Automatic coal unloading control system of spiral coal unloading machine

Abstract

The invention provides an automatic coal unloading control system of a spiral coal unloader, which is characterized in that a vehicle information identification module is arranged at a preset height position above a first preset parking area and is used for acquiring vehicle image information of a coal car in the first preset parking area; the coal unloading machine positioning module is arranged on a second preset parking area and a driving route between the second preset parking area and the first preset parking area and used for determining the coal unloading machine position of the spiral coal unloading machine, and the control module is used for determining the target position of a target carriage containing coal in all carriages of the coal conveyor based on the vehicle image information. The target route is generated based on the position of the coal unloading machine and the target position, the spiral coal unloading machine is controlled to reach the target position through the target route, coal unloading is conducted on the target compartment, automatic coal unloading control over the spiral coal unloading machine is achieved, the working efficiency is high, manpower resources are saved, and the probability of personal safety accidents is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of coal unloaders, and in particular to an automatic coal unloading control system of a screw coal unloader. Background Art

[0002] At present, when coal trucks transport coal to coal-fired power plants, relevant personnel in coal-fired power plants need to drive screw coal unloaders to unload coal. The screw coal unloader uses spiral blades as the unloading structure. When the spiral blades rotate in the coal pile, the coal in contact with the spiral blades is pushed off the coal truck and falls into the coal pit or designated cargo position. It has high coal unloading efficiency, good adaptability to coal trucks of different models, simple equipment, low cost, and easy maintenance. It is a commonly used coal unloading equipment.

[0003] However, the working environment at the coal unloading site is generally harsh, which may cause human discomfort or personal safety accidents. Moreover, the manual operation of the screw coal unloader is inefficient and requires human resources, which increases the labor costs of coal-fired power plants. Summary of the invention

[0004] The invention provides an automatic coal unloading control system of a spiral coal unloader, which is used to solve the technical problem in the prior art that coal-fired power plants cannot automatically unload coal efficiently.

[0005] In one aspect, the present invention provides an automatic coal unloading control system for a spiral coal unloader, comprising:

[0006] a vehicle information recognition module, disposed at a preset height above the first preset parking area, for acquiring vehicle image information of the coal truck in the first preset parking area;

[0007] a coal unloader positioning module, arranged in the second preset parking area and the driving route between the second preset parking area and the first preset parking area, for determining the coal unloader position of the screw coal unloader;

[0008] A control module is used to determine the target position of the target carriage loaded with coal in each carriage of the coal truck based on the vehicle image information, and generate a target route based on the coal unloader position and the target position, control the screw coal unloader to reach the target position via the target route, and unload coal from the target carriage; wherein the target route belongs to the driving route.

[0009] According to an automatic coal unloading control system of a spiral coal unloader provided by the present invention, the control module is also used for:

[0010] Determine a coal unloading working area of ​​the screw coal unloader based on the target position;

[0011] Determining a personal danger area based on the coal unloading work area; wherein the coal unloading work area is a part of the personal danger area;

[0012] Determine whether there is anyone in the personal danger area;

[0013] If yes, control the screw coal unloader to stop working;

[0014] When the person in the personal danger zone disappears, the screw coal unloader is controlled to return to the working state before stopping.

[0015] According to an automatic coal unloading control system of a spiral coal unloader provided by the present invention, the control module is also used for:

[0016] Determine the outer compartment wall position of the target compartment of the target position;

[0017] Determining the size information of the target compartment based on the position of the outer compartment wall;

[0018] The coal unloading working area of ​​the screw coal unloader is determined based on the operating range of the screw coal unloader and the size information; wherein the outer compartment wall position and the operating range belong to the coal unloading working area.

[0019] According to an automatic coal unloading control system of a screw coal unloader provided by the present invention, the screw coal unloader includes a pick-type screw coal unloader and a common screw coal unloader, and the control module is also used for:

[0020] Determining coal quality information of the target carriage;

[0021] Selecting a coal unloader corresponding to the coal quality information from the pick-type screw coal unloader and the common screw coal unloader as a target coal unloader;

[0022] A target route is generated based on the coal unloader position of the target coal unloader and the target position, and the target coal unloader is controlled to reach the target position via the target route.

[0023] According to an automatic coal unloading control system of a spiral coal unloader provided by the present invention, the control module is also used for:

[0024] Acquiring the air humidity and air temperature of the area where the target compartment is located;

[0025] When the air humidity is greater than a preset humidity threshold and the air temperature is less than a preset temperature threshold, determining that the coal quality information of the target compartment is ice or coal seam blockage;

[0026] The pick-tooth type screw coal unloader and the common screw coal unloader are selected as the target coal unloader, which corresponds to the freezing or the coal seam plugging.

[0027] According to an automatic coal unloading control system of a spiral coal unloader provided by the present invention, the control module is also used for:

[0028] When the air humidity is less than or equal to the preset humidity threshold, and the air temperature is greater than or equal to the preset temperature threshold, determining that the coal quality information of the target compartment is non-icing or non-coal seam blocking;

[0029] The ordinary screw coal unloader corresponding to the non-icing or non-coal seam plugging is selected as the target coal unloader from the pick-tooth type screw coal unloader and the ordinary screw coal unloader.

[0030] According to an automatic coal unloading control system of a spiral coal unloader provided by the present invention, the control module is also used for:

[0031] When the pick-tooth type spiral coal unloader is controlled to unload coal to the target carriage, the moving speed of the pick-tooth type spiral coal unloader is slowed down, the vibration frequency of the pick-tooth type spiral coal unloader is increased, and the working position of the pick-tooth type spiral coal unloader is changed.

[0032] According to an automatic coal unloading control system of a spiral coal unloader provided by the present invention, the control module is also used for:

[0033] Based on the vehicle image information, each compartment of the coal transport vehicle is assigned a unique identification number, and a target position of a target compartment loaded with coal in the compartment corresponding to each identification number is determined;

[0034] Determining the coal unloading order of each of the target carriages based on the identification number of each of the target carriages;

[0035] The screw coal unloader is controlled to reach the target position of each target carriage one by one according to the coal unloading sequence.

[0036] An automatic coal unloading control system for a spiral coal unloader provided by the present invention further includes:

[0037] A purge module, arranged within a preset range of the vehicle information identification module, and used to be controlled by the control module to purge the vehicle information identification module;

[0038] The monitoring module is connected to the control module by signal and is used to send control instructions to the control module.

[0039] According to an automatic coal unloading control system of a spiral coal unloader provided by the present invention, the control module is also used for:

[0040] Counting the time and energy consumption of each historical route passed by the screw coal unloader;

[0041] The time and energy consumption of each of the historical routes are weighted and summed to obtain the consumption cost of each of the historical routes;

[0042] A target route of the screw unloader is optimized based on the consumption cost.

[0043] On the other hand, the present invention also 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, an automatic coal unloading control method of any of the above-mentioned screw coal unloaders is implemented.

[0044] The automatic coal unloading control system of the spiral coal unloader provided by the present invention comprises a vehicle information recognition module arranged at a preset height position above the first preset parking area, for obtaining vehicle image information of the coal truck in the first preset parking area, a coal unloader positioning module arranged in the second preset parking area and on the driving route between the second preset parking area and the first preset parking area, for determining the coal unloader position of the spiral coal unloader, a control module for determining the target position of the target carriage loaded with coal in each carriage of the coal truck based on the vehicle image information, and generating a target route based on the coal unloader position and the target position, controlling the spiral coal unloader to reach the target position via the target route, and unloading coal from the target carriage, thereby realizing automatic coal unloading control of the spiral coal unloader, having high working efficiency, saving human resources, and reducing the probability of personal safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figure 1 It is a structural schematic diagram of an automatic coal unloading control system of a spiral coal unloader provided by an embodiment of the present invention;

[0047] Figure 2 1 is a schematic diagram of a scenario of an automatic coal unloading control system of a spiral coal unloader provided by an embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] 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.

[0050] Figure 1 It is a structural schematic diagram of an automatic coal unloading control system of a spiral coal unloader provided in an embodiment of the present invention. Figure 2 : is a scene schematic diagram of an automatic coal unloading control system of a screw coal unloader provided by an embodiment of the present invention. The screw coal unloader may include a large cart and a small cart. The small cart is arranged on the large cart. The large cart can drive the small cart to move. The small cart can be used to unload coal. The coal transport vehicle generally refers to a train, which may include multiple carriages, such as carriages 1 to 5. There are train tracks in the first preset parking area for the train to travel and stop. See Figure 1 and Figure 2 The automatic coal unloading control system 30 of the screw coal unloader may include a vehicle information identification module 302, a coal unloader positioning module 303 and a control module 301. The number of the vehicle information identification module 302 and the coal unloader positioning module 303 can be determined according to actual needs, and this embodiment does not specifically limit it.

[0051] The vehicle information recognition module 302 is set at a preset height position above the first preset parking area, and is used to obtain vehicle image information of the coal truck in the first preset parking area. The vehicle information recognition module 302 can generally be a high-definition camera, or an image acquisition device such as a camera. The preset height position, that is, greater than the height of the coal truck, is above the coal truck, so as to determine the amount of coal in each compartment of the coal truck, for example, to distinguish between a compartment with coal and an empty compartment, and the amount of coal in a compartment with coal. There can be multiple vehicle information recognition modules 302.

[0052] The coal unloader positioning module 303 is set in the second preset parking area and the driving route between the second preset parking area and the first preset parking area, and is used to determine the coal unloader position of the spiral coal unloader. The coal unloader positioning module 303 can be a device such as a laser radar or a visual sensor. The laser radar accurately measures the surrounding environment, including the position of the vehicle, by emitting a laser beam and measuring the reflection time. The visual sensor uses a camera to capture images of the road and the vehicle, and identifies and locates the vehicle through image processing technology. In addition, a positioning device can also be set on each spiral coal unloader to obtain the coal unloader position of each spiral coal unloader. There can also be multiple coal unloader positioning modules 303.

[0053] The control module 301 is used to determine the target position of the target carriage loaded with coal in each carriage of the coal transport vehicle based on the vehicle image information, and generate a target route based on the coal unloader position and the target position, and control the screw coal unloader to reach the target position via the target route to unload coal from the target carriage; wherein the target route belongs to the driving route. The control module 301 can be a programmable logic controller (PLC) or other computer control systems.

[0054] In this embodiment, the vehicle information identification module 302 is set at a preset height position above the first preset parking area, and is used to obtain the vehicle image information of the coal truck in the first preset parking area. The coal unloader positioning module 303 is set in the second preset parking area and on the driving route between the second preset parking area and the first preset parking area, and is used to determine the coal unloader position of the spiral coal unloader. The control module 301 is used to determine the target position of the target carriage loaded with coal in each carriage of the coal truck based on the vehicle image information, and generate a target route based on the coal unloader position and the target position, control the spiral coal unloader to reach the target position via the target route, and unload coal from the target carriage, thereby realizing automatic coal unloading control of the spiral coal unloader, which has high work efficiency, saves human resources, and reduces the probability of personal safety accidents.

[0055] In one embodiment of this specification, the control module 301 may also be used for:

[0056] Determine a coal unloading working area of ​​the screw coal unloader based on the target position;

[0057] Determining a personal danger area based on the coal unloading work area; wherein the coal unloading work area is a part of the personal danger area;

[0058] Determine whether there is anyone in the personal danger area;

[0059] If yes, control the screw coal unloader to stop working;

[0060] When the person in the personal danger zone disappears, the screw coal unloader is controlled to return to the working state before stopping.

[0061] In this embodiment, the coal unloading working area of ​​the screw coal unloader is determined based on the target position, and the personal danger area is determined based on the coal unloading working area. It is judged whether there is anyone in the personal danger area. If so, the screw coal unloader is controlled to stop working, which can avoid personal injury. When there is someone in the personal danger area, the sound alarm or light source on the scene can also be controlled to alarm. When the person in the personal danger area disappears, the screw coal unloader is controlled to return to the working state before stopping, that is, it continues to work according to the working state at the time of stopping, so as to ensure the smooth progress of coal unloading.

[0062] In one embodiment of this specification, the control module 301 may also be used for:

[0063] Determine the outer compartment wall position of the target compartment of the target position;

[0064] Determining the size information of the target compartment based on the position of the outer compartment wall;

[0065] The coal unloading working area of ​​the screw coal unloader is determined based on the operating range of the screw coal unloader and the size information; wherein the outer compartment wall position and the operating range belong to the coal unloading working area.

[0066] In this embodiment, the outer compartment wall position of the target compartment of the target position can be determined based on the vehicle image information, or the outer compartment wall position of the target compartment can be determined by other means, for example, the outer compartment wall position of the target compartment is determined by a compartment wall recognition module. Specifically, the compartment wall recognition module can be a laser sensor or a laser sensor, and the outer compartment wall position of the compartment is determined by scanning the side of the compartment with a laser sensor, or laser sensors are installed at fixed positions around the compartment, and the coordinates of the compartment origin and the deflection angle are calculated using the ranging results to obtain the outer compartment wall position, etc. The size information can generally include the length and width of the target compartment, and of course, the height can also be included. The operating range of the screw unloader can be obtained by preliminary testing. The unloading working area can generally be greater than or equal to the outer compartment wall position and the operating range. The unloading working area obtained in this embodiment has high accuracy and rationality.

[0067] In one embodiment of the present specification, the screw coal unloader may include a pick-type screw coal unloader and a common screw coal unloader, and the control module 301 may also be used for:

[0068] Determining coal quality information of the target carriage;

[0069] Selecting a coal unloader corresponding to the coal quality information from the pick-type screw coal unloader and the common screw coal unloader as a target coal unloader;

[0070] A target route is generated based on the coal unloader position of the target coal unloader and the target position, and the target coal unloader is controlled to reach the target position via the target route.

[0071] In this embodiment, the pick-tooth type spiral coal unloader has the ability to break large coal and frozen coal, and can directly unload frozen coal from railway freight cars, which is suitable for mechanical coal unloading operations in cold areas in winter. The ordinary spiral coal unloader has a simple structure, convenient maintenance and operation, high unloading efficiency, and is suitable for long gap-type coal trenches, mainly used for coal unloading operations in thermal power plants. Selecting the coal unloader corresponding to the coal quality information from the pick-tooth type spiral coal unloader and the ordinary spiral coal unloader as the target coal unloader is conducive to ensuring the smooth progress of coal unloading work and improving the work efficiency of coal unloading.

[0072] In one embodiment of this specification, the control module 301 may also be used for:

[0073] Acquiring the air humidity and air temperature of the area where the target compartment is located;

[0074] When the air humidity is greater than a preset humidity threshold and the air temperature is less than a preset temperature threshold, determining that the coal quality information of the target compartment is ice or coal seam blockage;

[0075] The pick-tooth type screw coal unloader and the common screw coal unloader are selected as the target coal unloader, which corresponds to the freezing or the coal seam plugging.

[0076] In this embodiment, the air humidity and air temperature of the area where the target carriage is located can be obtained from the weather forecast information through the network. The area where the target carriage is located can refer to the urban area where it is located. The preset humidity threshold can be set, which is not specifically defined here. The preset temperature threshold can be set, which is not specifically defined here. Selecting the pick-tooth type spiral coal unloader corresponding to the icing or the coal seam blocking as the target coal unloader from the pick-tooth type spiral coal unloader and the ordinary spiral coal unloader can give full play to the characteristics of the pick-tooth type spiral coal unloader and ensure the smooth progress of coal unloading. Of course, the coal quality information can also be analyzed from the vehicle image information, and the image processing technology can be used to analyze whether the coal quality is in a state of icing or coal seam blocking. It is also possible to analyze whether the coal quality is in a state of icing or coal seam blocking in combination with the air humidity and air temperature of the area and the vehicle image information.

[0077] In one embodiment of this specification, the control module 301 may also be used for:

[0078] When the air humidity is less than or equal to the preset humidity threshold, and the air temperature is greater than or equal to the preset temperature threshold, determining that the coal quality information of the target compartment is non-icing or non-coal seam blocking;

[0079] The ordinary screw coal unloader corresponding to the non-icing or non-coal seam plugging is selected as the target coal unloader from the pick-tooth type screw coal unloader and the ordinary screw coal unloader.

[0080] In this embodiment, the ordinary screw coal unloader corresponding to the non-icing or non-coal seam plugging is selected as the target coal unloader from the pick-tooth type screw coal unloader and the ordinary screw coal unloader, which can give full play to the characteristics of the ordinary screw coal unloader and enable the coal unloading work to be carried out efficiently.

[0081] In one embodiment of this specification, the control module 301 may also be used for:

[0082] When the pick-tooth type spiral coal unloader is controlled to unload coal to the target carriage, the moving speed of the pick-tooth type spiral coal unloader is slowed down, the vibration frequency of the pick-tooth type spiral coal unloader is increased, and the working position of the pick-tooth type spiral coal unloader is changed.

[0083] In this embodiment, when controlling the pick-type screw coal unloader to unload coal to the target carriage, slowing down the moving speed of the pick-type screw coal unloader and increasing the vibration frequency are helpful for more efficient coal unloading. Specifically, slowing down the moving speed can reduce the impact force on the frozen or blocked coal seam, avoid further solidification of the coal seam, and also reduce wear and damage to the equipment. Increasing the vibration frequency can destroy the structure of the coal seam, making it easier to be cut and unloaded by the pick. Changing the working position is conducive to finding a more suitable coal unloading point, which is convenient for coal unloading.

[0084] In one embodiment of this specification, the control module 301 may also be used for:

[0085] Based on the vehicle image information, each compartment of the coal transport vehicle is assigned a unique identification number, and a target position of a target compartment loaded with coal in the compartment corresponding to each identification number is determined;

[0086] Determining the coal unloading order of each of the target carriages based on the identification number of each of the target carriages;

[0087] The screw coal unloader is controlled to reach the target position of each target carriage one by one according to the coal unloading sequence.

[0088] In this embodiment, for example, by analyzing the vehicle image information, the total number of carriages is 10, and then the 10 carriages can be assigned 1 to 10 as unique identification numbers according to the arrangement order of the carriages. Assuming that there is coal in the carriages corresponding to numbers 3-10, the carriages with identification numbers 3-10 are target carriages. The coal unloading order of each target carriage can be determined in ascending order according to the identification numbers of the target carriages, or the coal unloading order of each target carriage can be determined in descending order according to the identification numbers of each target carriage, so as to ensure that the coal unloading work is carried out in an orderly manner.

[0089] In one embodiment of the present specification, the automatic coal unloading control system 30 of the screw coal unloader may further include a purge module 304 and a monitoring module 305 .

[0090] The purge module 304 is disposed within a preset range of the vehicle information identification module 302 and is used to be controlled by the control module 301 to purge the vehicle information identification module 302;

[0091] The monitoring module 305 is connected to the control module 301 by signals, and is used to send control instructions to the control module 301 .

[0092] In this embodiment, after long-term use, the vehicle information identification module 302 is easily contaminated with dust, which affects the quality of the vehicle image information. The purge module 304 is arranged within the preset range of the vehicle information identification module 302, and can generally be arranged in front of the vehicle information identification module 302, that is, it can be directly facing the lens of the vehicle information identification module 302, so as to facilitate cleaning of the vehicle information identification module 302. The purge module 304 is connected to the control module 301 by signal. The control module 301 can send a start instruction to the purge module 304 at intervals of a preset time length, so as to clean the vehicle information identification module 302. When the cleaning process reaches the preset cleaning time length, a shutdown instruction is sent to the purge module 304 to stop cleaning. The purge module 304 can be a fan or other jet device.

[0093] The monitoring module 305 can be located in the remote main control room, and the relevant personnel can operate the monitoring module 305 to send control instructions to the control module 301. For example, the monitoring module 305 can be operated to send the start instruction and stop instruction of the screw coal unloader to the control module 301, so as to realize the remote manual control of the working state of the screw coal unloader. This embodiment can realize the combination of manual control of the screw coal unloader and automatic control of the screw coal unloader, and the appropriate control method can be selected according to actual needs. In addition, the monitoring module 305 can also receive and display the information sent to the monitoring module 305 by the control module 301, for example, displaying the vehicle image information, and can also display the image information of the purge module 304. It can be understood that in the process of unloading coal, the vehicle information recognition module 302 can collect all the information in the first preset parking area, in addition to the vehicle image information of the coal transport vehicle, it can also include the picture information of the screw coal unloader, the picture information of the purge module 304, etc., so that the relevant personnel can observe the whole process of unloading coal through the monitoring module 305.

[0094] In one embodiment of this specification, the control module 301 may also be used for:

[0095] Counting the time and energy consumption of each historical route passed by the screw coal unloader;

[0096] The time and energy consumption of each of the historical routes are weighted and summed to obtain the consumption cost of each of the historical routes;

[0097] A target route of the screw unloader is optimized based on the consumption cost.

[0098] In this embodiment, when there are multiple target routes, the consumption cost of each target route can be determined, and the target route with the lowest consumption cost can be selected.

[0099] In addition, the road surface information on the driving route can also be collected through image acquisition or radar and other equipment, and the route with water or ice on the road surface can be determined based on the road surface information. Image acquisition uses computer vision and image processing algorithms to analyze the road images or videos collected by the camera, and judge in real time whether there is water or ice on the road, and issue a timely warning. Radar technology can obtain point cloud data of waterlogged areas and non-waterlogged areas of the road through millimeter wave radar, analyze the point cloud data, and identify the waterlogging of the road. When there are multiple target routes, when there are routes with waterlogging or ice in the target route, the routes with waterlogging or ice can be removed from the target route, thereby ensuring the smooth travel of the screw coal unloader. The various modules in the automatic coal unloading control system 30 can communicate through the network, or communicate through optical fiber connections.

[0100] Furthermore, the parking position of the coal truck in the first preset parking area is generally known in advance, and is generally a fixed position. Therefore, the driving route of the screw coal unloader can be planned in advance according to the known fixed position. Before the coal truck arrives at the first preset parking area, the screw coal unloader is controlled to drive along the driving route to the preset position, thereby saving time. When it is found that the actual parking position of the coal truck deviates from the fixed position according to the vehicle image information, the position of the screw coal unloader can be readjusted.

[0101] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0102] like Figure 3 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the automatic coal unloading control method of the screw coal unloader. The automatic coal unloading control method of the screw coal unloader may include:

[0103] Acquiring vehicle image information of the coal truck in the first preset parking area through a vehicle information recognition module;

[0104] Determine the coal unloader position of the spiral coal unloader through the coal unloader positioning module;

[0105] The control module determines the target position of the target carriage loaded with coal in each carriage of the coal truck based on the vehicle image information, generates a target route based on the coal unloader position and the target position, controls the screw coal unloader to reach the target position via the target route, and unloads coal from the target carriage; wherein the target route belongs to the driving route.

[0106] In addition, the logic instructions in the above-mentioned memory 630 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.

[0107] 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 automatic coal unloading control method of the screw coal unloader provided by the above-mentioned methods.

[0108] 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 automatic coal unloading control method of the screw coal unloader provided by the above-mentioned methods.

[0109] 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.

[0110] 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.

[0111] 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. An automatic coal unloading control system for a spiral coal unloader, characterized in that: include: a vehicle information recognition module, disposed at a preset height above the first preset parking area, for acquiring vehicle image information of the coal truck in the first preset parking area; a coal unloader positioning module, arranged in the second preset parking area and the driving route between the second preset parking area and the first preset parking area, for determining the coal unloader position of the screw coal unloader; A control module is used to determine the target position of the target carriage loaded with coal in each carriage of the coal truck based on the vehicle image information, and generate a target route based on the coal unloader position and the target position, control the screw coal unloader to reach the target position via the target route, and unload coal from the target carriage; wherein the target route belongs to the driving route.

2. The automatic coal unloading control system of the screw coal unloader according to claim 1, characterized in that: The control module is also used for: Determine a coal unloading working area of ​​the screw coal unloader based on the target position; Determining a personal danger area based on the coal unloading work area; wherein the coal unloading work area is a part of the personal danger area; Determine whether there is anyone in the personal danger area; If yes, control the screw coal unloader to stop working; When the person in the personal danger zone disappears, the screw coal unloader is controlled to return to the working state before stopping.

3. The automatic coal unloading control system of the screw coal unloader according to claim 2, characterized in that: The control module is also used for: Determine the outer compartment wall position of the target compartment of the target position; Determining the size information of the target compartment based on the position of the outer compartment wall; The coal unloading working area of ​​the screw coal unloader is determined based on the operating range of the screw coal unloader and the size information; wherein the outer compartment wall position and the operating range belong to the coal unloading working area.

4. The automatic coal unloading control system of the screw coal unloader according to claim 1, characterized in that: The screw coal unloader includes a pick-tooth type screw coal unloader and a common screw coal unloader, and the control module is also used for: Determining coal quality information of the target carriage; Selecting a coal unloader corresponding to the coal quality information from the pick-type screw coal unloader and the common screw coal unloader as a target coal unloader; A target route is generated based on the coal unloader position of the target coal unloader and the target position, and the target coal unloader is controlled to reach the target position via the target route.

5. The automatic coal unloading control system of the screw coal unloader according to claim 4, characterized in that: The control module is also used for: Acquiring the air humidity and air temperature of the area where the target compartment is located; When the air humidity is greater than a preset humidity threshold and the air temperature is less than a preset temperature threshold, determining that the coal quality information of the target compartment is ice or coal seam blockage; The pick-tooth type screw coal unloader and the common screw coal unloader are selected as the target coal unloader, which corresponds to the freezing or the coal seam plugging.

6. The automatic coal unloading control system of the screw coal unloader according to claim 5, characterized in that: The control module is also used for: When the air humidity is less than or equal to the preset humidity threshold, and the air temperature is greater than or equal to the preset temperature threshold, determining that the coal quality information of the target compartment is non-icing or non-coal seam blocking; The ordinary screw coal unloader corresponding to the non-icing or non-coal seam plugging is selected as the target coal unloader from the pick-tooth type screw coal unloader and the ordinary screw coal unloader.

7. The automatic coal unloading control system of the screw coal unloader according to claim 5, characterized in that: The control module is also used for: When the pick-tooth type spiral coal unloader is controlled to unload coal to the target carriage, the moving speed of the pick-tooth type spiral coal unloader is slowed down, the vibration frequency of the pick-tooth type spiral coal unloader is increased, and the working position of the pick-tooth type spiral coal unloader is changed.

8. The automatic coal unloading control system of the screw coal unloader according to claim 1, characterized in that: The control module is also used for: Based on the vehicle image information, each compartment of the coal transport vehicle is assigned a unique identification number, and a target position of a target compartment loaded with coal in the compartment corresponding to each identification number is determined; Determining the coal unloading order of each of the target carriages based on the identification number of each of the target carriages; The screw coal unloader is controlled to reach the target position of each target carriage one by one according to the coal unloading sequence.

9. The automatic coal unloading control system of the screw coal unloader according to claim 1, characterized in that: Also includes: A purge module, arranged within a preset range of the vehicle information identification module, and used to be controlled by the control module to purge the vehicle information identification module; The monitoring module is connected to the control module by signal and is used to send control instructions to the control module.

10. The automatic coal unloading control system of the screw coal unloader according to claim 1, characterized in that: The control module is also used for: Counting the time and energy consumption of each historical route passed by the screw coal unloader; The time and energy consumption of each of the historical routes are weighted and summed to obtain the consumption cost of each of the historical routes; A target route of the screw unloader is optimized based on the consumption cost.

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