parameters of each medium-speed coal mill 7 from the DCS system 1, and calculate the amount of pebble coal in each medium-speed coal mill 7 according to the real-time operating parameters. When the calculated amount of pebble coal in a certain medium-speed coal mill 7 reaches the preset emission limit, a corresponding pebble coal emission instruction is generated, and the pebble coal emission instruction is sent to the local control cabinet 6 corresponding to the medium-speed coal mill 7.

[0058] Specifically, the DCS system here refers to the distributed control system (DCS) electrically connected to each medium-speed coal mill. Figure 1, the intelligent controller 3 reads unidirectional data from the DCS system 1 through the unidirectional data transmission line 2, and does not feed back signals to the DCS system 1.

[0059] The preset emission limit value may be set based on experience or actual needs, and this embodiment does not limit this.

[0060] The pebble coal discharge instruction is used to instruct the local control cabinet 6 to start the preset discharge program, so that the local control cabinet 6 executes the automatic discharge process flow according to the preset discharge program, and controls the corresponding medium-speed coal mill 7 to discharge the pebble coal.

[0061] The local control cabinet 6 is used to receive the pebble coal discharge instruction, and according to the pebble coal discharge instruction, execute the automatic discharge process flow according to the preset discharge program, and control the corresponding medium-speed coal mill 7 to discharge the pebble coal.

[0062] Specifically, the preset discharge program is used to indicate the algorithm corresponding to the automatic discharge process flow. The automatic discharge process flow can be set according to the actual process of each medium-speed coal mill discharging stone coal. This embodiment does not limit the specific steps included in the preset discharge program and the automatic discharge process flow, as long as the local control cabinet 6 can control the corresponding medium-speed coal mill to discharge stone coal by executing the automatic discharge process flow according to the preset discharge program.

[0063] This implementation mode can control the discharge of pebble coal from each medium-speed coal mill according to the actual operation conditions of each medium-speed coal mill, thereby achieving precise control of the discharge of pebble coal.

[0064] Exemplarily, the intelligent controller is used to calculate the amount of pebble coal in each medium-speed coal mill according to the real-time operating parameters, including: the intelligent controller is used to calculate the amount of pebble coal in the medium-speed coal mill according to the following formula:

[0065] M_s=M×k.

[0066] Wherein, M_s represents the amount of pebble coal in the medium-speed coal mill. M represents the total coal consumption of the medium-speed coal mill from the last time the pebble coal was discharged to the current time t2 and can be calculated based on Calculated, t represents time, m represents real-time coal quantity data of medium-speed coal mill, k represents the pebble coal emission rate of medium-speed coal mill and k = f(x1, ..., xn), x1, ..., xn are the 1st, ..., nth real-time operating parameters of medium-speed coal mill respectively, and f represents the pebble coal emission rate calculation model.

[0067] Specifically, the real-time operating parameters of the medium-speed coal mill include parameters for indicating the operating characteristics of the medium-speed coal mill and their corresponding real-time parameter values, such as coal powder fineness, operating temperature and their corresponding real-time parameter values.

[0068] The pebble coal emission rate calculation model can be obtained by training any machine learning model. The training data includes the historical operating parameters of the medium-speed coal mill and its corresponding historical actual pebble coal emission rate. The historical operating data is used as the input of the machine learning model, and the historical actual pebble coal emission rate is used as the output of the machine learning model. Among them, within a period of time, the historical actual pebble coal emission rate of the medium-speed coal mill is equal to the amount of pebble coal discharged by the medium-speed coal mill during the period divided by the total amount of coal processed by the medium-speed coal mill during the period.

[0069] This implementation method can effectively determine the amount of pebble coal in the medium-speed coal mill in real time, and further achieve precise control of pebble coal discharge.

[0070] Exemplarily, the transfer subsystem includes a weight metering device, which is used to weigh the stone coal discharged from the medium-speed coal mill in a single time.

[0071] The intelligent controller is also used to: determine the actual pebble coal emission rate of the medium-speed coal mill based on the total amount of coal consumption of the medium-speed coal mill in a single time and the weight of the pebble coal discharged in a single time; and correct the pebble coal emission rate calculation model based on the actual pebble coal emission rate and its corresponding real-time operating parameters of the medium-speed coal mill.

[0072] Specifically, after obtaining the pebble coal discharged from the medium-speed coal mill in a single time, the transfer subsystem can use a weight measuring device to weigh the weight of the obtained pebble coal, and use the weight as the weight of the pebble coal discharged from the medium-speed coal mill in a single time.

[0073] The actual pebble coal emission rate of the medium-speed coal mill is equal to the weight of the pebble coal discharged by the medium-speed coal mill in a single time divided by the total coal consumption of the medium-speed coal mill in a single time, where the total coal consumption of the medium-speed coal mill in a single time refers to the total amount of coal actually processed by the medium-speed coal mill when discharging the pebble coal in a single discharge.

[0074] The actual pebble coal emission rate of the medium-speed coal mill is taken as the output of the pebble coal emission rate calculation model f, and the real-time operating parameters of the medium-speed coal mill corresponding to the actual pebble coal emission rate are taken as the input of the pebble coal emission rate calculation model f. The parameters of the pebble coal emission rate calculation model are adjusted and optimized to realize the correction of the pebble coal emission rate calculation model.

[0075] In particular, the intelligent controller can also be used to compare the pebble coal emission rate k calculated by the pebble coal emission rate calculation model f with the actual pebble coal emission rate k' under the same real-time operating parameters, and use the difference between the two as the emission rate correction value Δk to evaluate the pebble coal emission rate calculation model through the emission rate correction value Δk. Among them, the smaller the emission rate correction value Δk, the closer the pebble coal emission rate k is to the actual pebble coal emission rate k', and the higher the accuracy of the pebble coal emission rate calculation model f.

[0076] By correcting the calculation model of the pebble coal emission rate, the amount of pebble coal in the medium-speed coal mill can be further determined in real time, effectively and accurately, thereby achieving precise control of pebble coal emission.

[0077] Exemplarily, the intelligent controller is also used to: when the amount of pebble coal in a medium-speed coal mill calculated in real time reaches a preset percentage of a preset emission limit, generate a prepare-to-emit instruction, estimate the pebble coal emission time of the medium-speed coal mill, and control the transfer subsystem to arrive at the position where the medium-speed coal mill discharges the pebble coal before the pebble coal emission time arrives according to the prepare-to-emit instruction; wherein the preset percentage satisfies the requirement of being greater than 0 and less than 1.

[0078] Specifically, the preset percentage can be set according to actual needs. For example, the preset percentage can be set to 80%, 85%, 90%, etc. The prepare discharge instruction is used to instruct the transfer subsystem to prepare for transfer so as to arrive at the position where the corresponding medium-speed coal mill discharges the pebble coal before the pebble coal discharge time arrives and stand by.

[0079] It should be noted that the present embodiment does not limit the specific method for estimating the pebble coal discharge time of the medium-speed coal mill, and those skilled in the art can choose according to actual needs. For example, assuming that the preset percentage is 80%, the intelligent controller can estimate the time required for the medium-speed coal mill to produce the remaining 20% ​​of the pebble coal of the preset emission limit based on the average output speed of the pebble coal when the amount of pebble coal in the medium-speed coal mill reaches 80% of the preset emission limit. This time is added to the time when the amount of pebble coal in the medium-speed coal mill reaches 80% of the preset emission limit, and the estimated pebble coal discharge time of the medium-speed coal mill can be obtained.

[0080] By using an intelligent controller to control the transfer subsystem to reach the position where the corresponding medium-speed coal mill discharges pebble coal before the pebble coal discharge time arrives, the waiting time of the transfer subsystem can be effectively reduced and the pebble coal transfer efficiency can be improved.

[0081] Exemplarily, the intelligent controller is also used to: when the estimated pebble coal emission times of several medium-speed coal mills are the same, lower the preset emission limit corresponding to each medium-speed coal mill, so that each medium-speed coal mill reaches its corresponding lowered preset emission limit in turn, so that each medium-speed coal mill can discharge pebble coal at a staggered peak.

[0082] For example, assuming that the intelligent controller estimates that the pebble coal emission times of the three medium-speed coal mills are the same, the intelligent controller can lower the preset emission limits corresponding to the three medium-speed coal mills to 70%, 80%, and 90% of the original preset emission limits, respectively. When each medium-speed coal mill reaches its corresponding lowered preset emission limit in turn, the on-site control cabinets corresponding to each medium-speed coal mill are controlled to execute their respective automatic emission process flows in turn, so that each medium-speed coal mill can discharge pebble coal in staggered peaks.

[0083] This implementation can effectively prevent the transfer subsystem from being unable to timely transfer the pebble coal discharged simultaneously from multiple medium-speed coal mills it serves, further reduce the waiting time of the transfer subsystem, and improve the efficiency of pebble coal transfer.

[0084] Exemplarily, the transfer subsystem includes a grabbing fixture, an intelligent transporter, and a discharge device.

[0085] The grabbing and fixing device is used to grab the pebble coal slag bucket loaded with pebble coal from the position where the pebble coal is discharged from the corresponding medium-speed coal mill, and is tightly connected to the grabbed pebble coal slag bucket.

[0086] Specifically, the grabbing and fixing device can be a mechanical gripper. During the transportation and unloading process of the stone coal slag bucket, the grabbing and fixing device and the stone coal slag bucket are kept tightly connected, and relative displacement, sliding, falling off, etc. will not occur.

[0087] The intelligent transporter is used to transport the pebble coal slag bucket loaded with pebble coal to the designated location area according to the planned transport route.

[0088] Specifically, combined with Figure 1 The intelligent transporter 10 can transport the pebble coal slag bucket loaded with pebble coal to a designated location area such as a designated area in the pebble coal storage yard 12 according to the planned transport route 9. The intelligent transporter 10 can adopt an unmanned driving mode to improve the efficiency of pebble coal transport.

[0089] The unloading device is used to unload the pebble coal in the pebble coal slag bucket to the designated location area when the pebble coal slag bucket loaded with the pebble coal is transported to the designated location area.

[0090] The intelligent transporter is also used to transport the empty gravel coal slag bucket back to the corresponding medium-speed coal mill discharge location of the gravel coal according to the planned transport route.

[0091] The grabbing fixture is also used to return the empty pebble coal slag bucket to the corresponding position where the medium-speed coal mill discharges pebble coal.

[0092] Specifically, combined with Figure 1, the intelligent transporter 10 can be precisely positioned with the medium-speed coal mill 7 to transport the pebble coal slag bucket 5 back to the corresponding position of the medium-speed coal mill 7 where the pebble coal is discharged. The replay position of the pebble coal slag bucket 5 is consistent with the position of the pebble coal slag bucket 5 when it is grabbed by the grabbing fixture. For example, Figure 1 As shown, the replay position of the pebble coal slag bucket 5 and the position of the pebble coal slag bucket 5 when it is grabbed by the grabbing and fixing device can both be located below the pebble coal outlet of the medium-speed coal mill.

[0093] Exemplarily, the intelligent transporter includes a real-time image transmission unit, a positioning coordinate unit, an obstacle detection unit, and a mechanical driving unit.

[0094] The real-time image transmission unit is used to obtain the surrounding images of the intelligent transporter in real time during the driving process of the intelligent transporter, and transmit the surrounding images to the emission control subsystem.

[0095] The positioning coordinate unit is used to determine the real-time position coordinate information of the intelligent transporter during its travel, to feed back the expected coordinate information of the intelligent transporter at the next moment on the planned transfer path, and to transmit the real-time position coordinate information to the emission control subsystem.

[0096] The obstacle detection unit is used to detect obstacles on the planned transfer path in real time during the driving process of the intelligent transporter, obtain the laser distance sensing information of the obstacles, and transmit the laser distance sensing information of the obstacles to the emission control subsystem.

[0097] The mechanical driving unit is used to control the intelligent transporter to travel along the planned transfer path according to the intelligent driving instructions issued by the emission control subsystem.

[0098] The emission control subsystem is also used to generate a new planned transfer path based on surrounding images, real-time location coordinate information, and laser distance sensing information of obstacles to bypass obstacles, and to issue an alarm signal and manual assistance information when the new planned transfer path exceeds the preset safe driving area.

[0099] Specifically, the preset safe driving area can be pre-demarcated according to the location of the medium-speed coal mill and the location of the pebble coal storage yard, so that the medium-speed coal mill and the pebble coal storage yard are both within the preset safe driving area. Figure 1 As shown, the preset safe driving area 8 may be an area demarcated by a dotted line, and the medium-speed coal mill 7 and the pebble coal storage yard 12 are both within the range of the area.

[0100] It should be noted that, combined with Figure 1When the emission control subsystem includes an intelligent controller 3, the real-time image transmission unit, the positioning coordinate unit, the obstacle detection unit, and the mechanical driving unit in the intelligent transporter 10 can transmit the relevant information to the emission control subsystem to the intelligent controller 3, so that the intelligent controller 3 generates a new planned transfer path 9 according to the surrounding images, real-time position coordinate information, and laser distance sensing information of the obstacle to bypass the obstacle 11, and when the new planned transfer path 9 exceeds the preset safe driving area 8, an alarm signal and manual assistance information are issued to notify relevant personnel to manually generate a new transfer planning path 9 or eliminate the obstacle 11.

[0101] Exemplarily, the transport subsystem adopts an electric drive mode, and charging piles are arranged in the preset safe driving area.

[0102] The emission control subsystem is also used to: control the transfer subsystem to dock at the charging pile position for servo when not performing transfer operations, and control the charging pile to charge the transfer subsystem when the power of the transfer subsystem is insufficient.

[0103] Specifically, combined with Figure 1 , a charging pile 4 is arranged in the preset safe driving area 8. When the emission control subsystem includes the intelligent controller 3 and the transport subsystem includes the intelligent transporter 10, the intelligent controller 3 can control the intelligent transporter 10 to park at the position of the charging pile 4 when not performing the transport operation, and control the charging pile 4 to charge the intelligent transporter 10 when the power of the intelligent transporter 10 is insufficient, so that the intelligent transporter 10 can maintain sufficient power.

[0104] Another embodiment of the present disclosure relates to an intelligent control method for an artificial intelligence transfer system of pebble coal in a medium-speed coal mill, which is applied to the artificial intelligence transfer system of pebble coal in a medium-speed coal mill described in the above embodiment.

[0105] like Figure 2 As shown, the intelligent control method of the artificial intelligence transfer system of pebble coal in a medium-speed coal mill includes:

[0106] Step S210, the emission control subsystem calculates the amount of pebble coal in the medium-speed coal mill in real time, and when the amount of pebble coal reaches the preset emission condition, generates an emission instruction, and controls the medium-speed coal mill to discharge the pebble coal according to the emission instruction.

[0107] Step S220: the transport subsystem feeds back real-time location coordinate information to the emission control subsystem.

[0108] Step S230, the emission control subsystem generates a planned transfer route in real time according to the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem.

[0109] Step S240, the transfer subsystem performs the transfer operation, obtains the pebble coal discharged from the medium-speed coal mill, and transfers the obtained pebble coal to the designated location area according to the planned transfer path generated in real time by the emission control subsystem.

[0110] Compared with the prior art, the intelligent control method of the artificial intelligence transfer system of pebble coal in a medium-speed coal mill provided in the embodiment of the present invention is targeted at the application scenario of pebble coal transfer and the corresponding intelligent control method is developed in combination with the characteristics of the medium-speed coal mill. It can effectively reduce the cost of pebble coal transfer, improve the intelligence of pebble coal transfer, and realize a low-cost and highly intelligent pebble coal transfer ecological chain.

[0111] Those skilled in the art will appreciate that the above-mentioned embodiments are specific embodiments for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present disclosure.

Claims

1. An artificial intelligence transfer system for pebble coal in a medium-speed coal mill, characterized in that: The transfer system includes an emission control subsystem and a transfer subsystem; The emission control subsystem is used to calculate the amount of pebble coal in the medium-speed coal mill in real time, and when the amount of pebble coal reaches a preset emission limit, generate an emission instruction, and control the medium-speed coal mill to discharge the pebble coal according to the emission instruction; And, generating a planned transfer route in real time according to the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem; The transfer subsystem is used to feed back the real-time position coordinate information to the emission control subsystem, execute the transfer operation, obtain the pebble coal discharged from the medium-speed coal mill, and transfer the obtained pebble coal to the designated location area according to the planned transfer path generated in real time by the emission control subsystem.

2. The transport system according to claim 1, characterized in that: The emission control subsystem includes an intelligent controller and a local control cabinet electrically connected to the intelligent controller. The number of the local control cabinets is the same as the number of the medium-speed coal mills, and each of the local control cabinets is electrically connected to each of the medium-speed coal mills in a one-to-one correspondence. The intelligent controller is used to read the real-time operating parameters of each of the medium-speed coal mills from the DCS system, calculate the amount of pebble coal in each of the medium-speed coal mills according to the real-time operating parameters, generate a corresponding pebble coal discharge instruction when the calculated amount of pebble coal in a certain medium-speed coal mill reaches the preset discharge limit, and send the pebble coal discharge instruction to the local control cabinet corresponding to the medium-speed coal mill; The local control cabinet is used to receive the pebble coal discharge instruction, and according to the pebble coal discharge instruction, execute the automatic discharge process flow according to the preset discharge program, and control the corresponding medium-speed coal mill to discharge the pebble coal.

3. The transport system according to claim 2, characterized in that: The intelligent controller is used to calculate the amount of pebble coal in each of the medium-speed coal mills according to the real-time operating parameters, including: The intelligent controller is used to calculate the amount of pebble coal in the medium-speed coal mill according to the following formula: M_s=M×k; Wherein, M_s represents the amount of pebble coal in the medium-speed coal mill; M represents the total coal consumption of the medium-speed coal mill from the last time the pebble coal was discharged to the current time t2 and t represents time, m represents the real-time coal quantity data of the medium-speed coal mill; k represents the pebble coal emission rate of the medium-speed coal mill and k=f(x1,…,xn), x1,…,xn are the 1st,…,nth real-time operating parameters of the medium-speed coal mill respectively, and f represents the pebble coal emission rate calculation model.

4. The transport system according to claim 3, characterized in that: The transfer subsystem includes a weight metering device; the weight metering device is used to weigh the weight of the pebble coal discharged from the medium-speed coal mill in a single time; The intelligent controller is also used for: Determine the actual pebble coal discharge rate of the medium-speed coal mill according to the total coal consumption of the medium-speed coal mill in a single time and the weight of the pebble coal discharged in a single time; The pebble coal emission rate calculation model is corrected according to the actual pebble coal emission rate and the corresponding real-time operating parameters of the medium-speed coal mill.

5. The transport system according to claim 2, characterized in that: The intelligent controller is also used for: When the amount of pebble coal in a medium-speed coal mill calculated in real time reaches a preset percentage of the preset emission limit, a preparation discharge instruction is generated, and the pebble coal discharge time of the medium-speed coal mill is estimated. According to the preparation discharge instruction, the transfer subsystem is controlled to arrive at the position where the medium-speed coal mill discharges the pebble coal before the pebble coal discharge time arrives; wherein the preset percentage satisfies the requirement of being greater than 0 and less than 1.

6. The transport system according to claim 2, characterized in that: The intelligent controller is also used for: When the estimated pebble coal emission times of several medium-speed coal mills are the same, the preset emission limit corresponding to each medium-speed coal mill is lowered so that each medium-speed coal mill reaches the corresponding lowered preset emission limit in turn, so that each medium-speed coal mill can discharge pebble coal at staggered peaks.

7. The transport system according to any one of claims 1 to 6, characterized in that: The transfer subsystem includes a grabbing and fixing device, an intelligent transporter and a discharge device; The grabbing and fixing device is used to grab the pebble coal slag bucket loaded with pebble coal from the position where the pebble coal is discharged from the corresponding medium-speed coal mill, and is fastened to the grabbed pebble coal slag bucket; The intelligent transporter is used to transport the pebble coal slag bucket loaded with pebble coal to the designated location area according to the planned transport route; The unloading device is used to unload the pebble coal in the pebble coal slag bucket to the designated location area when the pebble coal slag bucket loaded with pebble coal is transported to the designated location area; The intelligent transporter is also used to transport the empty pebble coal slag bucket back to the position where the corresponding medium-speed coal mill discharges pebble coal according to the planned transport path; The grabbing and fixing device is also used to return the empty pebble coal slag bucket to the position where the corresponding medium-speed coal mill discharges pebble coal.

8. The transport system according to claim 7, characterized in that: The intelligent transporter includes a real-time image transmission unit, a positioning coordinate unit, an obstacle detection unit, and a mechanical driving unit; The real-time image transmission unit is used to obtain the surrounding image of the intelligent transporter in real time during the driving process of the intelligent transporter, and transmit the surrounding image to the emission control subsystem; The positioning coordinate unit is used to determine the real-time position coordinate information of the intelligent transporter during the driving process of the intelligent transporter, feed back the expected coordinate information of the intelligent transporter at the next moment on the planned transport path, and transmit the real-time position coordinate information to the emission control subsystem; The obstacle detection unit is used to detect obstacles on the planned transport path in real time during the driving process of the intelligent transporter, obtain laser distance sensing information of the obstacles, and transmit the laser distance sensing information of the obstacles to the emission control subsystem; The mechanical driving unit is used to control the intelligent transporter to travel along the planned transport path according to the intelligent driving instructions issued by the emission control subsystem; The emission control subsystem is also used to generate a new planned transfer path based on the surrounding images, the real-time location coordinate information, and the laser distance sensing information of the obstacle to bypass the obstacle, and to issue an alarm signal and manual assistance information when the new planned transfer path exceeds the preset safe driving area.

9. The transport system according to claim 8, characterized in that: The transport subsystem adopts an electric drive mode; a charging pile is provided in the preset safe driving area; The emission control subsystem is also used for: The transfer subsystem is controlled to dock and serve at the charging pile position when the transfer operation is not performed, and the charging pile is controlled to charge the transfer subsystem when the power of the transfer subsystem is insufficient.

10. An intelligent control method for an artificial intelligence transfer system of pebble coal in a medium-speed coal mill, characterized in that: Applicable to the artificial intelligence transfer system for pebble coal in a medium-speed coal mill according to any one of claims 1 to 9; the control method comprises: The emission control subsystem calculates the amount of pebble coal in the medium-speed coal mill in real time, generates an emission instruction when the amount of pebble coal reaches a preset emission condition, and controls the medium-speed coal mill to discharge the pebble coal according to the emission instruction; The transport subsystem feeds back real-time position coordinate information to the emission control subsystem; The emission control subsystem generates a planned transfer route in real time according to the position coordinates of the medium-speed coal mill and the real-time position coordinate information fed back by the transfer subsystem; The transfer subsystem performs transfer operations, obtains the pebble coal discharged from the medium-speed coal mill, and transfers the obtained pebble coal to a designated location area according to the planned transfer route generated in real time by the emission control subsystem.

Images