Unattended system of bucket wheel machine

Abstract

The invention provides an unattended system of a bucket wheel machine, and belongs to the technical field of automation. Comprising a bucket wheel machine positioning system, a coal stack detection system, an instantaneous coal flow detection system, a bucket wheel machine safety protection system, a material height detection system, a bucket wheel machine video monitoring system, a coal digital management and control system, a bucket wheel control system, a wireless communication device, a remote control system, a remote console and a coal stack three-dimensional dynamic display system. Unattended operation of the bucket wheel machine can be achieved, meanwhile, the three-dimensional dynamic structure of a coal stack can be remotely checked in real time, the coal piling condition can be digitally and three-dimensionally mastered, specific coal seam data and three-dimensional data of any coal stack can be known through digital management, and the bucket wheel machine has the advantages of being high in real-time performance, high in reliability and the like. Automatic operation of the bucket wheel machine can be effectively and automatically controlled, a safety system is arranged, and automatic operation is achieved.

Description

Technical Field

[0001] The invention relates to the field of automation technology, in particular to an unattended system for a bucket wheel machine. Background Art

[0002] Bucket wheel excavator generally refers to bucket wheel stacker and reclaimer, which refers to a high-efficiency loading and unloading machine used in large dry bulk cargo yards for continuous transportation that can both stack and retrieve materials. It consists of a belt conveyor arm that can pitch and swing horizontally and a bucket wheel, frame, and operating mechanism at its front end. The belt can run in both directions. When retrieving materials, the bucket wheel retrieves the materials and sends them out through the conveyor arm. When stacking materials, the goods transported by the main conveyor are thrown into the yard through the conveyor arm. It is a rail-type loading and unloading machine that uses bucket wheels to continuously retrieve materials and uses the belt conveyor on the machine to continuously stack materials. It is a special machine in the storage yard of bulk materials (bulk materials). It has evolved from bucket wheel excavators. It can form a storage yard transportation mechanization system with unloading (ship) machines, belt conveyors, and loading (car) machines. The production capacity can reach more than 10,000 tons per hour. The operation of bucket wheel stacker and reclaimer has a strong regularity and is easy to realize automation. The control methods include manual, semi-automatic, and automatic. Bucket wheel stacker and reclaimer are divided into two types according to the structure: boom type and bridge type. Some equipment only has the function of reclaiming materials, which is called bucket wheel reclaimer.

[0003] Coal stacking and reclaiming is one of the key links in the power production of thermal power plants. Bucket wheel stackers are the main equipment for coal stacking and reclaiming. At present, most of them are still operated manually. However, manual operations still have problems such as low operation accuracy, irregular operations, and low operation efficiency. With the development of unmanned control systems in recent years, this technology has also been applied to bucket wheel machines. After searching, Chinese patent technology proposes a fully automatic unattended system for bucket wheel machines in thermal power plants (CN213693949U). This patent can realize wireless control and video monitoring of bucket wheel machines in actual production. However, in actual production, bucket wheel machines cannot automatically locate and find operation entry points, and cannot operate according to actual stacking conditions. At the same time, it is impossible to know the dynamic coal stack status of the coal yard in real time, making it impossible to remotely grasp the coal stack data globally. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned bucket wheel machine system to solve the technical problem that the existing unmanned bucket wheel machine system cannot know the dynamic coal pile status of the coal yard in real time, making it impossible to remotely grasp the coal pile data globally.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] The bucket wheel machine unmanned system includes a bucket wheel machine positioning system, a coal pile detection system, an instantaneous coal flow detection system, a bucket wheel machine safety protection system, a material height detection system, a bucket wheel machine video monitoring system, a coal digital management and control system, a bucket wheel control system, a wireless communication device, a remote control system, a remote control console and a coal pile three-dimensional dynamic display system. The bucket wheel machine positioning system, the coal pile detection system, the instantaneous coal flow detection system, the material height detection system, the bucket wheel machine safety protection system and the bucket wheel machine video monitoring system are all connected to the bucket wheel control system. The bucket wheel control system is wirelessly connected to the remote control system via the wireless communication device. The remote control console, the coal digital management and control system and the coal pile three-dimensional dynamic display system are all connected to the remote control system.

[0007] Furthermore, the bucket wheel positioning system is to install a positioning device and a position calibration device on the bucket wheel to achieve precise positioning of the bucket wheel's stroke, rotation, and pitch, wherein the position accuracy is less than 10 cm, and the angle accuracy is less than 0.1 degrees. The trolley travel mechanism and the slewing mechanism are positioned using Gray busbars, and the pitch is positioned using a pitch angle sensor. Each bucket wheel trolley travel mechanism is equipped with a set of Gray busbar positioning devices, and the slewing mechanism is equipped with a set of Gray busbar positioning devices. RFID electronic tags are used for stroke and rotation positioning calibration. An RFID calibration tag is installed every 5 meters to achieve calibration of several points. The Gray busbar positioning device includes an address encoder, an antenna box, a Gray busbar and a decoder. The travel mechanism and the slewing mechanism use an RFID non-contact address code scanning calibration device. Two sets of inclination sensor positioning devices are installed on the pitch mechanism of each bucket wheel cantilever to achieve the pitch positioning of the bucket wheel boom and ensure the safety of equipment positioning.

[0008] Furthermore, the coal pile detection system is to install two sets of laser scanning devices at the front end of the cantilever of each bucket wheel machine, and one set of laser scanning device is installed at the top of the bucket wheel machine. The coal pile contour is scanned in real time during the operation of the bucket wheel machine, so as to realize the real-time update of the three-dimensional contour of the current operating coal pile, and provide real-time three-dimensional data basis for the next stacking or retrieving task of the stacker and reclaimer. The scanning device has the function of automatic edge detection of material picking. When picking up material to the edge of the coal pile, it automatically rotates in the opposite direction to increase the coal picking efficiency. When three-dimensional modeling is performed, the temperature of the coal pile needs to be detected at the same time and uploaded to the system to display the coal pile situation in real time.

[0009] Furthermore, the instantaneous coal flow detection system is to add a set of laser scanning devices on the cantilever belt of the bucket wheel machine to realize real-time coal flow detection during the material taking process, which is used as the constant flow control adjustment parameter for coal taking. When the stacking and taking task is completed, the scanner will stop only when it detects that there is no material on the cantilever belt. The instantaneous coal flow detection system should use high-precision laser scanning equipment with an absolute error of less than 5% in measurement accuracy. At the high-incidence locations of coal taking and unloading of the bucket wheel machine, a set of coal flow scanning devices is added above the belt behind the coal blocking point. Through real-time flow monitoring, coal blockage can be discovered in time and an alarm prompt can be given;

[0010] The cantilever belt coal flow scanning device can realize the real-time instantaneous material flow and total amount statistics function of the cantilever belt stacking and material taking process, and at the same time realize the belt deviation and belt overload alarm function. The cantilever belt coal flow scanning data is linked with the automatic control of coal taking and coal stacking to realize constant flow control in the stacking and material taking process.

[0011] Furthermore, the material height detection system is a radar material level detection device installed at the cantilever head of each bucket wheel machine, which is used to detect the material height of the coal pile and participate in the material height control during fully automatic stacking. The radar material level device has an automatic balancing function, which can realize the real-time monitoring of the material pile height below the drop port. The material height detection device is linked to the stacking safety protection function, which can play a protective role during the bucket wheel machine's on-site, remote manual and remote automatic processes, thereby ensuring the safe operation of the bucket wheel machine.

[0012] Furthermore, the coal stack 3D dynamic display system uses the coal stack scanning devices on the left and right sides and the top of the cantilever to build a 3D model of the coal stack in real time when the bucket wheel machine is working. The unattended control system is combined with the coal conveying program control to build a full range of real-time 3D model of the coal yard, which truly and dynamically reflects the working conditions of the bucket wheel machine in the coal yard and the coal storage conditions in the coal yard.

[0013] The three-dimensional dynamic display system of coal piles displays the spatial distribution of the coal yard and the operation dynamics of the bucket wheel machine. The operation dynamics include the bucket wheel machine animation model that displays the current operation area, material layer height, operation direction, movement trajectory, etc. in real time, which keeps consistent with the on-site operation status. The operator can observe the current operation status of the bucket wheel machine from several perspectives.

[0014] The display of the 3D model of the coal stack is synchronized with the actual changes of the coal stack in the stockpile. The real-time 3D model supports a model update frequency of 1Hz. The operator can view the coal storage information of the corresponding coal stack on the 3D model. The coal storage information includes the ID, coal type, storage time, starting position and ending position information of the coal stack. The corresponding coordinate data can be queried at any point on the 3D model of the coal stack. The 3D model of the coal stack should truly reflect the distribution, length and stack height of the coal stack on site, and show the stratification of the coal stack through the depth of color or the combination of several colors;

[0015] The operator can freely translate, rotate, and scale the 3D model of the coal pile in the system through the mouse and observe it from several angles. The 3D model data of the coal pile is stored in the modeling data server and has a playback function, which can perform three-dimensional dynamic playback of the bucket wheel excavator operation status at any time period within a year.

[0016] Furthermore, the bucket wheel machine safety protection system includes

[0017] Safety emergency stop: The safety emergency stop device is divided into soft emergency stop and emergency stop. For soft emergency stop, an emergency stop button should be set on the upper computer screen of the centralized control center, and the 400V power supply should be turned on when the machine is stopped. For emergency stop, a corresponding emergency stop button should be set on the operating table of the centralized control center, and the 400V power supply should be turned on when the machine is stopped. The emergency stop button should be connected by a cable from the operating table to the ground junction box of the large machine, and directly connected to the bucket wheel excavator;

[0018] Pedestrian collision avoidance: Pedestrian collision avoidance is to install ultrasonic sensors on both sides of the bucket wheel machine's travel track to measure the front and rear distance during the bucket wheel machine's travel to prevent collisions between personnel or equipment. The ultrasonic sensor signal is connected to the PLC control system to achieve interlocking protection for the bucket wheel machine as a whole.

[0019] Cantilever anti-collision: Cantilever anti-collision is to install 2 sets of cantilever anti-collision laser scanners on both sides of the cantilever, which are used for the cantilever rotation and swinging of the bucket wheel machine during normal operation control to prevent collision with the stockpile or other equipment during rotation. The bucket wheel machine detects surrounding obstacles in real time during operation. When a fixed distance is reached, the host computer issues an early warning. When the limit value is reached, it automatically stops rotating and provides an alarm. After manual confirmation, it automatically resumes operation. At the same time, the existing mechanical anti-collision devices on both sides of the bucket wheel machine cantilever are used. When the anti-collision limit is activated, it automatically stops rotating and provides an alarm. The operation can be continued only after manual confirmation.

[0020] Software protection: Software protection uses the data from the scanning device installed on the bucket wheel machine, combined with the overall three-dimensional size and movement of the bucket wheel machine, to realize a safe anti-collision protection model for the bucket wheel machine. The anti-collision protection model detects in real time during the movement of the bucket wheel machine, predicts collision risks in advance, and processes dangerous information in a timely manner.

[0021] Furthermore, the bucket wheel control system adds an unmanned control cabinet to each bucket wheel machine, which is used for power supply and communication of the newly added equipment on the bucket wheel machine and unmanned control of the bucket wheel machine.

[0022] Furthermore, the coal digital management and control system includes

[0023] Three-dimensional coal yard management: The coal yard is divided into zones according to the actual situation, which serves as the basis for accurate positioning of coal management. Coal is piled in zones and blended in layers according to different types and qualities of coal. The coal yard provides coal storage warning functions, including warnings of coal storage expiration, the number of days that coal can be stored, and the inventory of each type of coal, to ensure that the coal yard management work is carried out in an orderly manner. The three-dimensional coal counting system is completed through laser measurement and control equipment, and the volume measurement of the measured objects is realized through three-dimensional modeling and analytical calculation;

[0024] Coal admission management: Record the admission and stacking situation according to the coal type information, generate a three-dimensional schematic diagram, provide the functions of zooming in, zooming out, and rotating the coal storage diagram, and visually display the current coal storage status. At the same time, through the coal yard layout interface, display the graphic changes of the corresponding area of ​​the coal yard after each stacker-reclaimer operation, and understand the current actual coal consumption and remaining coal storage in real time;

[0025] Coal yard inventory management: including the content of inventory entry and query, a 3D dynamic laser scanning system is established based on the laser scanner, and the real-time 3D modeling of the coal yard is realized by controlling the rotation and real-time operation of the 3D dynamic laser scanner. The 3D dynamic laser scanning system is the basis for automatic stacking and taking operation control to guide bucket wheel machine operation, unmanned operation, and automatic coal stacking, and realizes the 3D display of coal stacking and coal type stratification and partitioning. The coal yard needs to be displayed in layers according to the type and batch of coal, distinguished by different colors, and associated with the coal type and batch related coal quality information, and displayed on the 3D model. The network construction algorithm is used to reconstruct the triangulated network of the 3D point data on all sections. When the scanning unit enters the next scanning cycle, it can automatically update the data of the changed part of the coal yard. The updated data needs to change the 3D model time label. The 3D graphics can support rotation, scaling, and translation operations. According to the characteristics of the incoming coal, the coal yard is planned and a unified coordinate system is established according to certain planning principles. The scanned 3D model can automatically calculate the coal storage volume in each partition according to the planning principles;

[0026] Coal yard zoning management: According to the needs of power plant coal yard management, the coal yard can be divided into several areas, and the quantity, quality data and storage time of stacking, taking and storage in different areas of the coal yard can be displayed in a three-dimensional dynamic way according to the types or comprehensive forms of coal quality, region, and mining points. The coal yard is divided into zones and piles for management, and an interface is established with the metering system of the entry and furnace system to realize the linkage of metering data of stacking and taking materials, identify the address of stacking and taking coal, and the address of taking coal is the identification of the divided area, correctly collect the relevant data of stacking, taking and storing coal from the corresponding area, and use three-dimensional graphics to comprehensively and intuitively display the coal yard status, consumption, storage, quantity, quality and price information. According to the set stacking principles and the coal type, coal quality and historical coal quality signed by the coal-supplying unit, guide the coal to be stacked in the designated area.

[0027] The present invention has the following beneficial effects due to the adoption of the above technical solution:

[0028] The present invention can realize unattended operation of the bucket wheel machine, and at the same time can remotely view the three-dimensional dynamic structure of the coal pile in real time, can digitally and three-dimensionally grasp the situation of the coal pile, and through digital management, can understand the data of the specific coal seam and the three-dimensional data of any coal pile. It has strong real-time performance, can effectively and automatically control the automatic operation of the bucket wheel machine, and set a safety system to realize automatic operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a system principle block diagram of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0031] like Figure 1 As shown, the bucket wheel machine unattended system includes a bucket wheel machine positioning system, a coal pile detection system, an instantaneous coal flow detection system, a bucket wheel machine safety protection system, a material height detection system, a bucket wheel machine video monitoring system, a coal digital management and control system, a bucket wheel control system, a wireless communication device, a remote control system, a remote control console and a coal pile three-dimensional dynamic display system. The bucket wheel machine positioning system, the coal pile detection system, the instantaneous coal flow detection system, the material height detection system, the bucket wheel machine safety protection system and the bucket wheel machine video monitoring system are all connected to the bucket wheel control system. The bucket wheel control system is wirelessly connected to the remote control system via the wireless communication device. The remote control console, the coal digital management and control system and the coal pile three-dimensional dynamic display system are all connected to the remote control system.

[0032] In the embodiment of the present invention, the bucket wheel positioning system is to install a positioning device and a position calibration device on the bucket wheel to realize the accurate positioning of the travel, rotation and pitch of the bucket wheel, wherein the position accuracy is less than 10 cm, and the angle accuracy is less than 0.1 degrees. The trolley walking mechanism and the slewing mechanism are positioned with Gray busbars, and the pitch is positioned with a pitch angle sensor. Each bucket wheel trolley walking mechanism is provided with a set of Gray busbar positioning devices, and the slewing mechanism is provided with a set of Gray busbar positioning devices. RFID electronic tags are used for travel and rotation positioning calibration. An RFID calibration tag is installed every 5 meters to realize calibration of several points. The Gray busbar positioning device includes an address encoder, an antenna box, a Gray busbar and a decoder. The walking mechanism and the slewing mechanism adopt an RFID non-contact address code scanning calibration device. Two sets of inclination sensor positioning devices are installed on the pitch mechanism of each bucket wheel cantilever to realize the pitch positioning of the bucket wheel boom and ensure the safety of equipment positioning. The technical parameters of the Gray busbar are shown in Table 1.

[0033] Gray busbar positioning technology has the following characteristics:

[0034] (2) Non-contact working mode: Non-contact working mode, position detection accuracy 5 mm, no slippage, wear and other faults.

[0035] (3) Absolute position detection: It can detect the absolute address continuously and with high precision, and can realize the real-time absolute address detection of bucket wheel excavator. The detection adaptation speed is ≤200m / Min.

[0036] (4) Strong anti-interference capability: Using a cross-twisted structure and phase detection technology, the antenna box and the Gray busbar can operate normally with a gap ranging from 30 mm to 300 mm, and is not affected by environmental noise and fluctuations in the received signal level.

[0037] (5) Not subject to the control of the Radio Frequency Commission; the operating frequency of the Gray bus is low, and the electromagnetic field generated is limited to a few meters. It can be used without applying for a frequency band from the Radio Frequency Commission.

[0038] (6) Can connect to various fieldbus communication interfaces: RS485 / Controlnet / DeviceNet / Ethernet or custom protocols.

[0039] (7) Suitable for harsh industrial environments: Gray busbar cables and antenna boxes installed outdoors are made of non-metallic materials and use a sealing process. They are resistant to acid and alkali corrosion and can work reliably for a long time in harsh environmental conditions such as coal terminals and iron ore fields.

[0040] Table 1 is the technical parameters of Gray busbar

[0041]

[0042]

[0043] RFID calibration device parameter requirements: power supply voltage: 24VDC, power consumption: ≤1.5W, working gap: 60(±10)mm, scanning frequency: 0.02 seconds, response time: 0.1 seconds, protection level: IP67, type: outdoor type, housing: F46 / PBT / stainless steel, working temperature: 40℃-70℃, storage temperature: -40℃-80℃, humidity: 90%.

[0044] Parameter requirements of high-precision inclination sensor positioning device: measuring range ±90°, DC 9~36V wide voltage input, wide operating temperature -40~+85℃, resolution 0.01°, IP67 protection grade, data output: 4-20mA / RS485 / Ethernet, high vibration resistance >2000g, waterproof aviation plug, shell: stainless steel / PA, vibration resistance: in accordance with DIN EN 60068-2-2755HZ, 1mm, impact resistance: in accordance with DIN EN 60068-2-2730g, 11ms, working temperature: -40℃~+70℃, storage temperature: -40°C~+80℃, special configuration: add stainless steel protective shell.

[0045] In the embodiment of the present invention, the coal pile detection system is to install two sets of laser scanning devices at the front end of the cantilever of each bucket wheel machine, and install one set of laser scanning devices at the top of the bucket wheel machine. The coal pile contour is scanned in real time during the operation of the bucket wheel machine, so as to realize the real-time update of the three-dimensional contour of the current working coal pile, and provide the real-time three-dimensional data basis of the material field for the next stacking or retrieving task of the stacker and reclaimer. The scanning device has the function of automatic edge detection of material picking. When picking material to the edge of the coal pile, it automatically rotates in the opposite direction to increase the coal picking efficiency. When three-dimensional modeling is performed, the temperature of the coal pile needs to be detected at the same time and uploaded to the system to display the coal pile situation in real time.

[0046] The laser scanning equipment parameters are as follows:

[0047] Supply voltage range: DC9~36V, recommended voltage: DC24V / DC12V, starting current 2A@DC24V, 2.5A@DC12V, heating power DC24V / 40W, typical operating power ≤18W, heating ≤58W, scanning angle 270°, effective distance 0.5m~40m@10% reflectivity, scanning frequency 25Hz / 50Hz, laser emission frequency 72K, angular resolution 0.125° / 0.25°, laser divergence angle ≤6mrad, response time no more than 90±20ms, measurement error ±40mm, statistical error ±20mm, number of defense zones obstacle avoidance: 16 groups × 4, target tracking: 16+16, communication interface

[0048] Network port: 1, RS485: 1, remote control YX: 2, YK: 2, synchronization signal 1, remote control characteristic relay dry contact output, working environment temperature -55℃~+80℃, working environment humidity 0%~95%, storage environment temperature -55℃~+80℃, storage environment humidity 0%~95%, ambient light resistance 80000lx, vibration resistance IEC 60068-2-6:2007, shock resistance IEC 60068-2-27:2008, electromagnetic compatibility (EMC) IEC 61000-6-3:2006 / IEC 61000-6-2:2005, product protection level IP67, the top laser scanner of the bucket wheel machine uses high-precision laser scanning equipment, 10% reflectivity 120m.

[0049] In the embodiment of the present invention, the instantaneous coal flow detection system is to add a set of laser scanning devices on the cantilever belt of the bucket wheel machine to realize real-time coal flow detection during the material taking process, which is used as the constant flow control adjustment parameter for coal taking. When the stacking and taking task is completed, the scanner stops only when it detects that there is no material on the cantilever belt. The instantaneous coal flow detection system should use high-precision laser scanning equipment with an absolute error of less than 5% in measurement accuracy. At the high-incidence locations of coal taking and unloading of the bucket wheel machine, a set of coal flow scanning devices is added above the belt after the coal blocking point. Through real-time flow monitoring, coal blocking can be discovered in time and an alarm prompt can be given;

[0050] The cantilever belt coal flow scanning device can realize the real-time instantaneous material flow and total amount statistics function of the cantilever belt stacking and material taking process, and at the same time realize the belt deviation and belt overload alarm function. The cantilever belt coal flow scanning data is linked with the automatic control of coal taking and coal stacking to realize constant flow control in the stacking and material taking process.

[0051] In the embodiment of the present invention, the material height detection system is a radar material level detection device installed at the cantilever head of each bucket wheel machine, which is used to detect the material height of the coal pile and participate in the material height control during full-automatic stacking. The radar material level device has an automatic balancing function, which realizes the function of real-time monitoring of the material pile height below the drop port. The material height detection device is linked to the stacking safety protection function, which plays a protective role during the bucket wheel machine's on-site, remote manual, and remote automatic processes, thereby ensuring the safe operation of the bucket wheel machine.

[0052] In the embodiment of the present invention, the three-dimensional dynamic display system of the coal stack is a system that uses the coal stack scanning devices on the left and right sides and the top of the cantilever to establish a three-dimensional model of the coal stack in real time when the bucket wheel machine is working. The unattended control system is combined with the coal conveying program control to establish a full range of real-time 3D model of the coal yard, which truly and dynamically reflects the working conditions of the bucket wheel machine in the coal yard and the coal storage conditions in the coal yard.

[0053] The three-dimensional dynamic display system of coal piles displays the spatial distribution of the coal yard and the operation dynamics of the bucket wheel machine. The operation dynamics include the bucket wheel machine animation model that displays the current operation area, material layer height, operation direction, movement trajectory, etc. in real time, which keeps consistent with the on-site operation status. The operator can observe the current operation status of the bucket wheel machine from several perspectives.

[0054] The display of the 3D model of the coal stack is synchronized with the actual changes of the coal stack in the stockpile. The real-time 3D model supports a model update frequency of 1Hz. The operator can view the coal storage information of the corresponding coal stack on the 3D model. The coal storage information includes the ID, coal type, storage time, starting position and ending position information of the coal stack. The corresponding coordinate data can be queried at any point on the 3D model of the coal stack. The 3D model of the coal stack should truly reflect the distribution, length and stack height of the coal stack on site, and show the stratification of the coal stack through the depth of color or the combination of several colors;

[0055] The operator can freely translate, rotate, and scale the 3D model of the coal pile in the system through the mouse and observe it from several angles. The 3D model data of the coal pile is stored in the modeling data server and has a playback function, which can perform three-dimensional dynamic playback of the bucket wheel excavator operation status at any time period within a year.

[0056] In the embodiment of the present invention, the bucket wheel machine safety protection system includes

[0057] Safety emergency stop: The safety emergency stop device is divided into soft emergency stop and emergency stop. For soft emergency stop, an emergency stop button should be set on the upper computer screen of the centralized control center, and the 400V power supply should be turned on when the machine is stopped. For emergency stop, a corresponding emergency stop button should be set on the operating table of the centralized control center, and the 400V power supply should be turned on when the machine is stopped. The emergency stop button should be connected by a cable from the operating table to the ground junction box of the large machine, and directly connected to the bucket wheel excavator;

[0058] Pedestrian collision avoidance: Pedestrian collision avoidance is to install ultrasonic sensors on both sides of the bucket wheel machine's travel track to measure the front and rear distance during the bucket wheel machine's travel to prevent collisions between personnel or equipment. The ultrasonic sensor signal is connected to the PLC control system to achieve interlocking protection for the bucket wheel machine as a whole.

[0059] Cantilever anti-collision: Cantilever anti-collision is to install 2 sets of cantilever anti-collision laser scanners on both sides of the cantilever, which are used for the cantilever rotation and swinging of the bucket wheel machine during normal operation control to prevent collision with the stockpile or other equipment during rotation. The bucket wheel machine detects surrounding obstacles in real time during operation. When a fixed distance is reached, the host computer issues an early warning. When the limit value is reached, it automatically stops rotating and provides an alarm. After manual confirmation, it automatically resumes operation. At the same time, the existing mechanical anti-collision devices on both sides of the bucket wheel machine cantilever are used. When the anti-collision limit is activated, it automatically stops rotating and provides an alarm. The operation can be continued only after manual confirmation.

[0060] Software protection: Software protection uses the data from the scanning device installed on the bucket wheel machine, combined with the overall three-dimensional size and movement of the bucket wheel machine, to realize a safe anti-collision protection model for the bucket wheel machine. The anti-collision protection model detects in real time during the movement of the bucket wheel machine, predicts collision risks in advance, and processes dangerous information in a timely manner.

[0061] In the embodiment of the present invention, the bucket wheel control system is a newly added unattended control cabinet on each bucket wheel machine, which is used for power supply and communication of newly added equipment on the bucket wheel machine and unattended control of the bucket wheel machine.

[0062] In the embodiment of the present invention, the coal digital management and control system includes

[0063] Three-dimensional coal yard management: The coal yard is divided into zones according to the actual situation, which serves as the basis for accurate positioning of coal management. Coal is piled in zones and blended in layers according to different types and qualities of coal. The coal yard provides coal storage warning functions, including warnings of coal storage expiration, the number of days that coal can be stored, and the inventory of each type of coal, to ensure that the coal yard management work is carried out in an orderly manner. The three-dimensional coal counting system is completed through laser measurement and control equipment, and the volume measurement of the measured objects is realized through three-dimensional modeling and analytical calculation;

[0064] Coal admission management: Record the admission and stacking situation according to the coal type information, generate a three-dimensional schematic diagram, provide the functions of zooming in, zooming out, and rotating the coal storage diagram, and visually display the current coal storage status. At the same time, through the coal yard layout interface, display the graphic changes of the corresponding area of ​​the coal yard after each stacker-reclaimer operation, and understand the current actual coal consumption and remaining coal storage in real time;

[0065] Coal yard inventory management: including the content of inventory entry and query, a 3D dynamic laser scanning system is established based on the laser scanner, and the real-time 3D modeling of the coal yard is realized by controlling the rotation and real-time operation of the 3D dynamic laser scanner. The 3D dynamic laser scanning system is the basis for automatic stacking and taking operation control to guide bucket wheel machine operation, unmanned operation, and automatic coal stacking, and realizes the 3D display of coal stacking and coal type stratification and partitioning. The coal yard needs to be displayed in layers according to the type and batch of coal, distinguished by different colors, and associated with the coal type and batch related coal quality information, and displayed on the 3D model. The network construction algorithm is used to reconstruct the triangulated network of the 3D point data on all sections. When the scanning unit enters the next scanning cycle, it can automatically update the data of the changed part of the coal yard. The updated data needs to change the 3D model time label. The 3D graphics can support rotation, scaling, and translation operations. According to the characteristics of the incoming coal, the coal yard is planned and a unified coordinate system is established according to certain planning principles. The scanned 3D model can automatically calculate the coal storage volume in each partition according to the planning principles;

[0066] Coal yard zoning management: According to the needs of power plant coal yard management, the coal yard can be divided into several areas, and the quantity, quality data and storage time of stacking, taking and storage in different areas of the coal yard can be displayed in a three-dimensional dynamic way according to the types or comprehensive forms of coal quality, region, and mining points. The coal yard is divided into zones and piles for management, and an interface is established with the metering system of the entry and furnace system to realize the linkage of metering data of stacking and taking materials, identify the address of stacking and taking coal, and the address of taking coal is the identification of the divided area, correctly collect the relevant data of stacking, taking and storing coal from the corresponding area, and use three-dimensional graphics to comprehensively and intuitively display the coal yard status, consumption, storage, quantity, quality and price information. According to the set stacking principles and the coal type, coal quality and historical coal quality signed by the coal-supplying unit, guide the coal to be stacked in the designated area.

[0067] Wireless communication device, realizes communication with remote program control, adds 3 sets of wireless communication devices on each machine, the receiving end of the wireless communication device is at the local transfer box, and the local transfer box is connected to the program control room by optical fiber communication. Realize control communication and video communication between the bucket wheel machine and the ground. There is 1 set of video communication and 2 sets of control communication, and redundant switches are configured.

[0068] Bucket wheel control system, a network control cabinet is installed in the coal conveying electronic room, which contains image data server, application server, decoder, hard disk recorder, network switch, network communication equipment, isolator and firewall and other corresponding equipment. To complete the network data exchange and remote automatic control services, the network layout and data transmission must meet the network security requirements of the project company. The upper computer configuration requires the control center to add 2 unattended operation upper computers and 2 video workstations. Each bucket wheel machine corresponds to 1 operation station and 1 video monitoring workstation. Multiple displays on the platform are arranged in double layers with special brackets. The required fixed brackets are provided by the bidder. The upper computer screen has the functions of equipment status monitoring, real-time data display, data input, manual operation, semi-automatic operation, fully automatic operation, data interaction, etc.

[0069] The video monitoring system of bucket wheel machine is an industrial TV system combined with bucket wheel machine. It is upgraded and reconstructed on the existing basis. The video signal can be connected to the company's industrial TV monitoring system and can be accessed on the large screen of the remote operation center, the remote operation console or other installed video monitoring client software. Industrial high-definition digital cameras should be installed at various key parts of the bucket wheel machine, and the images should be transmitted to the centralized control center and the driver's cab through the video network. During the operation of the bucket wheel machine, the operator should be able to monitor the current operation of the equipment in real time to achieve all-round monitoring of the bucket wheel machine. Each bucket wheel machine in the system is equipped with no less than 9 cameras: the front beam bucket wheel, the cantilever drop point, the cantilever upper belt monitoring, the cantilever lower monitoring, the tail car belt operation monitoring, the bucket wheel machine driver's cab, the rotary platform and other key parts. The industrial TV system needs to be equipped with an image monitor in the driver's cab, and the monitoring screen can be switched and configured freely.

[0070] The industrial TV system should use the SDK development kit video linkage function, combined with the bucket wheel machine control system, when the control structure sends a fault alarm, the video system screen can automatically switch to the monitoring screen of the mechanism, reminding the operator to find and deal with it in time. The camera should use a 3 million pixel or above digital network infrared high-definition camera, and the key monitoring points should be equipped with a 4 million pixel network high-definition infrared starlight ball camera (no less than 2 units, equipped with wipers), meet 1440P image quality, and require an excellent protection level. The video image should be stored in the hard disk recorder for no less than 90 days (the bucket wheel machine is stored locally, and the video can be viewed remotely).

[0071] The remote control system is to set up two remote operation desks in the centralized control center. Each remote operation desk is equipped with an operator PC station and a video server. According to the requirements of intelligent remote operation (remote full-automatic and remote manual), the remote operation panel (including operating handles, operating buttons, emergency stop buttons, etc.) needs to be configured. The remote operation panel is designed and completed according to the existing operation desk, which can be perfectly compatible with the existing operation desk.

[0072] The bucket wheel machine can be selected according to the operation mode and coal pile. The system automatically calculates the bucket wheel machine's operating space position (trolley position, cantilever pitch angle, cantilever rotation angle, and operation direction) based on the background real-time model database, and realizes remote one-button fully automatic positioning operation without manual intervention throughout the process. There is a complete bucket wheel machine safety protection system, including safety emergency stop, pedestrian collision avoidance, cantilever collision avoidance, limit position protection, rotation angle protection, cantilever restricted area protection, network heartbeat detection, etc. It has remote one-button centralized monitoring of two bucket wheel machines on the same operator station screen, and can flexibly and independently control the fully automatic start and stop of each bucket wheel machine without affecting the independent operation of each other. When the constant flow material is taken, the average maximum material flow is not less than the rated flow design value of the bucket wheel machine, the real-time flow change range is less than ±10%, and the instantaneous over-limit cumulative time is less than 1% of the total time of automatic operation coal taking.

[0073] After the bucket wheel machine body electronic control system is upgraded, the bucket wheel stacker and reclaimer is operated by a person on board. The control modes include manual control, adjustment control, and automatic control, which can be switched flexibly, reliably, and conveniently to realize four working conditions: stacking, reclaiming, diversion, and direct flow. The bucket wheel machine body control system is upgraded to an intelligent control system, and the data exchange and control delay time with the unattended system is less than 500ms, and the communication is stable. The bucket wheel machine body control system has stable communication and control with the coal transportation system, and the control delay time is less than 500ms. After the unattended intelligent transformation of the bucket wheel machine, it has multiple operation modes coexisting, remote full-automatic operation mode and remote manual (including semi-automatic) operation mode, while retaining the local operation mode of the driver's cab. The three operation modes are independent of each other, support non-disturbance switching, and have reliable interlocking conditions. When the unattended control system fails, it can be manually cut off and various operations can be performed using the bucket wheel machine body control system. After the transformation is completed, the coal stack detection system can independently carry out coal stacking work in the coal yard, and can export the coal stacking data required by the purchaser.

[0074] It has multiple operation modes, including remote fully automatic operation mode and remote manual (including semi-automatic) operation mode, while retaining the local operation mode in the driver's cab. The three operation modes are independent of each other, support non-disturbance switching, and have reliable interlocking conditions. It has remote operation. The operator can perform remote manual operation and remote semi-automatic operation of the bucket wheel machine through the operation monitoring interface and video monitoring screen in the coal transportation centralized control center. The remote operation function can realize the same functions of the local operation (local operation), including trolley travel, boom start and stop, and switching of stacking and material taking status (changing the tail car). It has the function of personnel forced intervention. If manual intervention is required during the automatic operation process, the operator can perform remote manual operation on the remote operation console of the coal transportation centralized control center through the industrial monitoring screen. An emergency stop switch is set on the operation console, and the emergency stop switch is hard-wired to the power control circuit of the bucket wheel machine; when an emergency occurs, the operator can stop the equipment in time to improve the safety and reliability of the system. It has accurate and real-time positioning functions. The actual position information of the major mechanisms of the bucket wheel machine is sent to the centralized control center in real time and displayed on the host computer. It has a safety anti-collision function. By adopting radar sensors, mechanical limit switches, anti-collision calculation software, etc., it can prevent possible collision accidents between the bucket wheel excavator and the material pile, or obstacles on the running track from both software and hardware aspects.

[0075] It has the functions of remote real-time monitoring and automatic alarm of bucket wheel machine status. Through the host computer, it monitors, counts and analyzes the actual conditions of each material field and the real-time parameter operation status, energy consumption, efficiency and other indicators of large equipment, and provides effective information for maintenance and management personnel. At the same time, it needs to store at least 90 days of equipment alarm information and operation records of operators to ensure efficient, stable and safe operation of automated operations. The unmanned control system of bucket wheel machine has an external interface and related compatibility. Through the remote operation station, one operator can realize the intelligent remote control of two bucket wheel machines. The bucket wheel machine has constant flow control for material reclaiming. During the automatic operation of the bucket wheel machine, the function of constant material reclaiming flow is achieved by adjusting the operating parameters of each mechanism of the operating equipment. The control accuracy is ≤10%, and multiple bucket wheel machines can be used for accurate coal reclaiming in the later stage. When the constant flow material reclaiming is in operation, the average maximum stacking flow is not less than the original design rated flow. When the cantilever belt is used for coal reclaiming or stacking, it must have the function of displaying the instantaneous coal volume and the cumulative coal volume. The cumulative time of instantaneous overrun is less than 1% of the total time of fully automatic coal reclaiming. It has a constant flow material taking control mode in manual mode (the driver controls the rotation direction, and the rotation speed is automatically controlled for constant flow material taking). The bucket wheel excavator adopts a redundant positioning system with a positioning accuracy of <0.05m. The bucket wheel excavator trolley travel and rotation mechanism each have a set of Gray busbar positioning system and a set of RFID positioning calibration device. The calibration device is installed every 5 meters (if the positioning accuracy does not meet the requirements due to reasons such as track flatness, the bidder needs to add calibration devices until the positioning accuracy meets the requirements). The cantilever boom has a set of non-contact pitch angle detection devices and a set of pitch angle calibration devices. The trolley has obstacle detection devices in front and behind, which automatically stops when encountering obstacles and automatically resumes walking after the obstacles are removed.

[0076] Reliable industrial-grade networks are used from the underlying intelligent device network communication to the remote monitoring system network. Three sets of wireless communication equipment are used for communication between the on-site transfer boxes on the bucket wheel machine and the machine. Three optical fiber communications are used between the on-site transfer boxes of the bucket wheel machine and the remote centralized control platform. Two of them are redundant control networks, and the other is a video network. The network switches, optical cables, network cables, etc. are all independently designed and do not affect each other. Signal transmission requires no delay and no jamming. The supply equipment of industrial television equipment is a mature product on the market with good compatibility. It can display real-time video so that operators can intuitively observe the current movement status of the stacker and reclaimer. The video monitoring system is connected to the coal transportation industrial closed-circuit television system, and the video screen can be displayed on the existing large screen of the unattended control system operator station and the coal transportation control center. The video monitoring system camera uses 1440P format and 4Mbps bit stream for video storage, and the storage capacity meets no less than 90 days. The camera housing is made of 316L material, and the output resolution is not less than 2560*1440.

[0077] The bucket wheel machine has a communication signal interlocking protection function. Once the communication signal is interrupted, the bucket wheel machine will automatically stop. In this case, the driver can continue to operate the bucket wheel machine. There is an emergency stop button on the control center console. In an emergency, press the emergency stop button through the remote control console. Realize the remote full-automatic stacking and reclaiming of the bucket wheel machine. After the bucket wheel machine PLC receives the automatic stacking and reclaiming command, the system can automatically complete the positioning of the trolley, control the bucket wheel / belt start, and start the stacking and reclaiming operation by setting parameters and operation methods. For example: walking coal stacking, rotating coal stacking, large flat layer reclaiming, segmented reclaiming, automatic layer change, etc. Realize real-time scanning of the coal pile during the operation of the bucket wheel machine, and establish a three-dimensional model of the coal pile, which serves as the basis for the bucket wheel machine's fully automatic control program. For example: automatic positioning, automatic layer change, empty field new stacking, covering stacking and other control programs. During the stacking and reclaiming process, the original three-dimensional data of the pile surface is obtained in real time. The original data needs to be filtered and streamlined. The three-dimensional image of the pile is reconstructed in real time based on the processed three-dimensional data to display the real-time changes of the pile. The remote control panel is equipped with an operating handle, a selection button, and an emergency stop button. The trend chart of each parameter has the function of viewing historical data. The upper computer can monitor the communication status between the various devices of the bucket wheel machine to ensure safe operation of the equipment and accurate data. If relevant data is obtained from the management area, corresponding isolation should be carried out to meet network security requirements. The actual commissioning rate of the fully automatic control system is >90%, and the calculation condition is the remote fully automatic mode.

[0078] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. Bucket wheel excavator unattended system, characterized by: It includes bucket wheel positioning system, coal pile detection system, instantaneous coal flow detection system, bucket wheel safety protection system, material height detection system, bucket wheel video monitoring system, coal digital management and control system, bucket wheel control system, wireless communication device, remote control system, remote control console and coal pile three-dimensional dynamic display system. The bucket wheel positioning system, coal pile detection system, instantaneous coal flow detection system, material height detection system, bucket wheel safety protection system and bucket wheel video monitoring system are all connected to the bucket wheel control system. The bucket wheel control system is wirelessly connected to the remote control system via the wireless communication device. The remote control console, coal digital management and control system and coal pile three-dimensional dynamic display system are all connected to the remote control system.

2. The unmanned bucket wheel excavator system according to claim 1, characterized in that: The bucket wheel positioning system is to install positioning devices and position calibration devices on the bucket wheel to achieve precise positioning of the bucket wheel's travel, rotation, and pitch. The position accuracy is less than 10 cm, and the angle accuracy is less than 0.1 degrees. The trolley travel mechanism and the slewing mechanism are positioned with Gray busbars, and the pitch is positioned with a pitch angle sensor. Each bucket wheel trolley travel mechanism is equipped with a set of Gray busbar positioning devices, and the slewing mechanism is equipped with a set of Gray busbar positioning devices. RFID electronic tags are used for travel and rotation positioning calibration. An RFID calibration tag is installed every 5 meters to achieve calibration of several points. The Gray busbar positioning device includes an address encoder, an antenna box, a Gray busbar and a decoder. The travel mechanism and the slewing mechanism use RFID non-contact address code scanning and calibration devices. Two sets of inclination sensor positioning devices are installed on the pitch mechanism of each bucket wheel cantilever to achieve the pitch positioning of the bucket wheel boom and ensure the safety of equipment positioning.

3. The unmanned bucket wheel excavator system according to claim 1, characterized in that: The coal pile detection system is to install two sets of laser scanning devices at the front end of each bucket wheel machine's cantilever, and one set of laser scanning devices is installed at the top of the bucket wheel machine. The coal pile contour is scanned in real time during the operation of the bucket wheel machine, so as to realize the real-time update of the three-dimensional contour of the current operating coal pile, and provide real-time three-dimensional data basis for the next stacking or reclaiming task of the stacker and reclaimer. The scanning device has the function of automatic edge detection of material picking. When picking up material to the edge of the coal pile, it automatically rotates in the opposite direction to increase the coal picking efficiency. When three-dimensional modeling is performed, the temperature of the coal pile needs to be detected at the same time and uploaded to the system to display the coal pile situation in real time.

4. The unmanned bucket wheel excavator system according to claim 1, characterized in that: The instantaneous coal flow detection system is to add a set of laser scanning devices on the cantilever belt of the bucket wheel machine to realize real-time coal flow detection during the material taking process, which is used as the constant flow control adjustment parameter for coal taking. When the stacking and taking task is completed, the scanner will stop only when it detects that there is no material on the cantilever belt. The instantaneous coal flow detection system should use high-precision laser scanning equipment with an absolute error of less than 5% in measurement accuracy. At the high-incidence locations of coal taking and unloading of the bucket wheel machine, a set of coal flow scanning devices is added above the belt after the coal blocking point. Through real-time flow monitoring, coal blockage can be discovered in time and an alarm prompt can be given; The cantilever belt coal flow scanning device can realize the real-time instantaneous material flow and total amount statistics function of the cantilever belt stacking and material taking process, and at the same time realize the belt deviation and belt overload alarm function. The cantilever belt coal flow scanning data is linked with the automatic control of coal taking and coal stacking to realize constant flow control in the stacking and material taking process.

5. The unmanned bucket wheel excavator system according to claim 1, characterized in that: The material height detection system is a radar material level detection device installed at the cantilever head of each bucket wheel machine. It is used to detect the material height of the coal pile and participate in the material height control during fully automatic stacking. The radar material level device has an automatic balancing function, which can realize the real-time monitoring of the material pile height below the drop port. The material height detection device is linked to the stacking safety protection function, which can play a protective role during the bucket wheel machine's on-site, remote manual and remote automatic processes to ensure the safe operation of the bucket wheel machine.

6. The unmanned bucket wheel excavator system according to claim 1, characterized in that: The three-dimensional dynamic display system of the coal stack is used when the bucket wheel machine is working. The coal stack scanning devices on the left and right sides and the top of the cantilever are used to build a three-dimensional model of the coal stack in real time. The unattended control system is combined with the coal conveying program control to build a full range of real-time 3D model of the coal yard, which truly and dynamically reflects the working conditions of the bucket wheel machine in the coal yard and the coal storage conditions in the coal yard; The three-dimensional dynamic display system of coal piles displays the spatial distribution of the coal yard and the operation dynamics of the bucket wheel machine. The operation dynamics include the bucket wheel machine animation model that displays the current operation area, material layer height, operation direction, movement trajectory, etc. in real time, which keeps consistent with the on-site operation status. The operator can observe the current operation status of the bucket wheel machine from several perspectives. The display of the 3D model of the coal stack is synchronized with the actual changes of the coal stack in the stockpile. The real-time 3D model supports a model update frequency of 1Hz. The operator can view the coal storage information of the corresponding coal stack on the 3D model. The coal storage information includes the ID, coal type, storage time, starting position and ending position information of the coal stack. The corresponding coordinate data can be queried at any point on the 3D model of the coal stack. The 3D model of the coal stack should truly reflect the distribution, length and stack height of the coal stack on site, and show the stratification of the coal stack through the depth of color or the combination of several colors; The operator can freely translate, rotate, and scale the 3D model of the coal pile in the system through the mouse and observe it from several angles. The 3D model data of the coal pile is stored in the modeling data server and has a playback function, which can perform three-dimensional dynamic playback of the bucket wheel excavator operation status at any time period within a year.

7. The unmanned bucket wheel excavator system according to claim 1, characterized in that: Bucket wheel machine safety protection system includes Safety emergency stop: The safety emergency stop device is divided into soft emergency stop and emergency stop. For soft emergency stop, an emergency stop button should be set on the upper computer screen of the centralized control center, and the 400V power supply should be turned on when the machine is stopped. For emergency stop, a corresponding emergency stop button should be set on the operating table of the centralized control center, and the 400V power supply should be turned on when the machine is stopped. The emergency stop button should be connected by a cable from the operating table to the ground junction box of the large machine, and directly connected to the bucket wheel excavator; Pedestrian collision avoidance: Pedestrian collision avoidance is to install ultrasonic sensors on both sides of the bucket wheel machine's travel track to measure the front and rear distance during the bucket wheel machine's travel to prevent collisions between personnel or equipment. The ultrasonic sensor signal is connected to the PLC control system to achieve interlocking protection for the bucket wheel machine as a whole. Cantilever anti-collision: Cantilever anti-collision is to install 2 sets of cantilever anti-collision laser scanners on both sides of the cantilever, which are used for the cantilever rotation and swinging of the bucket wheel machine during normal operation control to prevent collision with the stockpile or other equipment during rotation. The bucket wheel machine detects surrounding obstacles in real time during operation. When a fixed distance is reached, the host computer issues an early warning. When the limit value is reached, it automatically stops rotating and provides an alarm. After manual confirmation, it automatically resumes operation. At the same time, the existing mechanical anti-collision devices on both sides of the bucket wheel machine cantilever are used. When the anti-collision limit is activated, it automatically stops rotating and provides an alarm. The operation can be continued only after manual confirmation. Software protection: Software protection uses the data from the scanning device installed on the bucket wheel machine, combined with the overall three-dimensional size and movement of the bucket wheel machine, to realize a safe anti-collision protection model for the bucket wheel machine. The anti-collision protection model detects in real time during the movement of the bucket wheel machine, predicts collision risks in advance, and processes dangerous information in a timely manner.

8. The unmanned bucket wheel excavator system according to claim 1, characterized in that: The bucket wheel control system is an unmanned control cabinet added to each bucket wheel machine, which is used for power supply and communication of the newly added equipment on the bucket wheel machine and unmanned control of the bucket wheel machine.

9. The unmanned bucket wheel excavator system according to claim 1, characterized in that: Coal digital control system includes Three-dimensional coal yard management: The coal yard is divided into zones according to the actual situation, which serves as the basis for accurate positioning of coal management. Coal is piled in zones and blended in layers according to different types and qualities of coal. The coal yard provides coal storage warning functions, including warnings of coal storage expiration, the number of days that coal can be stored, and the inventory of each type of coal, to ensure that the coal yard management work is carried out in an orderly manner. The three-dimensional coal counting system is completed through laser measurement and control equipment, and the volume measurement of the measured objects is realized through three-dimensional modeling and analytical calculation; Coal admission management: Record the admission and stacking situation according to the coal type information, generate a three-dimensional schematic diagram, provide the functions of zooming in, zooming out, and rotating the coal storage diagram, and visually display the current coal storage status. At the same time, through the coal yard layout interface, display the graphic changes of the corresponding area of ​​the coal yard after each stacker-reclaimer operation, and understand the current actual coal consumption and remaining coal storage in real time; Coal yard inventory management: including the content of inventory entry and query, a 3D dynamic laser scanning system is established based on the laser scanner, and the real-time 3D modeling of the coal yard is realized by controlling the rotation and real-time operation of the 3D dynamic laser scanner. The 3D dynamic laser scanning system is the basis for automatic stacking and taking operation control to guide bucket wheel machine operation, unmanned operation, and automatic coal stacking, and realizes the 3D display of coal stacking and coal type stratification and partitioning. The coal yard needs to be displayed in layers according to the type and batch of coal, distinguished by different colors, and associated with the coal type and batch related coal quality information, and displayed on the 3D model. The network construction algorithm is used to reconstruct the triangulated network of the 3D point data on all sections. When the scanning unit enters the next scanning cycle, it can automatically update the data of the changed part of the coal yard. The updated data needs to change the 3D model time label. The 3D graphics can support rotation, scaling, and translation operations. According to the characteristics of the incoming coal, the coal yard is planned and a unified coordinate system is established according to certain planning principles. The scanned 3D model can automatically calculate the coal storage volume in each partition according to the planning principles; Coal yard zoning management: According to the needs of power plant coal yard management, the coal yard can be divided into several areas, and the quantity, quality data and storage time of stacking, taking and storage in different areas of the coal yard can be displayed in a three-dimensional dynamic way according to the types or comprehensive forms of coal quality, region, and mining points. The coal yard is divided into zones and piles for management, and an interface is established with the metering system of the entry and furnace system to realize the linkage of metering data of stacking and taking materials, identify the address of stacking and taking coal, and the address of taking coal is the identification of the divided area, correctly collect the relevant data of stacking, taking and storing coal from the corresponding area, and use three-dimensional graphics to comprehensively and intuitively display the coal yard status, consumption, storage, quantity, quality and price information. According to the set stacking principles and the coal type, coal quality and historical coal quality signed by the coal-supplying unit, guide the coal to be stacked in the designated area.

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