Advanced process control-based double-helix coal unloading machine control method, device and equipment

Abstract

The invention provides a double-helix coal unloading machine control method, device and equipment based on advanced process control. The method comprises the steps that space information of a whole coal unloading area and the first physical position of each carriage of a coal conveying train are collected through visual positioning; reading a second physical position of each carriage of the coal conveying train through a magnetic railing ruler mounted on the driving path; carrying out butt joint fusion on the first physical position and the second physical position to obtain a real-time position of each train of carriages; advanced process control is utilized, and a real-time position is combined, so that the double-helix coal unloading machine is controlled to unload coal on each row of carriages; the operation area and the safety area of the double-helix coal unloading machine during coal unloading operation are monitored, when the distance between the operation area and the safety area is smaller than the preset value, the operation area of the coal unloading operation is adjusted to prevent operation collision, the positioning accuracy of the carriage position is improved through fusion of the determined real-time position, and the safety of the double-helix coal unloading machine is improved. And coal unloading control is performed through an advanced control process, so that the coal unloading efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal unloading control, and in particular to a control method, device and equipment for a double-screw coal unloader based on advanced process control. Background Art

[0002] The double screw coal unloader is a device specially used for unloading coal. It uses the forward and reverse double screws to generate thrust, so that the coal moves from the middle to both sides in the spiral channel. At the same time, the cart can move back and forth along the longitudinal direction of the car box, and the screw can be raised and lowered. The two sets of screws can be raised and lowered vertically, or one high and one low, to increase the thickness of the coal and improve the power. Its working principle is mainly to unload the coal evenly to the designated position through the rotation of the screw shaft. During the entire coal unloading process, the sealed shell plays a good sealing role to ensure that the coal powder will not leak out.

[0003] However, at present, the use of double-screw coal unloaders is mostly manual operation, resulting in relatively low coal unloading efficiency. Summary of the invention

[0004] The present invention provides a control method, device and equipment for a double-screw coal unloader based on advanced process control, so as to solve the defect of low coal unloading efficiency of the double-screw coal unloader in the prior art.

[0005] In a first aspect, the present invention provides a double-screw coal unloader control method based on advanced process control, comprising:

[0006] Collect the spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning;

[0007] Reading the second physical position of each carriage of the coal train by means of a magnetic scale installed on the driving path;

[0008] The first physical location and the second physical location are connected and merged to obtain the real-time location of each train carriage;

[0009] Using advanced process control and combining the real-time position, the double screw coal unloader is controlled to unload coal from each train carriage;

[0010] The operating area and the safety area of ​​the double-screw coal unloader during the coal unloading operation are monitored, and when the distance between the operating area and the safety area is less than a preset value, the operating area of ​​the coal unloading operation is adjusted to prevent operation collision.

[0011] According to a double-screw coal unloader control method based on advanced process control provided by the present invention, the double-screw coal unloader is controlled to unload coal from each train carriage by using the advanced process control in combination with the real-time position, including:

[0012] Determine the coal unloading speed, spiral lifting height, trolley travel speed and small car travel speed;

[0013] Based on the coal unloading speed, the spiral lifting height, the traveling speed of the large vehicle, the traveling speed of the small vehicle and the real-time position, the coal unloading path of the double spiral coal unloader is determined by using advanced process control;

[0014] Based on the coal unloading path, the double-screw coal unloader is controlled to perform coal unloading operations.

[0015] According to a double-screw coal unloader control method based on advanced process control provided by the present invention, the double-screw coal unloader is controlled to perform coal unloading operation based on the coal unloading path, including:

[0016] After controlling the double-screw coal unloader to move to the top of the carriage, start the screw lifting mechanism to lower the screw to the coal unloading position;

[0017] At the coal unloading position, the double helix is ​​controlled to rotate, and the coal in the carriage is gradually transported to the coal unloading point along the spiral channel;

[0018] During the coal unloading process, the real-time position and coal unloading status are updated, and the lifting height and speed of the spiral are adjusted according to the real-time position and the coal unloading status;

[0019] When all the coal in the carriage has been unloaded, the spiral lifting mechanism and the spiral rotating mechanism are closed and the cart stops moving.

[0020] According to a double-screw coal unloader control method based on advanced process control provided by the present invention, the method uses the advanced process control to determine the coal unloading path of the double-screw coal unloader, including:

[0021] Determining the screw lift height based on the real-time position, carriage height, and coal distribution;

[0022] Based on the spiral lifting height, determining the traveling speed of the trolley and the traveling speed of the small trolley;

[0023] Based on the traveling speed of the trolley and the traveling speed of the small trolley, the coal unloading path of the double-screw coal unloader is determined.

[0024] According to a double-screw coal unloader control method based on advanced process control provided by the present invention, after determining the coal unloading path of the double-screw coal unloader, the method further includes:

[0025] Counting the coal unloading time and power consumption data of the coal unloading path;

[0026] Based on the coal unloading time and the power consumption data, the coal unloading path is optimized by feedback to obtain an optimal path.

[0027] According to a double-screw coal unloader control method based on advanced process control provided by the present invention, the first physical position and the second physical position are docked and merged to obtain the real-time position of each train carriage, including:

[0028] Performing data cleaning and time synchronization on the first physical location and the second physical location to obtain first standard data and second standard data;

[0029] Converting the first standard data and the second standard data to the same coordinate system to obtain first position coordinates and second position coordinates;

[0030] Determining weights of the first position coordinates and the second position coordinates;

[0031] Using Kalman filtering or particle filtering, based on corresponding weights, the first position coordinates and the second position coordinates are fused to obtain the real-time position of each train car.

[0032] A double-screw coal unloader control method based on advanced process control provided by the present invention also includes:

[0033] Receiving a manual intervention signal, wherein the manual intervention signal includes a confirmation start signal, a confirmation stop signal, and a limit protection signal;

[0034] Based on the confirmation start signal, the confirmation stop signal and the limit protection signal, the double screw coal unloader is controlled to perform corresponding actions.

[0035] A double-screw coal unloader control method based on advanced process control provided by the present invention also includes:

[0036] Statistics on the coal unloading efficiency of the double screw coal unloader for different types of coal;

[0037] Based on the coal unloading efficiency, the coal unloading parameters of the double screw coal unloader are adjusted for different types of coal.

[0038] In a second aspect, the present invention further provides a double-screw coal unloader control device based on advanced process control, comprising:

[0039] A collection module, used for collecting spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning;

[0040] A reading module, used for reading the second physical position of each carriage of the coal transport train through a magnetic scale installed on a driving path;

[0041] A fusion module, used for connecting and merging the first physical location and the second physical location to obtain a real-time location of each train carriage;

[0042] A control module, for controlling the double screw coal unloader to unload coal from each train carriage by using advanced process control in combination with the real-time position;

[0043] The monitoring module is used to monitor the operating area and safety area of ​​the double-screw coal unloader during the coal unloading operation. When the distance between the operating area and the safety area is less than a preset value, the operating area of ​​the coal unloading operation is adjusted to prevent operation collision.

[0044] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a double-screw coal unloader control method based on advanced process control as described in any one of the above is implemented.

[0045] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described double-screw coal unloader control methods based on advanced process control.

[0046] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described double-screw coal unloader control methods based on advanced process control.

[0047] The present invention provides a double-screw coal unloader control method, device and equipment based on advanced process control, including collecting the spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning; reading the second physical position of each carriage of the coal transport train through a magnetic scale installed on the driving path; docking and fusing the first physical position and the second physical position to obtain the real-time position of each carriage; using advanced process control, combined with the real-time position, controlling the double-screw coal unloader to perform coal unloading operations on each carriage; monitoring the operating area and safety area of ​​the double-screw coal unloader during coal unloading operations, when the distance between the operating area and the safety area is less than a preset value, adjusting the operating area of ​​the coal unloading operation to prevent operation collision, and improving the positioning accuracy of the carriage position by fusing the determined real-time position, and performing coal unloading control through an advanced control process, thereby effectively improving the coal unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 is a flow chart of a double-screw coal unloader control method based on advanced process control provided in this embodiment;

[0050] Figure 2 is a structural schematic diagram of a double-screw coal unloader control device based on advanced process control provided in this embodiment;

[0051] Figure 3 It is a schematic diagram of the structure of the electronic device provided in this embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Figure 1 It is a flow chart of the double-screw coal unloader control method based on advanced process control provided in this embodiment.

[0054] like Figure 1 As shown, the double-screw coal unloader control method based on advanced process control provided by the embodiment of the present invention mainly includes the following steps:

[0055] 101. The spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train are collected through visual positioning.

[0056] In a specific implementation process, the carriages are first positioned by vision, and the coal unloading area is fully covered by cameras. After the train enters the yard, the host computer operating system is manually confirmed and the on-site image acquisition is performed. The acquired images are confirmed by the image analysis system to confirm the first physical position of each carriage, and then the physical position of each carriage is output to the control system.

[0057] Multiple groups of cameras can capture all locations in the coal unloading area in an all-round manner, including personnel, carriages and other equipment, ensuring the accuracy of visual positioning.

[0058] 102. The second physical position of each carriage of the coal transport train is read by a magnetic scale installed on the driving path.

[0059] A magnetic scale will be installed on the driving path. When the vehicle runs to the relevant position, the magnetic scale can read the second physical position of the vehicle. The second physical position read by the magnetic scale has high accuracy, good repeatability, and strong anti-interference ability. Compared with traditional measuring tools, the magnetic scale can provide a larger measurement range, and because it uses a digital display method, it can avoid the influence of human error.

[0060] 103. The first physical location and the second physical location are connected and integrated to obtain the real-time location of each train carriage.

[0061] The first physical position is determined by visual positioning, and the second physical position is determined by magnetic scale. Both methods have a certain degree of accuracy. In order to further improve the accuracy of the real-time position of each carriage, the positions obtained by the two methods are fused, which can effectively remove interference and ensure the accuracy of the real-time position after fusion.

[0062] 104. Advanced process control is used in combination with real-time position to control the double-screw coal unloader to unload coal from each train car.

[0063] Advanced Process Control (APC) is a general term for a large class of control methods that are different from classical control. It aims to solve the problems of time-varying, nonlinear, coupling, and large lag in process control. Using APC to control the working path of the double-screw coal unloader for coal unloading operations can effectively ensure the efficient and smooth progress of the coal unloading process, while also ensuring the coal unloading efficiency.

[0064] 105. Monitor the operating area and safety area of ​​the double-screw coal unloader during coal unloading operations. When the distance between the operating area and the safety area is less than the preset value, adjust the operating area of ​​the coal unloading operation to prevent operational collisions.

[0065] Laser radars can be installed on both the carriage and the double-screw coal unloader. The laser radar can monitor the operating area and safety area of ​​the double-screw coal unloader during coal unloading operations. The operating area refers to the range of space required by the double-screw coal unloader during coal unloading operations, and the safety area refers to the space that can be occupied. Operations can be carried out freely in the safety area without any safety hazards. Therefore, the operating area needs to be located inside the safety area to ensure operational safety and prevent collisions.

[0066] In this embodiment, the real-time position of each carriage is accurately obtained, and then the APC control algorithm is used in combination with the real-time position to control the double-screw coal unloader to ensure the safe and orderly progress of the coal unloading process. While ensuring safe operation, it also effectively improves the coal unloading efficiency.

[0067] Furthermore, on the basis of the above-mentioned embodiments, the present embodiment utilizes advanced process control in combination with the real-time position to control the double-screw coal unloader to perform coal unloading operations on each carriage, including: determining the coal unloading speed, spiral lifting height, trolley travel speed and trolley travel speed; based on the coal unloading speed, spiral lifting height, trolley travel speed, trolley travel speed and real-time position, utilizing advanced process control to determine the coal unloading path of the double-screw coal unloader; based on the coal unloading path, controlling the double-screw coal unloader to perform coal unloading operations.

[0068] Specifically, the parameters of coal unloading operation are set in the APC control system, such as coal unloading speed, spiral lifting height, and trolley travel speed. These parameters can be adjusted according to the actual situation of the carriage and the coal unloading requirements. During the coal unloading operation, the real-time position detection system continuously monitors the position information of the carriage and transmits this information to the APC control system in real time. The APC control system dynamically adjusts the operating parameters of the double-screw coal unloader based on the real-time position information and the preset algorithm logic, such as adjusting the spiral lifting height and speed according to the remaining coal in the carriage, and adjusting the trolley travel speed according to the moving speed of the carriage, etc., to ensure the accuracy and efficiency of the coal unloading operation.

[0069] The specific coal unloading process is to control the double-screw coal unloader to perform coal unloading operations based on the coal unloading path, including: after controlling the double-screw coal unloader to move above the carriage, start the spiral lifting mechanism and lower the spiral to the coal unloading position; at the coal unloading position, control the double spiral to rotate, and gradually transport the coal in the carriage along the spiral channel to the coal unloading point. At the same time, the trolley travel mechanism is started and moves along the length of the carriage to ensure that the coal is unloaded evenly. During the coal unloading process, the real-time position and coal unloading status are updated, and the lifting height and speed of the spiral are adjusted according to the real-time position and coal unloading status. For example, when the coal in the carriage is reduced to a certain extent, the control system will automatically adjust the lifting height and speed of the spiral to avoid "biting" the bottom of the car. When all the coal in the carriage has been unloaded, the spiral lifting mechanism and the spiral rotating mechanism are turned off, and the trolley stops moving. At this time, the double-screw coal unloader can move to the next carriage to continue working.

[0070] Among them, advanced process control is used to determine the coal unloading path of the double-screw coal unloader, including: determining the spiral lifting height based on the real-time position, carriage height and coal distribution; determining the trolley walking speed and the trolley walking speed based on the spiral lifting height; determining the coal unloading path of the double-screw coal unloader based on the trolley walking speed and the trolley walking speed, and counting the coal unloading time and power consumption data of the coal unloading path; based on the coal unloading time and power consumption data, feedback is used to optimize the coal unloading path to obtain the optimal path.

[0071] Specifically, different carriage heights and different coal distributions require different coal unloading methods. Therefore, it is necessary to first determine the current carriage height and coal distribution, and based on this, determine the lifting height of the double-screw coal unloader. The lifting height can ensure efficient coal unloading. At the same time, the walking speed of the trolley and the walking speed of the small car determined based on the lifting height ensure the uniformity of coal unloading, and avoid uneven unloading of coal in the carriage, causing the carriage to tilt or damage. The coal unloading path finally determined can ensure the efficient and safe operation of the coal unloading operation. At the same time, the coal unloading efficiency can be further improved by optimizing the path through feedback adjustment.

[0072] Furthermore, on the basis of the above embodiments, the first physical position and the second physical position are docked and fused in this embodiment to obtain the real-time position of each train carriage, including: data cleaning and time synchronization of the first physical position and the second physical position to obtain first standard data and second standard data; converting the first standard data and the second standard data to the same coordinate system to obtain first position coordinates and second position coordinates; determining the weights of the first position coordinates and the second position coordinates; and using Kalman filtering or particle filtering to fuse the first position coordinates and the second position coordinates based on the corresponding weights to obtain the real-time position of each train carriage.

[0073] Specifically, the position fusion is performed by coordinates to ensure the rationality of data fusion. At the same time, different weights are assigned to visual positioning and magnetic scale positioning, ensuring that the final fused real-time position is more accurate and reliable. And through filtering, the real-time position represented by the final coordinates obtained by fusion of coordinates is more accurate in three-dimensional space. Due to the accuracy of the carriage position, the final coal unloading operation can be ensured to be carried out safely, orderly and efficiently.

[0074] Furthermore, the present embodiment also includes: receiving a manual intervention signal, the manual intervention signal includes a confirmation start signal, a confirmation stop signal and a limit protection signal; based on the confirmation start signal, the confirmation stop signal and the limit protection signal, controlling the double screw coal unloader to perform corresponding actions.

[0075] Specifically, through human intervention, timely intervention can be ensured when adjustment is needed, and the coal unloading process can be inspected or maintained in real time, and safety protection can be carried out in a timely manner in the event of an emergency.

[0076] Furthermore, the present embodiment also includes: calculating the coal unloading efficiency of the double-screw coal unloader for different types of coal; and adjusting the coal unloading parameters of the double-screw coal unloader for different types of coal based on the coal unloading efficiency.

[0077] Specifically, by carrying out coal unloading operations in a targeted manner according to different types of coal, the coal unloading efficiency can be effectively guaranteed, while also improving the protection of the coal and ensuring uniform coal unloading.

[0078] Furthermore, the present embodiment also includes obtaining various operating state parameters in the coal unloading process in real time through sensors, including but not limited to coal flow velocity v(t), coal pile height h(t), conveyor belt tension T(t) and motor current I(t), where t represents time;

[0079] The collected data are processed using the following formula (1) to calculate the current coal unloading efficiency η(t) and predict the coal unloading efficiency η(t+Δt) at the future time t+Δt:

[0080]

[0081] Where A(t) is the cross-sectional area of ​​the conveyor belt at time t, M toatl is the total amount of coal, K T is a constant related to the screw rotation of the double screw coal unloader;

[0082]

[0083] Among them, Δη is the efficiency change, α and β are empirical coefficients, representing the influence of current change rate and coal pile height on efficiency change respectively.

[0084] Based on the calculated η(t) and the predicted η(t+Δt), the preset threshold is used to determine whether the current coal unloading efficiency meets the requirements. If not, the parameters of the coal unloading device are adjusted, such as increasing or decreasing the coal unloading speed v(t), or adjusting the supply rate of the coal pile to optimize the parameter η(t+Δt); the operating status of the coal unloading device is continuously monitored, and the control strategy is adjusted according to real-time data feedback to ensure that the coal unloading efficiency is stable within the optimal range.

[0085] The empirical coefficients α and β are determined by the following formula (3):

[0086]

[0087] Where N is the number of samples, η i and η i+1 are the coal unloading efficiencies at the i-th and i+1-th time points, respectively, I i and h i are the motor current and coal pile height at the i-th time point respectively; β can be calculated by the least squares method, so α can be obtained.

[0088] Based on the same general inventive concept, the present invention also protects a double-screw coal unloader control device based on advanced process control. The double-screw coal unloader control device based on advanced process control provided by the present invention is described below. The double-screw coal unloader control device based on advanced process control described below and the double-screw coal unloader control method based on advanced process control described above can be referenced to each other.

[0089] Figure 2 It is a structural schematic diagram of a double-screw coal unloader control device based on advanced process control provided in this embodiment.

[0090] like Figure 2 As shown, this embodiment provides a double-screw coal unloader control device based on advanced process control, including:

[0091] A collection module 201, used for collecting spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning;

[0092] A reading module 202, configured to read a second physical position of each carriage of the coal transport train by means of a magnetic scale installed on a driving path;

[0093] A fusion module 203 is used to merge the first physical location and the second physical location to obtain the real-time location of each train car;

[0094] The control module 204 is used to control the double screw coal unloader to unload coal from each train carriage by using advanced process control combined with real-time position;

[0095] The monitoring module 205 is used to monitor the operating area and the safety area of ​​the double-screw coal unloader during coal unloading operation. When the distance between the operating area and the safety area is less than a preset value, the operating area of ​​the coal unloading operation is adjusted to prevent operation collision.

[0096] Furthermore, the control module 204 in this embodiment is specifically used for:

[0097] Determine the coal unloading speed, spiral lifting height, trolley travel speed and small car travel speed;

[0098] Based on the coal unloading speed, the spiral lifting height, the traveling speed of the large vehicle, the traveling speed of the small vehicle and the real-time position, the coal unloading path of the double spiral coal unloader is determined by using advanced process control;

[0099] Based on the coal unloading path, the double-screw coal unloader is controlled to perform coal unloading operations.

[0100] Furthermore, the control module 204 in this embodiment is specifically used for:

[0101] After controlling the double-screw coal unloader to move to the top of the carriage, start the screw lifting mechanism to lower the screw to the coal unloading position;

[0102] At the coal unloading position, the double helix is ​​controlled to rotate, and the coal in the carriage is gradually transported to the coal unloading point along the spiral channel;

[0103] During the coal unloading process, the real-time position and coal unloading status are updated, and the lifting height and speed of the spiral are adjusted according to the real-time position and the coal unloading status;

[0104] When all the coal in the carriage has been unloaded, the spiral lifting mechanism and the spiral rotating mechanism are closed and the cart stops moving.

[0105] Furthermore, the control module 204 in this embodiment is specifically used for:

[0106] Determining the screw lift height based on the real-time position, carriage height, and coal distribution;

[0107] Based on the spiral lifting height, determining the traveling speed of the trolley and the traveling speed of the small trolley;

[0108] Based on the traveling speed of the trolley and the traveling speed of the small trolley, the coal unloading path of the double-screw coal unloader is determined.

[0109] Furthermore, the control module 204 in this embodiment is specifically used for:

[0110] Counting the coal unloading time and power consumption data of the coal unloading path;

[0111] Based on the coal unloading time and the power consumption data, the coal unloading path is optimized by feedback to obtain an optimal path.

[0112] Furthermore, the fusion module 203 in this embodiment is specifically used for:

[0113] Performing data cleaning and time synchronization on the first physical location and the second physical location to obtain first standard data and second standard data;

[0114] Converting the first standard data and the second standard data to the same coordinate system to obtain first position coordinates and second position coordinates;

[0115] Determining weights of the first position coordinates and the second position coordinates;

[0116] Using Kalman filtering or particle filtering, based on corresponding weights, the first position coordinates and the second position coordinates are fused to obtain the real-time position of each train car.

[0117] Furthermore, this embodiment also includes a manual module, which is used to:

[0118] Receiving a manual intervention signal, wherein the manual intervention signal includes a confirmation start signal, a confirmation stop signal, and a limit protection signal;

[0119] Based on the confirmation start signal, the confirmation stop signal and the limit protection signal, the double screw coal unloader is controlled to perform corresponding actions.

[0120] Furthermore, this embodiment also includes a statistics module, which is used to:

[0121] Statistics on the coal unloading efficiency of the double screw coal unloader for different types of coal;

[0122] Based on the coal unloading efficiency, the coal unloading parameters of the double screw coal unloader are adjusted for different types of coal.

[0123] Figure 3 It is a schematic diagram of the structure of the electronic device provided in this embodiment.

[0124] like Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute a double-screw coal unloader control method based on advanced process control, the method comprising: collecting the spatial information of the entire coal unloading area and the first physical position of each train car of the coal transport train through visual positioning; reading the second physical position of each train car of the coal transport train through a magnetic scale installed on the driving path; docking and merging the first physical position and the second physical position to obtain the real-time position of each train car; using advanced process control, combined with the real-time position, controlling the double-screw coal unloader to perform coal unloading operations on each train car; monitoring the operating area and safety area of ​​the double-screw coal unloader during the coal unloading operation, and when the distance between the operating area and the safety area is less than a preset value, adjusting the operating area of ​​the coal unloading operation to prevent operation collision.

[0125] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0126] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the double-screw coal unloader control method based on advanced process control provided by the above-mentioned methods, the method including: collecting the spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning; reading the second physical position of each carriage of the coal transport train through a magnetic scale installed on the driving path; docking and merging the first physical position and the second physical position to obtain the real-time position of each carriage; using advanced process control, combined with the real-time position, controlling the double-screw coal unloader to perform coal unloading operations on each carriage; monitoring the operating area and safety area of ​​the double-screw coal unloader during the coal unloading operation, and when the distance between the operating area and the safety area is less than a preset value, adjusting the operating area of ​​the coal unloading operation to prevent operation collision.

[0127] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the double-screw coal unloader control method based on advanced process control provided by the above-mentioned methods, the method comprising: collecting spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning; reading the second physical position of each carriage of the coal transport train through a magnetic scale installed on the driving path; docking and merging the first physical position and the second physical position to obtain the real-time position of each carriage; using advanced process control, combined with the real-time position, controlling the double-screw coal unloader to perform coal unloading operations on each carriage; monitoring the operating area and safety area of ​​the double-screw coal unloader during the coal unloading operation, and when the distance between the operating area and the safety area is less than a preset value, adjusting the operating area of ​​the coal unloading operation to prevent operational collision.

[0128] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0129] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A double screw coal unloader control method based on advanced process control, characterized in that: include: Collect the spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning; Reading the second physical position of each carriage of the coal train by means of a magnetic scale installed on the driving path; The first physical location and the second physical location are connected and merged to obtain the real-time location of each train carriage; Using advanced process control and combining the real-time position, the double screw coal unloader is controlled to unload coal from each train carriage; The operating area and the safety area of ​​the double-screw coal unloader during the coal unloading operation are monitored, and when the distance between the operating area and the safety area is less than a preset value, the operating area of ​​the coal unloading operation is adjusted to prevent operation collision.

2. The double-screw coal unloader control method based on advanced process control according to claim 1 is characterized in that: The method of utilizing the advanced process control and combining the real-time position to control the double screw coal unloader to unload coal from each train carriage includes: Determine the coal unloading speed, spiral lifting height, trolley travel speed and small car travel speed; Based on the coal unloading speed, the spiral lifting height, the traveling speed of the large vehicle, the traveling speed of the small vehicle and the real-time position, the coal unloading path of the double spiral coal unloader is determined by using advanced process control; Based on the coal unloading path, the double-screw coal unloader is controlled to perform coal unloading operations.

3. The double-screw coal unloader control method based on advanced process control according to claim 2 is characterized in that: The step of controlling the double screw coal unloader to perform coal unloading operation based on the coal unloading path includes: After controlling the double-screw coal unloader to move to the top of the carriage, start the screw lifting mechanism to lower the screw to the coal unloading position; At the coal unloading position, the double helix is ​​controlled to rotate, and the coal in the carriage is gradually transported to the coal unloading point along the spiral channel; During the coal unloading process, the real-time position and coal unloading status are updated, and the lifting height and speed of the spiral are adjusted according to the real-time position and the coal unloading status; When all the coal in the carriage has been unloaded, the spiral lifting mechanism and the spiral rotating mechanism are closed and the cart stops moving.

4. The double-screw coal unloader control method based on advanced process control according to claim 2 is characterized in that: The method of using advanced process control to determine the coal unloading path of the double screw coal unloader includes: Determining the screw lift height based on the real-time position, carriage height, and coal distribution; Based on the spiral lifting height, determining the traveling speed of the trolley and the traveling speed of the small trolley; Based on the traveling speed of the trolley and the traveling speed of the small trolley, the coal unloading path of the double-screw coal unloader is determined.

5. The double-screw coal unloader control method based on advanced process control according to claim 4 is characterized in that: After determining the coal unloading path of the double-screw coal unloader, the method further includes: Counting the coal unloading time and power consumption data of the coal unloading path; Based on the coal unloading time and the power consumption data, the coal unloading path is optimized by feedback to obtain an optimal path.

6. The double-screw coal unloader control method based on advanced process control according to claim 1 is characterized in that: The step of integrating the first physical location with the second physical location to obtain the real-time location of each train carriage includes: Performing data cleaning and time synchronization on the first physical location and the second physical location to obtain first standard data and second standard data; Converting the first standard data and the second standard data to the same coordinate system to obtain first position coordinates and second position coordinates; Determining weights of the first position coordinates and the second position coordinates; Using Kalman filtering or particle filtering, based on corresponding weights, the first position coordinates and the second position coordinates are fused to obtain the real-time position of each train car.

7. The double screw coal unloader control method based on advanced process control according to claim 1, characterized in that: Also includes: Receiving a manual intervention signal, wherein the manual intervention signal includes a confirmation start signal, a confirmation stop signal, and a limit protection signal; Based on the confirmation start signal, the confirmation stop signal and the limit protection signal, the double screw coal unloader is controlled to perform corresponding actions.

8. The double-screw coal unloader control method based on advanced process control according to any one of claims 1 to 7, characterized in that: Also includes: Statistics on the coal unloading efficiency of the double screw coal unloader for different types of coal; Based on the coal unloading efficiency, the coal unloading parameters of the double screw coal unloader are adjusted for different types of coal.

9. A double screw coal unloader control device based on advanced process control, characterized in that: include: A collection module, used for collecting spatial information of the entire coal unloading area and the first physical position of each carriage of the coal transport train through visual positioning; A reading module, used for reading the second physical position of each carriage of the coal transport train through a magnetic scale installed on a driving path; A fusion module, used for connecting and merging the first physical location and the second physical location to obtain a real-time location of each train carriage; A control module, for controlling the double screw coal unloader to unload coal from each train carriage by using advanced process control in combination with the real-time position; The monitoring module is used to monitor the operating area and safety area of ​​the double-screw coal unloader during the coal unloading operation. When the distance between the operating area and the safety area is less than a preset value, the operating area of ​​the coal unloading operation is adjusted to prevent operation collision.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the double-screw coal unloader control method based on advanced process control as described in any one of claims 1 to 8 is implemented.

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