Automatic coal bunker feeding system based on laser radar

Abstract

The invention discloses a coal bunker automatic feeding system based on laser radar, relates to the technical field of automatic control, and solves the problems of low efficiency and low precision caused by dependence on manual operation in the prior art. The device comprises a coal bunker and a coal conveyor for conveying coal to the coal bunker, a feeding port and a discharging port are formed in the coal bunker, a laser range finder is installed on the coal conveyor, and the laser range finder is used for measuring the distance between the coal conveyor and the coal bunker and displaying the distance on a displayer; a feeding control valve and a discharging control valve are arranged on the coal bunker, the feeding control valve is used for opening or closing the feeding port, and the discharging control valve is used for opening or closing the discharging port. Through installation of the laser range finder and real-time processing and display of data, a worker can master the distance condition between the coal car and the coal bunker in real time, the worker can master the distance condition between the coal car and the coal bunker more visually and more accurately, and the worker can control starting and stopping of the coal car conveniently.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an automatic coal bunker feeding system based on laser radar. Background Art

[0002] With the rapid development of my country's economy and the continuous upgrading of its industrial structure, the continuous optimization and adjustment of its industrial structure has become an important driving force for economic growth. Especially in traditional heavy industries such as steel manufacturing, these industries, as an important part of the national industrial system, play a vital role in the development of the national economy. Due to the long history of development of these industries, they have accumulated rich production experience and technical foundation, but they are also facing the challenges of transformation and upgrading. Against the background of global economic integration and rapid development of science and technology, enterprises are increasingly in need of industrial upgrading and transformation to adapt to market competition and sustainable development requirements. In this process, improving production efficiency, reducing energy consumption and reducing environmental pollution have become the focus of enterprises. Especially in the automation and intelligent transformation of production lines, enterprises have invested a lot of resources and energy in order to enhance their competitiveness through technological innovation.

[0003] However, in the proportioning and application of coal raw materials, the existing process still mainly relies on manual operation, which to a certain extent limits the improvement of production efficiency and the reduction of costs. Specifically, the manual proportioning process is prone to delays, resulting in discontinuity in the production process and affecting the overall production progress. At the same time, due to the limited precision of manual operation, the accuracy of the proportioning is difficult to guarantee, which not only affects product quality, but also may lead to waste of resources. In addition, the phenomenon of material accumulation is also caused by the low efficiency of manual operation, which not only takes up a lot of storage space, but also increases the difficulty of material management. What's more serious is that excessive reliance on human monitoring may also cause safety hazards, such as operating errors, equipment failures, etc., which may threaten the safety of workers and the stability of production.

[0004] In view of this, a laser radar-based coal bunker automatic feeding system is needed. Summary of the invention

[0005] In view of the low efficiency and low precision caused by relying solely on manual operation in the prior art, the present invention provides a coal bunker automatic feeding system based on laser radar, which can prevent coal overflow by equipping corresponding monitoring equipment, grasp the coal storage situation in the coal bunker in real time, and help control the coal feeding amount of the conveyor belt, thereby avoiding coal bunker overflow accidents and achieving safe production. The specific technical solution is as follows:

[0006] A laser radar-based coal bunker automatic feeding system comprises a coal bunker and a coal truck for transporting coal to the coal bunker, wherein a feed port and a discharge port are provided in the coal bunker, and wherein a laser rangefinder is installed on the coal truck, wherein the laser rangefinder is installed on a side of the coal truck close to the coal bunker and is used to measure the distance from the coal truck to the coal bunker, wherein the laser rangefinder is connected to a desktop server via a switch, wherein the desktop server is connected to a display and is used to receive real-time data from the laser tester and display it on the display; a feed control valve and a discharge control valve are provided on the coal bunker, wherein the feed control valve is used to open or close the feed port, and the discharge control valve is used to open or close the discharge port.

[0007] Preferably, the coal bunker comprises a feed part, a cover body, a bunker body and a discharge part, wherein the feed part is arranged on the cover body, the cover body is connected with the bunker body, the discharge part is in the shape of a funnel which is wide at the top and narrow at the bottom, the widest part at the top of the discharge part is connected with the bunker body, and the narrowest part at the bottom of the discharge part is the discharge port.

[0008] Preferably, the feed part includes a feed pipe and a feed port, the feed pipe passes through the cover body, one end of the feed pipe penetrates into the interior of the bin from the cover body, and is used to transport coal into the coal bin; the other end of the feed pipe extends out from the cover body, and is used to receive the coal transported by the coal truck.

[0009] Preferably, it also includes a laser scanner, which is arranged on the inner side of the coal bin and fixedly connected to the inner side of the coal bin. The laser scanner is electrically connected to the desktop server through the switch, and is used to scan the inside of the coal bin and transmit the scanned laser radar data to the desktop server through the switch, and further display it through the display.

[0010] Preferably, the laser scanner is fixedly connected to the inner side of the cover body, and the laser rangefinder is arranged at a position on the coal truck that can contact the coal bunker after the coal truck contacts the coal bunker.

[0011] Preferably, it also includes a lifting platform, and the laser scanner is connected to the cover body through the lifting platform. One end of the lifting platform is connected to the inner side of the cover body, and the other end is connected to the laser scanner. Through the lifting platform, the laser scanner can realize vertical position change inside the coal bin.

[0012] Preferably, a PLC controller is also included, which is connected to the switch and is also connected to the feed control valve, the discharge control valve and the coal truck, and is used to control the switching of the feed control valve and the discharge control valve and the start and stop of the coal truck. The desktop server has a built-in LZSY automatic control system, which communicates with the laser radar scanning system, the laser ranging positioning system and the PLC feed and discharge control system. The coal truck is set on a slide rail, and the PLC controls the distance between the coal truck and the coal bin by controlling the slide rail.

[0013] Preferably, the material inlet and outlet flow is controlled as follows:

[0014] When the production workshop needs to carry out production tasks, the system receives the demand instructions and specifies the amount of coal required for this production (W 需求 );

[0015] System initialization: Set key parameters, including coal bunker feed threshold height (H 预设最低 ), warning altitude (H 预设警告 )、Stop height (H 预设停止 ), and coal density (ρ 煤密度 ) and minimum coal storage (W 最低存煤量 );

[0016] The LZSY automatic control system communicates with the laser radar scanning system, laser ranging positioning system and PLC inlet and outlet control system to determine the position of the coal truck and scan the coal bunker to obtain point cloud data. Through point cloud scanning and point data processing, the coal storage weight W of the bunker is obtained. 存量 , and the height H of the coal storage in the silo 存煤高度 , if W 存量 >W 需求 If yes, the coal-laying operation will not be performed; otherwise, the coal-laying operation will be performed;

[0017] Through data processing, the LZSY system calculates the coal storage weight (W 存量 ) and coal storage height (H 存煤高度 If the coal storage weight is greater than the demand (W 存量 >W 需求 ), the coal loading operation will not be performed; otherwise, the coal loading operation will be started;

[0018] Determine whether there is coal accumulation based on the coal storage height. If the coal storage height is greater than the warning threshold (H 存煤高度 >H 预设警告 ), the system checks whether there is coal accumulation, and adjusts the position of the coal truck and the feed position to optimize the distribution of coal and avoid local overload or voids. If the coal storage height is lower than the warning threshold, there is no need to judge the coal accumulation;

[0019] Repeat the above operation and continue to add coal until the coal storage height exceeds the stop threshold (H 存煤最高 >H 预设停止 ) and the minimum altitude is below the warning threshold (H 存煤最低 <H 预设警告 ), the system automatically stops feeding;

[0020] A computer-readable storage medium includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute the laser radar-based coal bunker automatic feeding system as described above.

[0021] A processor is used to run a program, wherein the program, when running, executes the laser radar-based coal bunker automatic feeding system as described above.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention includes a coal bunker and a coal truck for transporting coal to the coal bunker. The coal bunker is provided with a feed port and a discharge port. The coal truck is provided with a laser rangefinder, which is installed on the side of the coal truck close to the coal bunker and is used to measure the distance between the coal truck and the coal bunker. The laser rangefinder is connected to a desktop server through a switch, and the desktop server is connected to a display to receive real-time data from the laser tester and display it on the display. The coal bunker is provided with a feed control valve and a discharge control valve, and the feed control valve is used to open or close the feed port, and the discharge control valve is used to open or close the discharge port. Through the installation of the laser rangefinder and the real-time processing and display based on the desktop server, the staff can grasp the distance between the coal truck and the coal bunker in real time. Through the display screen, the staff can more intuitively and accurately grasp the distance between the coal truck and the coal bunker, and the staff can control the start and stop of the coal truck.

[0024] 2. The present invention is also provided with a laser scanner, which is electrically connected to the desktop server through the switch, and is used to scan the interior of the coal bunker and transmit the scanned laser radar data to the desktop server through the switch, and further display it through the display. The displayed laser radar data allows the staff to more intuitively and meticulously grasp the distribution of coal inside the coal bunker, including the distribution volume and distribution position, which further facilitates the staff to manage the coal inside the coal bunker;

[0025] 3. The present invention is also provided with a PLC controller, which is connected to the switch, and is also connected to the feed control valve, the discharge control valve and the coal truck, and is used to control the switch of the feed control valve and the discharge control valve and the start and stop of the coal truck. By setting the threshold, it is sufficient to automatically control the switch of the feed control valve and the discharge control valve and the start and stop of the coal truck based on a simple threshold comparison. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0027] Figure 1 It is a schematic diagram of the system framework of the present invention;

[0028] Figure 2 It is a schematic diagram of the overall hardware structure of the present invention;

[0029] Figure 3 This is a flow chart of controlling feed in the present invention;

[0030] Figure 4 This is an example of coal accumulation in the silo (coal accumulation on the left);

[0031] Figure 5 This is an example diagram of coal accumulation in the silo (coal accumulation in the middle);

[0032] Figure 6 This is an example diagram of coal accumulation in the silo (coal accumulation on the right).

[0033] Description of main reference numerals:

[0034] 1. Coal truck; 2. Laser rangefinder; 3. Feed control valve; 4. Discharge control valve; 5. Laser scanner; 6. PLC controller; 7. Switch; 8. Desktop server; 9. Monitor. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments 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.

[0036] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0037] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0038] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0039] The present invention is a laser radar-based coal bunker automatic feeding system, which aims to achieve real-time monitoring of the material level in the coal bunker through high-precision laser radar equipment, and automatically adjust the feeding process in combination with an intelligent control system, thereby optimizing the coal processing process and improving safety and efficiency.

[0040] like Figure 1 As shown, the coal bunker automation control system of the present invention is composed of a laser radar scanning system, a laser ranging positioning system, a PLC material inlet and outlet control system, and a data processing and interface display system. Each system works together to achieve fully automated management of the coal bunker inlet and outlet process. Among them:

[0041] The laser radar scanning system is used to scan the coal accumulation inside the coal bunker to understand the volume and distribution of the coal accumulation;

[0042] The laser ranging positioning system is used to measure the distance between the coal truck and the coal bunker, so as to control the start and stop of the coal truck 1, and further control the relative position relationship between the coal truck 1 and the coal bunker;

[0043] The PLC control system controls the in and out of coal and the start and stop of the coal truck 1 by setting thresholds. Specifically, the distance threshold is set based on the distance information to control the start and stop of the coal truck 1; based on the set volume threshold or height threshold, the volume or height scanned by the laser radar scanning system is compared with the set volume threshold or height threshold, and the start and stop of the feed port and the discharge port are controlled based on the threshold comparison. The threshold comparison algorithm involved here is an existing algorithm, and the process does not involve the improvement of the computer program, so the specific algorithm is not further explained here.

[0044] like Figure 2 As shown, it includes a coal bunker and a coal truck 1 for transporting coal to the coal bunker. The coal bunker is provided with a feed port and a discharge port. The coal truck 1 is equipped with a laser rangefinder 2. The laser rangefinder 2 is installed on the coal truck 1 on the side close to the coal bunker, and is used to measure the distance between the coal truck 1 and the coal bunker. The laser rangefinder 2 is connected to a desktop server 8 through a switch 7. The desktop server 8 is connected to a display 9, and is used to receive real-time data from the laser tester and display it on the display 9. The coal bunker is provided with a feed control valve 3 and a discharge control valve 4. The feed control valve 3 is used to open or close the feed port, and the discharge control valve 4 is used to open or close the discharge port. The coal truck 1 is accurately positioned by the laser rangefinder 2 to transport the coal to the target coal bunker. The laser scanner 5 monitors the material level and coal distribution in the coal bunker in real time, and transmits the point cloud data to the desktop server 8 for processing and analysis. The PLC controller 6 receives the control instructions sent by the server and accurately controls the feed control valve 3 and the discharge control valve 4 to realize the automatic feeding and discharging of the coal bunker. The switch 7 is used for data communication between devices, and the display 9 provides users with real-time data monitoring and system operation interface. The whole system works together to ensure the safety, efficiency and accuracy of the coal bunker feeding process.

[0045] The LiDAR scanning system consists of a high-precision LiDAR scanner and an adjustable height lifting platform. The LiDAR is used to scan the interior of the coal bunker in real time and obtain point cloud data. The lifting platform can adjust the height and angle of the LiDAR to ensure that the scanning range covers the entire coal bunker, while facilitating the cleaning and maintenance of the equipment.

[0046] The laser ranging positioning system is responsible for accurately positioning the coal truck 1. The system detects the relative position between the coal truck 1 and the target coal bunker in real time through the laser rangefinder 2, and guides the coal truck 1 to the designated coal bunker position. The laser ranging positioning system detects the running track and position deviation of the coal truck 1, provides correction signals, and ensures that the coal truck 1 runs along the predetermined path.

[0047] The computing server has a built-in LZSY automatic control system, which communicates with the laser radar scanning system, laser ranging positioning system and PLC feeding and discharging control system. The LZSY system determines that the coal truck 1 has reached the center of the target coal bunker based on the ranging positioning data, and calculates the coal bunker material level and generates feeding control instructions based on the acquired point cloud data.

[0048] The PLC feeding and discharging control system includes a slide rail control device, a coal feeding port control device and a discharging port control device. The slide rail control device is used to dynamically adjust the feeding position, the feeding port control device is used to accurately control the coal feeding, and the discharging port control device is used to accurately unload the coal, ensuring that the feeding and discharging process is efficient and orderly.

[0049] During data initialization, the LZSY system allows users to set key parameters, including the feed threshold height (H 预设最低 ), warning feed threshold height (H 预设警告 ), stop feeding threshold height (H 预设停止 ), and coal density (ρ 煤密度 ) and the stock feed threshold (W 最低存煤量 ). These parameters provide the basis for the system control logic.

[0050] The laser radar position calibration is completed through the LZSY system. After the laser radar scans and obtains the coal bunker point cloud data, it combines the ranging positioning data and uses the ICP algorithm to accurately align the point cloud data to ensure the relative position between the laser radar and the coal bunker is accurate.

[0051] Laser ranging positioning guidance During the operation of the coal truck 1, the laser ranging system measures the distance and deviation between the current position of the coal truck 1 and the target coal bunker in real time. Through continuous correction, the laser ranging positioning system guides the coal truck 1 to accurately stop at the target coal bunker feed port.

[0052] LiDAR Scanning Coal Bunker The LiDAR scanning system periodically scans the coal bunker at set time intervals (adjustable from 1 minute to 120 minutes), and uploads point cloud data to the LZSY system in real time for dynamic monitoring of coal storage conditions inside the bunker.

[0053] Point cloud data preprocessing includes point cloud data downsampling and discrete point elimination. Downsampling is used to reduce the amount of data and improve processing efficiency; discrete point elimination ensures data accuracy by cleaning up noise points.

[0054] The coal storage volume is calculated by the LZSY system using point cloud data and triangulation technology to calculate the free volume of the coal bunker (V 空余 ), combined with the total volume of the coal bunker, the coal storage volume (V 存量 =V 煤仓 -V 空余 ).

[0055] The weight of coal stored in the coal bunker is calculated based on the coal storage volume and coal density. The formula is: W 存量 =V 存量 ×ρ 煤密度 , providing a basis for control decisions.

[0056] The coal storage height calculation calculates the highest and lowest heights of the coal stored in the coal bunker by traversing the point cloud data, which is used to determine whether to trigger the feeding or discharging operation.

[0057] Data storage The LZSY system stores the processed point cloud data, coal storage volume, coal storage weight, coal storage height, as well as scanning time and user input parameters into the database to facilitate the tracing and analysis of historical data. It is used to record the material discharge data of the silo and the coal consumption of the production workshop every day or during a certain period of time.

[0058] The PLC control system adjusts the position of the feed or discharge port through the slide rail control device to ensure uniform feeding or accurate discharge. During the feeding and discharging process, the laser radar continuously scans and updates the point cloud data, and the LZSY system adjusts the control strategy in real time to ensure safety and efficiency.

[0059] The real-time feedback and dynamic adjustment laser radar scanning system and the laser ranging positioning system work together to dynamically optimize the material loading and unloading process by providing real-time feedback on the status of the coal truck 1 and the coal bunker, thereby ensuring the stable and efficient operation of the entire coal handling system.

[0060] The following is a flow chart of the implementation scheme of this patent: Figure 3 As shown, the specific implementation process is described below:

[0061] When the production workshop needs to carry out production tasks, the system receives the demand instructions and specifies the amount of coal required for this production (W 需求 ).

[0062] System initialization: Set key parameters, including coal bunker feed threshold height (H 预设最低 ), warning altitude (H 预设警告 )、Stop height (H 预设停止 ), and coal density (ρ 煤密度 ) and minimum coal storage (W 最低存煤量 ).

[0063] The LZSY automatic control system communicates with the laser radar scanning system, laser ranging positioning system and PLC inlet and outlet control system to determine the position of the coal truck 1, scan the coal bunker and obtain point cloud data. Through point cloud scanning and point data processing, the coal storage weight W of the bunker is obtained. 存量 , and the height H of the coal storage in the silo 存煤高度 , if W 存量 >W 需求 If yes, the coal loading operation will not be carried out; otherwise, the coal loading operation will be carried out. Figure 4 , Figure 5 , Figure 6 shown.

[0064] Through data processing, the LZSY system calculates the coal storage weight (W 存量 ) and coal storage height (H 存煤高度 If the coal storage weight is greater than the demand (W 存量 >W需求 ), the coal loading operation will not be performed; otherwise, the coal loading operation will be started.

[0065] Determine whether there is coal accumulation based on the coal storage height. If the coal storage height is greater than the warning threshold (H 存煤高度 >H 预设警告 ), the system checks whether there is coal accumulation, and adjusts the position of the coal truck 1 and the feeding position to optimize the distribution of coal and avoid local overload or voids. If the coal storage height is lower than the warning threshold, there is no need to judge the coal accumulation.

[0066] Repeat the above operation and continue to add coal until the coal storage height exceeds the stop threshold (H 存煤最高 >H 预设停止 ) and the minimum altitude is below the warning threshold (H 存煤最低 <H 预设警告 ), the system automatically stops feeding.

[0067] In summary, the present invention includes a coal bunker and a coal truck for transporting coal to the coal bunker. A feed port and a discharge port are provided in the coal bunker. A laser rangefinder is installed on the coal truck. The laser rangefinder is installed on the side of the coal truck close to the coal bunker and is used to measure the distance between the coal truck and the coal bunker. The laser rangefinder is connected to a desktop server through a switch. The desktop server is connected to a display and is used to receive real-time data from the laser tester and display it on the display. A feed control valve and a discharge control valve are provided on the coal bunker. The feed control valve is used to open or close the feed port, and the discharge control valve is used to open or close the discharge port. Through the installation of the laser rangefinder and the real-time processing and display based on the desktop server, the staff can grasp the distance between the coal truck and the coal bunker in real time. Through the display screen, the staff can more intuitively and accurately grasp the distance between the coal truck and the coal bunker, and the staff can start and stop the coal truck. Moreover, the present invention is also provided with a laser scanner, and the laser scanner is electrically connected to the desktop server through the switch, and is used to scan the inside of the coal bunker and transmit the scanned laser radar data to the desktop server through the switch, and further displayed through the display. Through the displayed laser radar data, the staff can more intuitively and meticulously grasp the distribution of coal inside the coal bunker, including the distribution volume and distribution position, which further facilitates the staff to manage the coal inside the coal bunker; in addition, the present invention is also provided with a PLC controller, and the PLC controller is connected to the switch, and the PLC controller is also connected to the feed control valve, the discharge control valve and the coal truck, and is used to control the switch of the feed control valve and the discharge control valve and the start and stop of the coal truck.

[0068] Those of ordinary skill in the art will appreciate that the units of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition of each example has been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0069] In the embodiments provided by the present invention, it should be understood that the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored, etc.

[0070] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0071] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several 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, read-only memory (ROM, Read-0nlyMemory), random access memory (RAM, RandomAccessMemory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0072] 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 replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A laser radar-based coal bunker automatic feeding system, comprising a coal bunker and a coal truck (1) for transporting coal to the coal bunker, wherein a feed port and a discharge port are provided in the coal bunker, and the system is characterized in that: The coal truck (1) is equipped with a laser rangefinder (2). The laser rangefinder (2) is installed on the side of the coal truck (1) close to the coal bunker and is used to measure the distance between the coal truck (1) and the coal bunker. The laser rangefinder (2) is connected to a desktop server (8) via a switch (7). The desktop server (8) is connected to a display (9) and is used to receive real-time data from the laser rangefinder and display it on the display (9). The coal bunker is equipped with a feed control valve (3) and a discharge control valve (4). The feed control valve (3) is used to open or close the feed port, and the discharge control valve (4) is used to open or close the discharge port.

2. The automatic coal bunker feeding system based on laser radar according to claim 1 is characterized in that: The coal bunker includes a feed part, a cover body, a bunker body and a discharge part, wherein the feed part is arranged on the cover body, the cover body is connected with the bunker body, the discharge part is in the shape of a funnel which is wide at the top and narrow at the bottom, the widest part at the top of the discharge part is connected with the bunker body, and the narrowest part at the bottom of the discharge part is the discharge port.

3. The automatic coal bunker feeding system based on laser radar according to claim 2 is characterized in that: The feed part comprises a feed pipe and a feed port, wherein the feed pipe passes through the cover body, and one end of the feed pipe penetrates into the interior of the bunker body from the cover body to transport coal into the coal bunker; the other end of the feed pipe extends from the cover body to receive the coal transported by the coal truck (1).

4. The automatic coal bunker feeding system based on laser radar according to claim 1 is characterized in that: It also includes a laser scanner (5), which is arranged on the inner side of the coal bunker and fixedly connected to the inner side of the coal bunker. The laser scanner (5) is electrically connected to the desktop server (8) through the switch (7) and is used to scan the inside of the coal bunker and transmit the scanned laser radar data to the desktop server (8) through the switch (7), and further display it through the display (9).

5. The automatic coal bunker feeding system based on laser radar according to claim 4 is characterized in that: The laser scanner (5) is fixedly connected to the inner side of the cover body, and the laser rangefinder (2) is arranged at a position on the coal truck (1) that can contact the coal bunker after the coal truck (1) contacts the coal bunker.

6. The automatic coal bunker feeding system based on laser radar according to claim 5 is characterized in that: It also includes a lifting platform, and the laser scanner (5) is connected to the cover body via the lifting platform. One end of the lifting platform is connected to the inner side of the cover body, and the other end is connected to the laser scanner (5). Through the lifting platform, the laser scanner (5) can achieve a vertical position change inside the coal bunker.

7. The automatic coal bunker feeding system based on laser radar according to claim 6 is characterized in that: The system further comprises a PLC controller (6), wherein the PLC controller (6) is connected to the switch (7), and the PLC controller (6) is also connected to the feed control valve (3), the discharge control valve (4) and the coal truck (1), and is used to control the switch of the feed control valve (3) and the discharge control valve (4) and the start and stop of the coal truck (1). The desktop server (8) has a built-in LZSY automatic control system, which communicates with the laser radar scanning system, the laser ranging positioning system and the PLC feed and discharge control system. The coal truck (1) is arranged on a slide rail, and the PLC controls the distance between the coal truck (1) and the coal bunker by controlling the slide rail.

8. The automatic coal bunker feeding system based on laser radar according to claim 7 is characterized in that: The process of controlling the feeding and discharging of materials is as follows: When the production workshop needs to carry out production tasks, the system receives the demand instructions and specifies the amount of coal W required for this production. 需求 ; System initialization: set key parameters, including coal bunker feed threshold height H 预设最低 , Warning altitude H 预设警告 , Stop height H 预设停止 , and coal density ρ 煤密度 and minimum coal storage W 最低存煤量 ; The LZSY automatic control system communicates with the laser radar scanning system, laser ranging positioning system and PLC inlet and outlet control system to determine the position of the coal truck, scan the coal bunker and obtain point cloud data; through point cloud scanning and point data processing, the coal storage weight W of the bunker is obtained. 存量 , and the height H of the coal storage in the silo 存煤高度 , if W 存量 >W 需求 If yes, the coal-laying operation will not be performed, otherwise the coal-laying operation will be performed; Through data processing, the LZSY system calculates the stored coal weight W 存量 And coal storage height H 存煤高度 ; If the coal storage weight is greater than the demand W 存量 >W 需求 , the coal lowering operation will not be performed; otherwise, the coal lowering operation will be started; Determine whether there is coal accumulation based on the coal storage height. If the coal storage height is greater than the warning threshold H 存煤高度 >H 预设警告 , the system checks whether there is coal accumulation, and adjusts the position of the coal truck and the feeding position to optimize the distribution of coal and avoid local overload or voids; if the coal storage height is lower than the warning threshold, there is no need to judge the coal accumulation; Repeat the above operations and continue to add coal until the coal storage height exceeds the stop threshold H 存煤最高 >H 预设停止 And the minimum altitude is lower than the warning threshold H 存煤最低 <H 预设警告 , the system automatically stops feeding.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the laser radar-based coal bunker automatic feeding system according to any one of claims 1 to 8.

10. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the laser radar-based coal bunker automatic feeding system as described in any one of claims 1 to 8.

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