Coal material transfer method and system, computing equipment and medium

Abstract

The invention relates to a coal transfer method and system, computing equipment and a medium. The method comprises the following steps: acquiring the weight of a coal bucket placed at a discharge port of a coal blanking mechanism; if the weight is larger than or equal to a preset weight threshold value, a valve at a discharging port of the coal discharging mechanism is closed, and a first indoor carrying vehicle is controlled to carry the coal bucket to a coal transfer point; if the coal bucket filled with the coal is detected at the coal transfer point, the passing condition of the main route is obtained; based on the traffic condition of the main route, a target carrying route is determined, the target carrying route is a main route or a standby route, and an outdoor carrying vehicle is controlled to transfer the coal bucket to a storage yard according to the target carrying route. The method can reduce the probability that the outdoor carrying vehicle is blocked in the target carrying route, so that the coal carrying efficiency can be improved.

Description

Background Art

[0002] Under each coal mill in a thermal power plant, an isobaric pebble coal discharge device (also known as a coal unloading mechanism) is arranged to discharge the generated coal into the coal hopper. When the coal hopper contains a certain amount of coal, the coal hopper is manually transferred to the coal handover point for storage through the on-site ground cattle, and then the outdoor operator operates an electric forklift to transfer it to the coal concentration center or yard for unloading and stacking. However, with the significant improvement in the degree of automation of thermal power plants, the construction of intelligent power fields and the advancement of centralized control with few people and unmanned operation, the manual slag discharge of pebble coal from coal mills is particularly abrupt, and manual slag discharge and forklift transportation are dangerous and have high labor costs. Therefore, the prior art proposes a method for unmanned coal transportation, which uses an unmanned transport vehicle to transport coal to the yard to reduce manual participation. Since the unmanned transport vehicle can only know that its driving in the transportation route is blocked when it encounters an obstacle, it is easy for the unmanned transport vehicle to be blocked in the transportation route when it is driving in the transportation route, resulting in low coal transportation efficiency.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] In order to overcome the problem that in traditional unmanned coal transportation, unmanned transport vehicles are easily blocked in the transportation route when traveling in the transportation route, resulting in low coal transportation efficiency, the present invention provides a method, system, computing device and medium for coal transportation.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides a method for coal transport, comprising:

[0006] Obtain the weight of the coal hopper placed at the discharge port of the coal unloading mechanism;

[0007] If the weight is greater than or equal to the preset weight threshold, the valve at the discharge port of the coal unloading mechanism is closed, and the first indoor transport vehicle is controlled to transport the coal hopper to the coal transfer point;

[0008] If a coal hopper loaded with coal is detected at the coal transfer point, the traffic conditions of the main route are obtained;

[0009] Based on the traffic conditions of the main route, a target transport route is determined, the target transport route being a main route or a backup route, and the outdoor transport vehicle is controlled to transport the coal hopper to the storage yard according to the target transport route.

[0010] In a second aspect, in order to solve the above technical problems, the present invention provides a system for coal transport, comprising:

[0011] A first acquisition module is used to acquire the weight of a coal hopper placed at the discharge port of the coal unloading mechanism;

[0012] A first transfer module is used for closing the valve at the discharge port of the coal unloading mechanism if the weight is greater than or equal to a preset weight threshold, and controlling the first indoor transport vehicle to transport the coal hopper to a coal transfer point;

[0013] A second acquisition module is used to acquire the traffic conditions of the main route if a coal hopper filled with coal is detected at the coal transfer point;

[0014] The second transfer module is used to determine a target transport route based on the traffic conditions of the main route, the target transport route being a main route or a backup route, and control an outdoor transport vehicle to transport the coal hopper to a storage yard according to the target transport route.

[0015] In a third aspect, in order to solve the above-mentioned technical problem, the present invention provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of a method for coal transportation as described above are implemented.

[0016] In a fourth aspect, in order to solve the above-mentioned technical problem, the present invention provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a method for coal transportation as described above.

[0017] The beneficial effects of the present invention are:

[0018] By obtaining the weight of the coal hopper, when the weight of the coal hopper reaches the preset weight threshold, the valve of the discharge port of the coal unloading mechanism is closed, and the first indoor transport vehicle is controlled to transport the coal hopper filled with coal to the coal transfer point. If a coal hopper filled with coal is detected at the coal transfer point, it means that the coal needs to be transferred to the yard at this time. In this way, when the coal hopper filled with coal needs to be transferred to the yard, by obtaining the traffic conditions of the main route, it can be determined whether the outdoor transport vehicle will be blocked in the main route, so as to determine whether the target transport route is the main route or the backup main line, thereby reducing the probability of the outdoor transport vehicle being blocked in the target transport route, so as to improve the coal transport efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a thermal power plant provided by the present invention;

[0020] Figure 2 A flow chart of a method for coal transport provided by the present invention;

[0021] Figure 3A flow chart of another method for coal transport provided by the present invention;

[0022] Figure 4 A top view of a stacking model provided by the present invention;

[0023] Figure 5 A schematic diagram of the system structure of coal transfer provided by the present invention. DETAILED DESCRIPTION

[0024] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0025] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0026] A method, system, computing device and medium for coal transport according to an embodiment of the present invention will be described below in conjunction with the accompanying drawings.

[0027] Under each coal mill in a thermal power plant, an isobaric pebble coal discharge device (also known as a coal discharge mechanism) is arranged to discharge the pebble coal into the coal hopper. Figure 1 As shown, Figure 1 A schematic diagram of a thermal power plant is provided. An indoor transfer area, an outdoor transfer area and a stockpile are provided in the thermal power plant; in this embodiment, a coal transfer point, a main route and a backup route are provided in the outdoor transfer area; wherein the coal transfer point is provided in the area where the indoor transfer area and the outdoor transfer area meet; the starting points of the main route and the backup route are both the coal transfer point, and the end points are both the stockpile. An outdoor coal unloading mechanism is provided in the indoor transfer area, and a first indoor transport vehicle transports a coal hopper filled with coal from the coal unloading mechanism in the indoor transfer area to the coal transfer point; an outdoor transport vehicle transports the coal hopper filled with coal in the coal transfer point to the stockpile via a target transport route in the outdoor transfer area. A plurality of coal storage locations are provided in the stockpile, and after the outdoor transport vehicle transports the coal hopper filled with coal to the stockpile, the coal in the coal hopper is dumped into a coal storage location for storing coal. A plurality of laser radars are also provided on the inner wall of the stockpile, and the scanning range of the plurality of laser radars can cover the coal storage locations of the entire stockpile.

[0028] In this embodiment, the transport route includes a main route and a backup route, and the target transport route includes the main route or the backup route. Figure 1The starting points of the main route and the backup route are both coal transfer points, and the end points are both storage yards. Both the main route and the backup route refer to roads that outdoor transport vehicles can actually pass through, and do not include buildings, sidewalks, etc. on both sides of the road. The main route is laid with multiple cameras (not shown) at preset intervals. The main route is divided into multiple sections along the extension direction of the main route. Each camera can monitor and shoot a section of the main route, and the sum of all cameras can monitor the entire main route. It can be understood that due to the large workload of coal transportation and the large number of outdoor transport vehicles, each transportation route includes at least two lanes to facilitate outdoor transport vehicles to travel, change lanes or turn around within the transportation route.

[0029] A method for coal transfer provided in an embodiment of the present disclosure is applied to electronic devices. The electronic device can be connected to the Internet to communicate with the first indoor transport vehicle, the second indoor transport vehicle, the outdoor transport vehicle, the weight sensor, the camera, the laser radar, etc. In some embodiments, the electronic device is, for example, a computer or a server. In this embodiment, the first indoor transport vehicle, the second indoor transport vehicle, and the outdoor transport vehicle are all automated guided vehicles (AGVs), also known as transport robots. In order to facilitate the transport of coal hoppers filled with coal, the first indoor transport vehicle, the second indoor transport vehicle, and the outdoor transport vehicle in this embodiment are all transport forklifts.

[0030] like Figure 2 As shown, a method for coal transporting provided by an embodiment of the present disclosure includes:

[0031] Step S101, obtaining the weight of the coal hopper placed at the discharge port of the coal unloading mechanism.

[0032] A weight sensor, such as a floor scale, is provided at the position for placing the coal hopper at the discharge port of the coal unloading mechanism. The electronic device obtains the weight of the coal hopper through the weight sensor.

[0033] Step S102: If the weight is greater than or equal to the preset weight threshold, the valve at the discharge port of the coal unloading mechanism is closed, and the first indoor transport vehicle is controlled to transport the coal hopper to the coal transfer point.

[0034] Step S103: If a coal hopper filled with coal is detected at the coal transfer point, the traffic conditions of the main route are obtained.

[0035] In some embodiments, by acquiring an image of the coal material transfer point, the image of the coal material transfer point is identified, and if a coal hopper filled with coal is identified in the image of the coal material transfer point, it is determined that a coal hopper filled with coal is detected at the coal material transfer point. In other embodiments, by acquiring the position information of the first indoor transport vehicle, when a newly added first indoor transport vehicle is detected at the coal material transfer point, it is determined that a coal hopper filled with coal is detected at the coal material transfer point.

[0036] Step S104, based on the traffic conditions of the main route, determine the target transportation route, the target transportation route is the main route or the backup route, and control the outdoor transportation vehicle to transfer the coal bucket to the yard according to the target transportation route.

[0037] A method for coal transfer provided by an embodiment of the present disclosure is adopted. By obtaining the weight of the coal hopper, when the weight of the coal hopper reaches a preset weight threshold, the valve of the discharge port of the coal unloading mechanism is closed, and the first indoor transport vehicle is controlled to transport the coal hopper filled with coal to the coal transfer point. If a coal hopper filled with coal is detected at the coal transfer point, it means that the coal needs to be transferred to the stockpile at this time. In this way, when the coal hopper filled with coal needs to be transferred to the stockpile, by obtaining the traffic conditions of the main route, it can be determined whether the outdoor transport vehicle will be blocked in the main route, so as to determine whether the target transport route is the main route or the backup main line, thereby reducing the probability of the outdoor transport vehicle being blocked in the target transport route, so as to improve the coal transport efficiency.

[0038] Preferably, if a coal hopper filled with coal is detected at the coal transfer point, the traffic conditions of the main route are obtained, including: if a coal hopper filled with coal is detected at the coal transfer point, the meteorological information of the transfer area is obtained; wherein the transfer area is an area including the main route and the backup route; if the meteorological information meets the preset transfer conditions, the traffic conditions of the main route are obtained.

[0039] Since both the main route and the backup route are outdoor areas, the outdoor transporter will be affected by the climate when transporting the coal hopper filled with coal along the main route or the backup route. When the climate is bad, the outdoor transporter is prone to accidents such as rollover and collision when transporting the coal hopper filled with coal, which poses a great safety hazard. Therefore, after the coal hopper filled with coal is detected at the coal transfer point, the meteorological information of the transfer area is obtained. If the preset transfer conditions are met, it means that the climate environment of the transfer area where the main route and the backup route are located is not bad and is suitable for outdoor transporters to travel. At this time, the traffic conditions of the main route are obtained. In this way, the efficiency of transporting coal can be improved while ensuring the driving safety of outdoor transporters.

[0040] In some embodiments, refer again to Figure 1A meteorological monitoring device is also provided in the thermal power plant to monitor the meteorological information of the transfer area. The meteorological monitoring device is connected to an electronic device, and the electronic device obtains the meteorological information of the transfer area through the meteorological device. In other embodiments, the electronic device is connected to the Internet for communication. The electronic device obtains the meteorological information of the transfer area through the Internet.

[0041] Preferably, a method for coal transport further includes: issuing an early warning reminder if the meteorological information does not meet the preset transport conditions.

[0042] If the weather information does not meet the preset transfer conditions, it means that the climate environment in the transfer area is bad and it is not suitable for outdoor transport vehicles to transfer coal hoppers filled with coal. Accidents such as rollovers and collisions are prone to occur, which poses a great safety hazard. At this time, an early warning reminder is issued to warn the on-duty personnel. After receiving the warning, the on-duty personnel manually operate the forklift to transfer the coal hopper filled with coal to the yard and dump the material for stacking, so as to ensure efficient and safe transfer of coal.

[0043] Preferably, obtaining the traffic condition of the main route includes: obtaining images collected by each camera at a preset frequency; wherein each camera is laid out in the main route at preset intervals; based on each image collected by each camera, determining whether there is a prohibited obstacle in the road section corresponding to each camera; wherein the main route includes multiple sections, each camera corresponds to one section, and the prohibited obstacle represents an obstacle that an outdoor transport vehicle cannot pass through; if there are no prohibited obstacles in all sections in the main route, then determining the traffic condition of the main route as allowing passage; if there is a prohibited obstacle in any section in the main route, then determining the traffic condition of the main route as not allowing passage.

[0044] By acquiring images collected by multiple cameras laid in the main route at a preset frequency, it is possible to know whether there are prohibited obstacles that outdoor transport vehicles cannot pass through in the road sections corresponding to each camera. If there is a prohibited obstacle in any road section, it means that the outdoor transport vehicle cannot pass through the road section where the prohibited obstacle is located, that is, the traffic condition of the main route is that it is not allowed to pass. When there are no prohibited obstacles in all sections of the main route, the outdoor transport vehicle can fully pass through the main route. In this way, by acquiring each image collected by each camera to determine whether there are prohibited obstacles in each road section, the traffic condition of the main route can be determined more accurately.

[0045] Preferably, determining the target transport route based on the traffic condition of the main route includes: if the traffic condition of the main route is that traffic is allowed, determining the target transport route as the main route; if the traffic condition of the main route is that traffic is not allowed, determining the target transport route as the backup route.

[0046] When the main route is allowed to pass, it means that the outdoor transport vehicle can drive to the yard via the main route, and the main route is used as the target transport route. When the main route is not allowed to pass, it means that the outdoor transport vehicle cannot drive to the yard via the main route, and the backup route is used as the target transport route, so that the outdoor transport vehicle can efficiently transfer the coal hopper loaded with coal to the yard.

[0047] In this embodiment, the main route and the backup route are two independent transport routes, that is, when the outdoor transport vehicle is in any transport route, it cannot switch to another transport route. Therefore, the traffic condition of this embodiment represents the traffic condition of the entire main route. Before the outdoor transport vehicle enters the main route, the electronic device detects whether there are any prohibited obstacles in the main route. If there is at least one prohibited obstacle, it is determined that the traffic condition of the entire main route is not allowed to pass.

[0048] Preferably, based on each image captured by each camera, it is determined whether there is a no-entry obstacle in the road section corresponding to each camera, including: for each image captured by the same camera, two images are selected as the first target image and the second target image based on the capture time; the first target image and the second target image captured by the same camera are compared respectively to determine the change between the first target image and the second target image corresponding to each camera; based on each change, it is determined whether there is a no-entry obstacle in the road section corresponding to each camera.

[0049] By comparing the changes between the first target image and the second image captured by the same camera at different times, if the changes are large, it means that there is a dynamically changing object between the first target image and the second target image; if the changes are small, it means that there may be a static object between the first target image and the second target image. In this way, based on the comparison between the first target image and the second target image captured by the same camera, it can be determined whether there are dynamically changing or static objects within the shooting range of the camera. If there are dynamically changing objects within the shooting range of the camera, it means that the road section corresponding to the camera can pass normally. If there are static objects within the shooting range of the camera, it means that there is a high probability of a prohibited obstacle in the road section corresponding to the camera, which will hinder the normal passage of the transport vehicle. In this way, it can be more accurately determined whether there are prohibited obstacles in the road sections corresponding to the shooting of each camera.

[0050] For ease of understanding, the camera includes a first camera, a second camera, and a third camera, and each camera captures 5 images. The 5 images captured by the first camera belong to the images captured by the same camera (i.e., the first camera): based on the acquisition time, two images are selected from the 5 images belonging to the first camera as the first target image and the second target image. The 5 images captured by the second camera belong to the images captured by the same camera (i.e., the second camera): based on the acquisition time, two images are selected from the 5 images belonging to the second camera as the first target image and the second target image. The 5 images captured by the third camera belong to the images captured by the same camera (i.e., the third camera): based on the acquisition time, two images are selected from the 5 images belonging to the third camera as the first target image and the second target image.

[0051] Further, for each image captured by the same camera, two images are selected as the first target image and the second target image based on the acquisition time, including: arranging each image captured by the same camera in descending order according to the acquisition time to obtain each image sequence. Each image sequence represents a set of images captured by a camera. Based on the acquisition time, two images are selected from each image sequence as the first target image and the second target image.

[0052] In this way, by arranging the images captured by the same camera in descending order according to the capture time, it is convenient to select the first target image and the second target image based on the capture time.

[0053] In some embodiments, the first target image is an image captured at the latest time, and the second target image is an image captured at a preset time interval before the first target image. The preset time interval is any value such as 2s, 4s, 6s, etc.

[0054] Preferably, the first target image and the second target image captured by the same camera are compared to determine the changes between the first target image and the second target image corresponding to each camera, including: extracting the road sections in each first target image as the first road section image, and extracting the road sections in each second target image as the second road section image; calculating the first similarities between the first road section image and the second road section image corresponding to the same camera; and taking each first similarity as the changes between the first target image and the second target image corresponding to the corresponding camera. Wherein, the first road section image and the second road section image both refer to the roads in the main route that the outdoor transport vehicle can actually pass.

[0055] Due to the limited shooting range of the camera, the images it collects will inevitably carry other buildings, people, etc. besides the road section. Therefore, by extracting the first road section image and the second road section image, other buildings besides the road section carried in the image can be eliminated, thereby reducing noise data and improving accuracy. By calculating the first similarity between the first road section image and the second road section image corresponding to the same camera, if the first similarity is low, it means that the change between the first road section image and the second road section image is large; if the first similarity is high, it means that the change between the first road section image and the second road section image is small. In this way, the change between the first target image and the second target image can be determined more accurately.

[0056] In some embodiments, respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera includes: respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera by a pixel comparison method. For example, subtracting the pixel value of each pixel position in the first road section image from the pixel value of the corresponding pixel position in the second road section image, and determining the average value of the difference of each pixel position, and determining the first similarity based on the average value of the difference.

[0057] In some other embodiments, respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera includes: respectively calculating the first similarity between the first road section image and the second road section image corresponding to the same camera based on a structural similarity index (SSIM). For example, the brightness, contrast and structural similarity between the first road section image and the second road section image are obtained, the structural similarity index is determined based on the brightness, contrast and structural similarity, and the first similarity is determined based on the structural similarity.

[0058] Preferably, based on each change situation, it is determined whether there is a prohibited obstacle in the road section corresponding to each camera, including: determining a first similarity greater than a first preset similarity threshold as a first target similarity; inputting the target road section images corresponding to each first target similarity into a first preset target detection model, respectively, to obtain obstacle information of each target road section image; wherein the target road section image is a first road section image or a second road section image; using obstacle information that meets the preset obstacle condition as target obstacle information, and determining that there is a prohibited obstacle in the road section corresponding to the camera corresponding to the target obstacle information.

[0059] When the first similarity is greater than the first preset similarity threshold, it means that the first target image and the second target image corresponding to the first similarity are relatively similar, that is, there is a static object in the road section pointed to by the first target image and the second target image, and the object may be a prohibited obstacle that will hinder the normal passage of the transport vehicle. Then the target road section image is detected by the first preset target detection model to further determine the obstacle information of the static object, that is, the obstacle information. If the obstacle information meets the preset obstacle condition, it means that the object pointed to by the obstacle information will hinder the normal passage of the transport vehicle, and at this time, the object is a prohibited obstacle. In this way, the first similarity is used to preliminarily determine whether there is a suspected prohibited obstacle in the road section. If there is a suspected obstacle, the first preset target detection model is used to further detect the suspected prohibited obstacle, so that it can be more accurately determined whether there is a prohibited obstacle in the road section corresponding to each camera.

[0060] In some embodiments, the first preset target detection model includes a YOLO (You Only Look Once) model or an SSD (Single Shot MultiBox Detector) model, etc.

[0061] Furthermore, the obstacle information includes the coordinates of the obstacle target frame. Obstacle information that meets the preset obstacle conditions is used as target obstacle information, including: obtaining the width of the outdoor transport vehicle and the width of the road section where the obstacle information is located, and using the difference between the road width and the vehicle width as the target width. Based on the coordinates of the obstacle target frame, the object width of the obstacle in the width direction of the road section is determined. The object width greater than the target width is used as the target object width, and the obstacle information corresponding to the target object width is used as the target obstacle information.

[0062] In this way, by comparing the object width of the obstacle in the road section width direction with the target width, the target obstacle information can be determined more accurately. At this time, satisfying the obstacle condition indicates that the value of the obstacle in the obstacle information along the road section width direction is greater than the target width.

[0063] In some embodiments, a plurality of rangefinders are also laid in the main route. Each rangefinder is laid at a preset interval, and the ranging range of all rangefinders can cover the entire main route. The rangefinder is used to measure the height of obstacles in the main route. For example, the rangefinder is laid on the street lights on the roads on both sides of the main route to detect the height of the obstacle from a high place downward. Although some obstacles are large in size, their height is low and will not prevent indoor transport vehicles from passing. Therefore, after determining that there is target obstacle information, the electronic device controls the rangefinder of the section where the target obstacle information is located to start working. When the rangefinder detects that the height of the obstacle in the target obstacle information exceeds the height that the outdoor transport vehicle can pass, it is determined that there is a prohibited obstacle in the section corresponding to the camera corresponding to the target obstacle information.

[0064] Preferably, the target road section images corresponding to each first target similarity are input into the first preset target detection model to obtain the obstacle information of each target road section image, including: calculating the second similarity between each target road section image and the corresponding preset road section image; taking the second similarity less than the second preset similarity threshold as the second target similarity; inputting the target road section images corresponding to each second target similarity into the first preset target detection model to obtain the obstacle information of each target road section image. The preset road section image represents the original image of the road section, and there is no person or object except the road.

[0065] By comparing the target road section image with the corresponding preset road section image, it is possible to determine whether the target road section image is the original image of the road section, that is, there are no people or objects in the target image except the road. If the second similarity is greater than or equal to the second preset similarity threshold, it means that the target road section image and the corresponding preset road section image are relatively similar. At this time, the target road section image is the original image of the road section, that is, there are no people or objects in the target road section image except the road. If the second similarity is less than the second preset similarity threshold, it means that the target road section image and the corresponding preset road section image are not similar. At this time, there is a static object in the target road section image, which may be a prohibited obstacle that will hinder the normal passage of the transport vehicle. The first preset target detection model is then used to further detect the suspected prohibited obstacle, so that it can be more accurately determined whether there is a prohibited obstacle in the road section corresponding to the target road section image corresponding to the second target similarity.

[0066] Preferably, a method for coal transporting further includes: when the outdoor transport vehicle is traveling along the target transport route, using the radar of the outdoor transport vehicle to detect obstacles; when an obstacle is detected, obtaining the degree of congestion in the target transport route where the outdoor transport vehicle is located and obtaining the change of the detection distance of the radar; based on the degree of congestion and the change of the detection distance, the outdoor transport vehicle is controlled to avoid the obstacle. The change of the detection distance represents the change of the distance between the outdoor transport vehicle and the obstacle in its forward direction.

[0067] When the radar of the outdoor transport vehicle detects an obstacle, the obstacle may be a moving vehicle or a stationary object. At this time, the degree of congestion and the change in detection distance both affect the driving of the outdoor transport vehicle. In this way, the outdoor transport vehicle is controlled to avoid obstacles based on the degree of congestion and the change in detection distance, and the obstacles can be avoided flexibly, ensuring the safety of the outdoor transport vehicle when transporting coal.

[0068] In some embodiments, the degree of congestion is determined by obtaining the number of vehicles in the target transport route where the outdoor transport vehicle is located. For example, the degree of congestion includes congestion and non-congestion. By means of a positioning device provided on each outdoor transport vehicle, each outdoor transport vehicle can be positioned to determine the number of vehicles in the target transport route where the current outdoor transport vehicle is located. The detection distance change includes distance increase, distance unchanged, and distance reduction. It is understandable that the target transport route is a main route or a backup route. In the present embodiment, when there is no prohibited obstacle in the main route, the target transport route is the main route. When there is at least one prohibited obstacle in the main route, the target transport route is a backup route.

[0069] Preferably, controlling the outdoor transport vehicle to avoid obstacles based on the degree of congestion and the change in detection distance includes: determining a fuzzy control strategy based on the degree of congestion and the change in detection distance; and controlling the outdoor transport vehicle to avoid obstacles based on the fuzzy control strategy. In this way, the degree of congestion and the change in detection distance are used as fuzzy control conditions to control the outdoor transport vehicle to avoid obstacles, so that the outdoor transport vehicle can flexibly avoid obstacles when traveling in the target transport route, and the safety of the outdoor transport vehicle when transporting coal can be relatively safely guaranteed.

[0070] In some embodiments, the fuzzy control strategy includes: 1) If there is no crowding and the distance increases, accelerate until the distance remains unchanged. 2) If there is no crowding and the distance remains unchanged, maintain the vehicle speed. 3) If there is no crowding and the distance decreases, decelerate; if the distance still decreases after a preset interval, stop and execute a lane change strategy. 4) If there is crowding and the distance increases, maintain the vehicle speed. 5) If there is crowding and the distance remains unchanged, decelerate. 6) If there is crowding and the distance decreases, decelerate; if the distance still decreases, stop and execute a lane change strategy. In this embodiment, the traffic conditions of the left and right lanes can be determined by obtaining the number of outdoor transport vehicles in the left and right lanes of the outdoor transport vehicle, so that the lane with fewer outdoor transport vehicles, that is, the lane with better traffic conditions, is selected as the lane after the lane change.

[0071] Preferably, after controlling the first indoor transport vehicle to transport the coal hopper to the coal transfer point, it also includes: if it is detected that the coal hopper placed at the discharge port of the coal unloading mechanism is transferred, then controlling the second indoor transport vehicle to transfer any coal hopper at the coal hopper storage point to the discharge port of the coal unloading mechanism; if it is detected that a new coal hopper is placed at the discharge port of the coal unloading mechanism, then opening the valve at the discharge port of the coal unloading mechanism.

[0072] In this way, after detecting that the coal hopper placed at the discharge port of the coal unloading mechanism has been transferred, it means that there is no coal hopper at the discharge port of the coal unloading mechanism at this time. At this time, the second indoor transport vehicle is controlled to transfer any coal hopper at the coal hopper storage point to the discharge port of the coal unloading mechanism, and the valve at the discharge port of the coal unloading mechanism is opened, so that the new coal hopper can receive the coal discharged from the discharge port of the coal unloading mechanism, so as to realize the automatic discharge of coal by the coal unloading mechanism. After opening the valve at the discharge port of the coal unloading mechanism, the step of obtaining the weight of the coal hopper placed at the discharge port of the coal unloading mechanism can be returned to the new execution. Thereby reducing manual participation and further improving the safety of unmanned coal transportation.

[0073] It is understandable that the first indoor transport vehicle and the second indoor transport vehicle are both indoor transport vehicles. The first indoor transport vehicle and the second indoor transport vehicle may be the same transport vehicle. That is, after the first indoor transport vehicle transfers the coal hopper at the discharge port of the coal unloading mechanism to the coal material transfer point, it transfers any coal hopper at the coal hopper storage point to the discharge port of the coal unloading mechanism. The first indoor transport vehicle and the second indoor transport vehicle may not be the same transport vehicle. That is, after the first indoor transport vehicle transfers the coal hopper at the discharge port of the coal unloading mechanism to the coal material transfer point, it returns to the parking point of the indoor transport vehicle. Another first indoor transport vehicle at the indoor transport vehicle parking point serves as the second indoor transport vehicle to transfer any coal hopper at the coal hopper storage point to the discharge port of the coal unloading mechanism.

[0074] In some embodiments, in combination Figure 3 As shown, Figure 3 A method for coal transport is provided, the method comprising:

[0075] Step S201, obtaining the weight of the coal hopper placed at the discharge port of the coal unloading mechanism.

[0076] Step S202: If the weight is greater than or equal to the preset weight threshold, the valve at the discharge port of the coal unloading mechanism is closed, and the first indoor transport vehicle is controlled to transport the coal hopper to the coal transfer point.

[0077] Step S203: If a coal hopper filled with coal is detected at the coal transfer point, the traffic conditions of the main route are obtained.

[0078] Step S204, based on the traffic conditions of the main route, determine the target transportation route, the target transportation route is the main route or the backup route, and control the outdoor transportation vehicle to transfer the coal bucket to the yard according to the target transportation route.

[0079] Step S205: if it is detected that the coal hopper placed at the discharge port of the coal unloading mechanism is transferred, the second indoor transport vehicle is controlled to transfer any coal hopper at the coal hopper storage point to the discharge port of the coal unloading mechanism; if it is detected that a new coal hopper is placed at the discharge port of the coal unloading mechanism, the valve at the discharge port of the coal unloading mechanism is opened. Then the process returns to step S201.

[0080] Preferably, a method for coal transport also includes: using multiple laser radars arranged in the yard to scan the coal storage locations in the yard, obtaining first point cloud data of the coal storage locations, and determining a stacking model of the coal storage locations based on the first point cloud data; based on the stacking model, determining at least one area to be dumped; after an outdoor transport vehicle transports the coal hopper to the yard, controlling the outdoor transport vehicle to dump the coal in the coal hopper into the area to be dumped.

[0081] The coal storage location in the stockpile is scanned by a laser radar installed in the stockpile to obtain the first point cloud data, and the stacking model of the coal storage location is determined based on the first point cloud data. In this way, the stacking situation of the coal in the coal storage location can be intuitively known. Then, the area where the coal needs to be dumped is determined according to the stacking situation of the coal in the coal storage location. In this way, by determining the stacking model of the coal storage location and determining the area where the coal needs to be dumped, the outdoor transport vehicle can automatically dump the coal in the area to be dumped, thereby reducing the participation of operators in the dumping and stacking, thereby reducing the danger of dumping and stacking, saving labor costs, and improving safety and economic benefits.

[0082] Preferably, a camera is also provided in the stockpile yard, and the camera is used to take images of the coal storage location. Based on the first point cloud data, the stacking model of the coal storage location is determined, including: obtaining a stacking image of the coal storage location, and determining the stacking type of the coal in the coal storage location based on the stacking image; determining a target segmentation algorithm based on the stacking type, and using the target segmentation algorithm to process the first point cloud data to obtain second point cloud data; performing three-dimensional reconstruction of the coal storage location based on the second point cloud data to obtain a stacking model of the coal storage location. The second point cloud data represents the point cloud data corresponding to the coal pile in the coal storage location.

[0083] The coal pile forms are different, and there will be some differences in the segmentation algorithm when processing the first point cloud data, so that the coal pile point cloud in the coal storage location can be accurately segmented and extracted from the first point cloud data. In this way, the accumulation type is determined based on the accumulation image of the coal storage location and the corresponding target segmentation algorithm is selected to segment and extract the first point cloud data, so that the coal pile point cloud in the coal storage location can be accurately segmented and extracted from the first point cloud data, so that the accumulation model of the coal storage location can be more accurately reconstructed based on the point cloud data of the coal pile.

[0084] In some embodiments, the stacking type includes a single coal pile and multiple coal piles. A single coal pile indicates that the coal pile in the coal storage location is in the form of an independent coal pile. Multiple coal piles indicate that the coal pile in the coal storage location is in the form of multiple independent coal piles.

[0085] Preferably, determining the accumulation type of coal in the coal storage location based on the accumulation image includes: inputting the accumulation image into a second preset target detection model to obtain the accumulation type of the coal pile in the coal storage location output by the detection model.

[0086] In this way, the second preset target detection model is used to identify the accumulation image, so that the accumulation type of the coal material can be determined more accurately.

[0087] In some embodiments, the second preset target detection model includes a YOLO (You Only Look Once) model or an SSD (Single Shot MultiBox Detector) model, etc.

[0088] Preferably, determining the target segmentation algorithm based on the stacking type includes: using the stacking type to perform a search operation in a preset data table to find an alternative segmentation algorithm corresponding to the stacking type as the target segmentation algorithm; wherein the preset data table stores the correspondence between the stacking type and the alternative segmentation algorithm.

[0089] In this way, by looking up the table in the stacking type, the target segmentation algorithm can be quickly determined with high efficiency.

[0090] In some embodiments, when the stacking type is a single coal pile, the corresponding candidate segmentation algorithm is a RANSAC-normal constraint algorithm, also known as a RANSAC algorithm and a normal constraint algorithm. When the stacking type is multiple coal piles, the corresponding segmentation algorithm is a Euclidean distance clustering segmentation algorithm.

[0091] Preferably, the accumulation type includes a single pile of coal, and the target segmentation algorithms corresponding to the single independent coal pile are the RANSAC algorithm and the normal constraint algorithm; the first point cloud data is processed by using the target segmentation algorithm to obtain the second point cloud data, including: performing plane fitting processing on the first point cloud data based on the RANSAC algorithm to obtain plane point cloud data; obtaining the normals of each fitting plane in the plane point cloud data based on the normal constraint algorithm, and determining the normal components of each normal in the Z axis, determining the normals whose normal components do not meet the normal threshold requirements as noise normals, and determining the fitting planes corresponding to the noise normals as noise planes; filtering the point cloud data corresponding to the noise planes in the plane point cloud data to obtain the second point cloud data.

[0092] When the coal in the coal storage location presents a separate coal pile, it is easy to regard the ground as part of the coal when performing point cloud segmentation. However, the ground of the yard is very large, and usually multiple coal storage locations are set up in the yard.

[0093] Therefore, when performing point cloud segmentation and extraction, removing the point cloud noise on the ground can make the obtained coal storage location accumulation model more accurate. The RANSAC (RANdom SAmple Consensus) algorithm is used to perform plane fitting on the first point cloud data to obtain plane point cloud data. At this time, the plane point cloud data includes the ground and inner wall of the stockpile. The planes in the plane point cloud data constitute an irregular stockpile body, so the planes that usually enclose the irregular stockpile body are not vertical or horizontal planes. However, the ground of the stockpile is a horizontal plane, and the inner wall of the stockpile is a vertical plane. The normal component of the horizontal plane on the Z axis is 1, and the normal component of the vertical plane on the Z axis is 0. In this way, by determining the normal component of each fitting plane in the plane point cloud data on the Z axis, if the normal component is close to 1 or close to 0, it means that the plane corresponding to the normal is very likely to be the ground or inner wall of the stockpile, that is, the noise plane. The point cloud corresponding to the noise plane is filtered from the plane point cloud data, so that the point cloud data corresponding to the coal pile in the coal storage location can be obtained more accurately.

[0094] In some embodiments, the normal threshold requirement includes a normal component of 1 or a normal component of 0.

[0095] Preferably, the accumulation type includes multiple piles of coal; the target segmentation algorithm corresponding to the multiple piles of coal is a Euclidean distance clustering segmentation algorithm. The first point cloud data is processed using the target segmentation algorithm to obtain the second point cloud data, including: clustering the first point cloud data based on the Euclidean distance clustering segmentation algorithm to obtain multiple cluster sets; extracting all point clouds in each cluster set respectively to obtain third point cloud data corresponding to each cluster set; and determining the set of all third point cloud data as the second point cloud data.

[0096] When the coal in the coal storage location is presented as multiple separate coal piles, each coal pile exists independently, and the Euclidean distance clustering segmentation algorithm can more accurately extract the point cloud corresponding to each coal pile in the coal storage location. After the Euclidean distance clustering segmentation algorithm performs clustering processing on the first point cloud data, each cluster set is obtained, which is each separate coal pile. At this time, the second point cloud data includes a set of point cloud data of multiple separate coal piles.

[0097] Preferably, three-dimensional reconstruction of the coal storage location is performed based on the second point cloud data to obtain a stacking model of the coal storage location, including: acquiring ground point cloud data of the coal storage location as third point cloud data, and performing three-dimensional reconstruction of the coal storage location based on the second point cloud data and the third point cloud data to obtain the stacking model of the coal storage location.

[0098] Since the second point cloud data represents the point cloud data of the coal in the coal storage location, the coal in the coal storage location will not always cover the entire coal storage location at the first time. Therefore, by acquiring the third point cloud data of the ground of the coal storage location and performing three-dimensional reconstruction based on the second point cloud data and the third point cloud data, a real-time accumulation model of the coal storage location can be obtained, so as to control the outdoor transport vehicle to dump the coal.

[0099] Preferably, based on the accumulation model, at least one area to be dumped is determined, including: dividing the surface of the accumulation model into multiple sub-planes, and determining the average height of each sub-plane respectively; if the first height difference between the maximum average height and the minimum average height is less than or equal to the preset first height threshold, all sub-planes are used as planes to be dumped; if the first height difference is greater than the preset first height threshold, the second height difference between each average height and the maximum average height is determined, and the sub-plane corresponding to the second height difference greater than the preset second height threshold is used as the plane to be dumped; and the area corresponding to each plane to be dumped is determined as the area to be dumped. Wherein, the preset first height threshold is less than the preset second height threshold.

[0100] If the height difference between the maximum average height and the minimum average height is less than or equal to the preset first height threshold, it means that the height difference between each sub-plane is small, that is, the coal is piled up relatively flat on the coal storage position at this time. The outdoor transport vehicle can dump the coal into the area corresponding to any sub-plane. If the height difference between the maximum average height and the minimum average height is greater than the preset first height threshold, it means that there is a sub-plane with a large height difference, that is, the coal accumulation in the coal storage position is not flat at this time. Then, by obtaining the second height difference between the average height of each sub-plane and the maximum average height, when the second height difference is greater than the preset second height threshold, it means that the height of the corresponding sub-plane is lower, and the outdoor transport vehicle can preferentially dump the coal into the area corresponding to the sub-plane.

[0101] In this way, by determining the first height difference, it can be determined whether the coal is relatively flatly piled on the coal storage position. If so, the outdoor transport vehicle can dump the coal in the area corresponding to any sub-plane in turn, so as to achieve reasonable stacking of coal, reduce the area occupied by coal in the coal storage position in the yard, and improve the storage rate of the coal storage position. If not, by calculating the second height difference, it is determined that the area corresponding to the sub-plane with a lower height in the coal storage position is the area to be dumped, and the outdoor transport vehicle can dump the coal in each area to be dumped in turn to achieve reasonable stacking of coal, reduce the area occupied by coal in the coal storage position in the yard, and improve the storage rate of the coal storage position.

[0102] It can be understood that the surface of the stacking model represents the collection of various faces of various inner walls of the stacking yard except the stacking yard ground. Figure 4 As shown, Figure 4 A top view of a stacking model is provided. Figure 4 The area surrounded by ABCD is a coal storage location. The coal storage location includes a first coal pile and a second coal pile, and an empty area except for the first coal pile and the second coal pile, in which no coal is accumulated. The surface of the accumulation model in this embodiment includes the top surface 1 and the side surface 1 of the first coal pile, the top surface 2 and the side surface 2 of the second coal pile, and the upper surface 3 of the empty area.

[0103] Further, determining the average height of each sub-plane includes: for each sub-plane, obtaining height values ​​of multiple points in the sub-plane, and calculating an average value of the height values ​​of the multiple points as the average height of the sub-plane.

[0104] In some embodiments, controlling the outdoor transport vehicle to dump the coal into the area to be dumped includes: if the first height difference is less than or equal to the preset first height threshold, controlling the outdoor transport vehicle to dump the coal into each area to be dumped in turn. And / or, if the first height difference is greater than the preset first height threshold, arranging the average heights of each plane to be dumped in order, and controlling the outdoor transport vehicle to dump the coal into each area to be dumped in order from low to high average heights. In this way, the outdoor transport vehicle is controlled to dump the coal in order from low to high average heights, so that reasonable stacking of the coal can be achieved.

[0105] It can be understood that the outdoor transport vehicle dumps the coal to each area to be dumped in turn or in sequence means that the outdoor transport vehicle dumps all the coal it carries to one area to be dumped, and then carries new coal for the next dumping, thereby realizing dumping in turn or in sequence.

[0106] In other embodiments, controlling an outdoor transport vehicle to dump coal into an area to be dumped includes: after controlling the current outdoor transport vehicle to dump coal into an area to be dumped, redetermining the stacking model of the coal storage location and determining a new area to be dumped; and controlling a new outdoor transport vehicle to dump coal into a new area to be dumped. When an outdoor transport vehicle dumps coal into an area to be dumped once, the stacking model will inevitably change, thereby generating a new area to be dumped. Therefore, after the current outdoor transport vehicle completes a dumping, by redetermining a new area to be dumped, each outdoor transport vehicle can dump coal according to the real-time stacking situation of the coal storage location, so as to achieve reasonable stacking of coal.

[0107] In other embodiments, controlling the outdoor transport vehicle to dump the coal into the area to be dumped includes: controlling the outdoor transport vehicle to dump the coal into all currently determined areas to be dumped in sequence, re-determining the stacking model of the coal storage position, and determining a new area to be dumped; and controlling the outdoor transport vehicle to dump the coal into each new area to be dumped. In this way, controlling the outdoor transport vehicle to dump the coal into all currently determined areas to be dumped in sequence, and then determining a new area to be dumped, can improve the dumping efficiency.

[0108] In other embodiments, controlling an outdoor transport vehicle to dump coal into an area to be dumped includes: determining the area to be dumped that the current outdoor transport vehicle is pointing to, and prohibiting other outdoor transport vehicles from dumping coal into the area to be dumped before the outdoor transport vehicle completes dumping the coal into the area to be dumped. In this way, when an area to be dumped is occupied by an outdoor transport vehicle, other outdoor transport vehicles are prohibited from dumping coal, thereby reducing collisions between outdoor transport vehicles and improving the safety of outdoor transport vehicles dumping coal.

[0109] Furthermore, after the outdoor transport vehicle dumps the coal in the coal hopper to the area to be dumped, the method further includes: controlling the outdoor transport vehicle to transfer the coal hopper after dumping the coal to the coal hopper storage point, and returning to the outdoor transport vehicle parking point. In this way, the outdoor transport vehicle is controlled to transfer the coal hopper after dumping the coal to the coal hopper storage point, so that the second indoor transport vehicle can transport the coal hopper to the discharge port of the coal unloading mechanism.

[0110] Furthermore, the thermal power plant is also provided with a plurality of charging piles for charging the first indoor transport vehicle, the second indoor transport vehicle and the outdoor transport vehicle. A method for coal transportation also includes: obtaining the occupancy status of each charging pile and the remaining power of each first indoor transport vehicle, each second indoor transport vehicle and each outdoor transport vehicle, and controlling each first indoor transport vehicle, each second indoor transport vehicle and each outdoor transport vehicle to go to the charging pile for charging based on each occupancy status and each remaining power.

[0111] In this way, by obtaining the occupancy status and remaining power of each truck, the truck with lower remaining power is controlled to go to an unoccupied charging pile to charge, thereby realizing the automation of truck charging, thereby further reducing the participation of personnel in unmanned coal transportation.

[0112] Combination Figure 5As shown, the embodiment of the present disclosure provides a system for coal transfer, including: a first acquisition module, a first transfer module, a second acquisition module and a second transfer module. The first acquisition module is used to obtain the weight of the coal hopper placed at the discharge port of the coal unloading mechanism. The first transfer module is used to close the valve at the discharge port of the coal unloading mechanism if the weight is greater than or equal to a preset weight threshold, and control the first indoor transport vehicle to transport the coal hopper to the coal transfer point. The second acquisition module is used to obtain the traffic conditions of the main route if a coal hopper filled with coal is detected at the coal transfer point. The second transfer module is used to determine the target transport route based on the traffic conditions of the main route, the target transport route being the main route or the backup route, and control the outdoor transport vehicle to transport the coal hopper to the yard according to the target transport route.

[0113] A method for coal transfer provided by an embodiment of the present disclosure is adopted. By obtaining the weight of the coal hopper, when the weight of the coal hopper reaches a preset weight threshold, the valve of the discharge port of the coal unloading mechanism is closed, and the first indoor transport vehicle is controlled to transport the coal hopper filled with coal to the coal transfer point. If a coal hopper filled with coal is detected at the coal transfer point, it means that the coal needs to be transferred to the stockpile at this time. In this way, when the coal hopper filled with coal needs to be transferred to the stockpile, by obtaining the traffic conditions of the main route, it can be determined whether the outdoor transport vehicle will be blocked in the main route, so as to determine whether the target transport route is the main route or the backup main line, thereby reducing the probability of the outdoor transport vehicle being blocked in the target transport route, so as to improve the coal transport efficiency.

[0114] Preferably, the second acquisition module is specifically used to acquire the weather information of the transfer area if a coal hopper filled with coal is detected at the coal transfer point; wherein the transfer area is an area including the main route and the backup route. If the weather information meets the preset transfer conditions, the traffic conditions of the main route are acquired.

[0115] Preferably, the second acquisition module is also used to issue an early warning reminder if the meteorological information does not meet the preset transfer conditions.

[0116] Preferably, the second acquisition module is specifically used to acquire images captured by each camera at a preset frequency; wherein each camera is laid out in the main route at preset intervals; based on each image captured by each camera, determine whether there is a prohibited obstacle in the road section corresponding to each camera; wherein the main route includes multiple sections, each camera corresponds to one section, and the prohibited obstacle represents an obstacle that an outdoor transport vehicle cannot pass through; if there are no prohibited obstacles in all sections in the main route, then the traffic condition of the main route is determined to be allowed to pass; if there is a prohibited obstacle in any section in the main route, then the traffic condition of the main route is determined to be not allowed to pass.

[0117] Preferably, the second transfer module is specifically used to determine the target transport route as the main route if the traffic condition of the main route is that traffic is allowed;

[0118] If the main route is not accessible, the target transport route is determined as a backup route.

[0119] Preferably, a system for coal transfer further includes a detection module. The detection module is used to control the second indoor transport vehicle to transfer any coal hopper at the coal hopper storage point to the coal discharge outlet if it is detected that the coal hopper placed at the discharge outlet of the coal discharge mechanism is transferred after controlling the first indoor transport vehicle to transport the coal hopper to the coal transfer point; if it is detected that a new coal hopper is placed at the discharge outlet of the coal discharge mechanism, the valve at the discharge outlet of the coal discharge mechanism is opened.

[0120] Preferably, a system for coal transportation further includes a dumping module. The dumping module is used to scan the coal storage locations in the stockpile using multiple laser radars arranged in the stockpile to obtain first point cloud data of the coal storage locations, and determine a stacking model of the coal storage locations based on the first point cloud data; determine at least one area to be dumped based on the stacking model; and control the outdoor transport vehicle to dump the coal in the coal hopper to the area to be dumped after the outdoor transport vehicle transports the coal hopper to the stockpile.

[0121] A computing device according to an embodiment of the present invention includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, part or all of the steps of the above-mentioned method for coal transportation are implemented.

[0122] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present invention can refer to the parameters and steps in an embodiment of a coal transportation method mentioned above, and will not be repeated here.

[0123] In an embodiment of the present invention, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned method for coal transportation are executed.

[0124] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0125] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0126] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0127] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0128] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for coal transport, characterized in that: include: Obtain the weight of the coal hopper placed at the discharge port of the coal unloading mechanism; If the weight is greater than or equal to the preset weight threshold, the valve at the discharge port of the coal unloading mechanism is closed, and the first indoor transport vehicle is controlled to transport the coal hopper to the coal transfer point; If a coal hopper loaded with coal is detected at the coal transfer point, the traffic conditions of the main route are obtained; Based on the traffic conditions of the main route, a target transport route is determined, the target transport route being a main route or a backup route, and the outdoor transport vehicle is controlled to transport the coal hopper to the storage yard according to the target transport route.

2. The method according to claim 1, characterized in that If a coal hopper filled with coal is detected at the coal transfer point, the traffic condition of the main route is obtained, including: If a coal hopper filled with coal is detected at the coal transfer point, meteorological information of the transfer area is obtained; wherein the transfer area is an area including a main route and a backup route; If the weather information meets the preset transfer conditions, the traffic conditions of the main route are obtained.

3. The method according to claim 2, characterized in that Also includes: If the weather information does not meet the preset transfer conditions, an early warning reminder will be issued.

4. The method according to claim 1, characterized in that: The obtaining of the traffic condition of the main route includes: Acquire images collected by each camera at a preset frequency; wherein each camera is laid out in the main route at a preset interval; Based on each image collected by each camera, determine whether there is a prohibited obstacle in the road section corresponding to each camera; wherein the main route includes multiple road sections, each camera corresponds to one road section, and the prohibited obstacle represents an obstacle that the outdoor transport vehicle cannot pass; If there are no prohibited obstacles in all sections of the main route, then the traffic condition of the main route is determined to be allowed to pass; If there is a prohibited obstacle in any section of the main route, it is determined that the traffic condition of the main route is that traffic is not allowed.

5. The method according to claim 1, characterized in that The step of determining the target transport route based on the traffic conditions of the main route includes: If the traffic condition of the main route is that traffic is allowed, the target transport route is determined as the main route; If the traffic condition of the main route is that traffic is not allowed, the target transport route is determined to be a backup route.

6. The method according to claim 1, characterized in that After controlling the first indoor transport vehicle to transport the coal hopper to the coal material transfer point, the method further includes: If it is detected that the coal hopper placed at the discharge port of the coal unloading mechanism is transferred, the second indoor transport vehicle is controlled to transfer any coal hopper at the coal hopper storage point to the discharge port of the coal unloading mechanism; If it is detected that a new coal hopper is placed at the discharge port of the coal unloading mechanism, the valve at the discharge port of the coal unloading mechanism is opened.

7. The method according to any one of claims 1 to 6, characterized in that: Also includes: Scanning a coal storage location in the stockpile using a plurality of laser radars disposed in the stockpile to obtain first point cloud data of the coal storage location, and determining a stacking model of the coal storage location based on the first point cloud data; Based on the accumulation model, determining at least one area to be dumped; After the outdoor transport vehicle transfers the coal hopper to the storage yard, the outdoor transport vehicle is controlled to dump the coal in the coal hopper into the area to be dumped.

8. A system for coal transport, characterized in that: include: A first acquisition module is used to acquire the weight of a coal hopper placed at the discharge port of the coal unloading mechanism; A first transfer module is used for closing the valve at the discharge port of the coal unloading mechanism if the weight is greater than or equal to a preset weight threshold, and controlling the first indoor transport vehicle to transport the coal hopper to a coal transfer point; A second acquisition module is used to acquire the traffic conditions of the main route if a coal hopper filled with coal is detected at the coal transfer point; The second transfer module is used to determine a target transport route based on the traffic conditions of the main route, the target transport route being a main route or a backup route, and control an outdoor transport vehicle to transport the coal hopper to a storage yard according to the target transport route.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the method for coal transporting according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a method for coal transporting as claimed in any one of claims 1 to 7.

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