Self-adaptive pebble coal discharge system and control method thereof, terminal equipment and medium

Abstract

The invention discloses a pebble coal self-adaptive discharging system and a control method thereof, terminal equipment and a medium, and relates to the technical field of pebble coal discharging. The system comprises an automatic lifting type pebble coal discharging device, a laser navigation tracing and carrying device, an automatic overturning and dumping device, a server and an upper computer which are in communication connection, and the laser navigation tracing and carrying device can transfer a full-material slag box of the automatic lifting type pebble coal discharging device to a transfer area under dispatching of the server; according to the automatic lifting type pebble coal discharging equipment, the full-material slag box in the transfer area can be transferred to the automatic overturning and dumping equipment, the empty slag box is forked from the empty box area and put back to the automatic lifting type pebble coal discharging equipment, the full-material slag box in the transfer area can be transferred to the automatic overturning and dumping equipment, and after the automatic overturning and dumping equipment finishes dumping, the empty slag box is forked and put back to the empty box area. By adopting the system, manual transfer is not needed, safety and high efficiency are achieved, firmness and durability are achieved, pebble coal is discharged more autonomously and intelligently, and the operation cost is reduced.

Description

Technical Field

[0001] This application relates to the technical field of pebble coal discharge, and particularly to an adaptive pebble coal discharge system, its control method, terminal device, and medium. Background Art

[0002] Pebble coal is pyrite that is not ground and entrained gangue and coal particles discharged from the lower part during the operation of the coal mill, and it must be removed before the coal enters the boiler. Each coal-fired power plant discharges a large amount of pebble coal every year. Currently, the related technologies mainly adopt manual transfer and mechanical transfer methods. However, the manual labor intensity is extremely high, and there is a risk of high-temperature scalding. Moreover, equipment such as scraper conveyors, vibrating conveyors, and belt conveyors is prone to wear, affecting the service life. At the same time, an underground conveying corridor is required, increasing the civil engineering cost. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the related technologies, it is desirable to provide an adaptive pebble coal discharge system, its control method, terminal device, and medium, which can autonomously and intelligently discharge pebble coal, reduce operating costs, and ensure safety.

[0004] In a first aspect, this application provides an adaptive pebble coal discharge system. The adaptive pebble coal discharge system includes an automatically lifted pebble coal discharge device, a laser navigation and tracing handling device, an automatically flipped and dumped device, a server, and a host computer that are communicatively connected;

[0005] The server is configured to respond to the signal that the slag box has landed in place sent by the automatically lifted pebble coal discharge device, and schedule the laser navigation and tracing handling device to go to the device area corresponding to the signal that the slag box has landed in place. The laser navigation and tracing handling device is used to transfer the full-load slag box of the automatically lifted pebble coal discharge device to the transfer area, and fork an empty slag box from the empty box area and put it back into the automatically lifted pebble coal discharge device; and, according to the discharge requirement data sent by the host computer, schedule the laser navigation and tracing handling device to go to the transfer area. The laser navigation and tracing handling device is used to transfer the full-load slag box in the transfer area to the automatically flipped and dumped device, and after the automatically flipped and dumped device has completed dumping, fork an empty slag box and put it back into the empty box area.

[0006] Optionally, in some embodiments of this application, the server is specifically used to collect the sensor data of each laser navigation and tracing handling device, and use the Kalman filter algorithm or the particle filter algorithm to determine the current position of the laser navigation and tracing handling device. The sensor data includes the environmental and obstacle information sensed by the lidar, the stack height and discharge point status information recognized by the camera, the load information detected by the weight sensor, and the power information monitored by the power sensor;

[0007] Based on the sensor data and the current location, task assignment and path planning are performed for each of the laser navigation path-tracing handling devices, and the operating parameters of the laser navigation path-tracing handling devices are optimized; and, the operation feedback data sent by the laser navigation path-tracing handling devices is received, and the emission strategy is adjusted according to the operation feedback data.

[0008] Optionally, in some embodiments of the present application, the server is further specifically configured to assign tasks to each of the laser navigation path-tracing handling devices through the following formula:

[0009] C ij = d ij × t ij + δ × e ij ;

[0010] In the above formula, C ij represents the cost for the i-th laser navigation path-tracing handling device to execute task j; d ij represents the distance from the i-th laser navigation path-tracing handling device to task j; t ij represents the time for the i-th laser navigation path-tracing handling device to execute task j; δ represents the energy consumption weight coefficient, and its value ranges from 0 to 1; e ij represents the energy consumption of the i-th laser navigation path-tracing handling device to execute task j.

[0011] Optionally, in some embodiments of the present application, the server is further specifically configured to plan the paths of each of the laser navigation path-tracing handling devices through the following formula:

[0012] f(n) = g(n) + h(n);

[0013] In the above formula, f(n) represents the total cost of node n; g(n) represents the actual cost from the starting point to node n; h(n) represents the heuristic estimated cost from node n to the target point.

[0014]

[0015] (x n , y n ) represents the coordinates of node n, and (x goal , y goal ) represents the coordinates of the target point.

[0016] Optionally, in some embodiments of the present application, the server is further specifically configured to optimize the operating parameters of the laser navigation path-tracing handling devices through the following formula:

[0017]

[0018] In the above formula, u(t) represents the control output of the laser navigation path-tracing handling device, and the control output includes speed and acceleration; e(t) represents the error; Kp Represents the proportionality coefficient, K i Represents the integral coefficient, K d Represents the differential coefficient;

[0019]

[0020] In the above formula, E represents the total energy consumption of the laser navigation and tracing handling equipment; P m Represents the motor power; t represents the running time; m represents the total mass; v represents the speed; μ represents the ground friction coefficient; g represents the acceleration due to gravity; d represents the traveling distance.

[0021] Optionally, in some embodiments of the present application, the automatic lifting type pebble coal discharging device includes a first control box, an automatic lifting and locking frame, and a level gauge, a pressure relief valve, a slag discharging valve, a weighing sensor, and a first in-place sensor located on the automatic lifting and locking frame and communicatively connected to the first control box. The automatic lifting and locking frame is connected to a slag discharging box;

[0022] The first control box is configured to close the slag discharging valve and open the pressure relief valve when receiving a full material signal sent by the level gauge or a limit signal sent by the weighing sensor, and after a preset time delay, open the locking mechanism of the automatic lifting and locking frame and trigger a signal indicating that the slag box has reached the ground in place; and, when receiving a signal indicating in place sent by the first in-place sensor, control the locking mechanism of the automatic lifting and locking frame to re-lock and lift the empty slag box, and reset the level gauge, open the slag discharging valve, and close the pressure relief valve.

[0023] Optionally, in some embodiments of the present application, the automatic tipping device includes a fixed frame and a second control box, a transmission mechanism, and a second in-place sensor provided on the fixed frame;

[0024] The second control box is configured to control the transmission mechanism to tip the full material slag box when receiving a signal indicating in place sent by the second in-place sensor.

[0025] In a second aspect, the present application provides a control method for a pebble coal adaptive discharge system. The control method is used for the server of the pebble coal adaptive discharge system described in any one of the first aspects. The control method includes:

[0026] In response to the signal indicating that the slag box has reached the ground in place sent by the automatic lifting type pebble coal discharging device, dispatch the laser navigation and tracing handling equipment to the equipment area corresponding to the signal indicating that the slag box has reached the ground in place. The laser navigation and tracing handling equipment is used to transfer the full material slag box of the automatic lifting type pebble coal discharging device to the transfer area and fetch an empty slag box from the empty box area and place it back into the automatic lifting type pebble coal discharging device;

[0027] According to the emission requirement data sent by the host computer, the laser navigation and tracing handling device is scheduled to go to the transfer area. The laser navigation and tracing handling device is used to transfer the full slag box in the transfer area to the automatic tipping device, and after the automatic tipping device finishes dumping, it forks an empty slag box and returns it to the empty box area.

[0028] In a third aspect, the present application provides a terminal device, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the instruction, the program, the code set or the instruction set is loaded and executed by the processor to implement the steps of the control method described in the second aspect.

[0029] In a fourth aspect, the present application provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the control method described in the second aspect.

[0030] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages:

[0031] The embodiments of the present application provide a self-adaptive emission system for pebble coal, its control method, a terminal device, and a medium. Through the laser navigation and tracing handling device, not only can the full slag box of the automatic lifting pebble coal discharging device be transferred to the transfer area, and an empty slag box can be forked from the empty box area and returned to the automatic lifting pebble coal discharging device, without manual transfer, which is safe and efficient, but also durable, avoiding the drawback of easy wear of the conveyor. It can also transfer the full slag box in the transfer area to the automatic tipping device, and after the automatic tipping device finishes dumping, fork an empty slag box and return it to the empty box area, and so on in a cycle, discharging pebble coal more autonomously and intelligently, and reducing the operating cost. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a structural block diagram of a self-adaptive emission system for pebble coal provided by the embodiments of the present application;

[0034] Figure 2 It is a schematic diagram of the communication connection between various devices provided by the embodiments of the present application;

[0035] Figure 3Schematic diagram of the external structure of a laser navigation and tracing handling device provided by an embodiment of the present application;

[0036] Figure 4 Side view of an automatic lifting type pebble coal discharging device provided by an embodiment of the present application;

[0037] Figure 5 Front view of an automatic lifting type pebble coal discharging device provided by an embodiment of the present application;

[0038] Figure 6 Schematic diagram of the internal structure of an automatic flipping and dumping device provided by an embodiment of the present application;

[0039] Figure 7 Schematic diagram of the external structure of an automatic flipping and dumping device provided by an embodiment of the present application;

[0040] Figure 8 Schematic diagram of the control method flow of a pebble coal adaptive discharge system provided by an embodiment of the present application;

[0041] Figure 9 Structure block diagram of a terminal device provided by an embodiment of the present application.

[0042] Reference numerals:

[0043] 10 - Pebble coal adaptive discharge system, 11 - Automatic lifting type pebble coal discharging device, 111 - Automatic lifting and locking frame, 112 - Level gauge, 113 - Pressure relief valve, 114 - Weighing sensor, 115 - First in-place sensor, 12 - Laser navigation and tracing handling device, 13 - Automatic flipping and dumping device, 131 - Fixed frame, 132 - Second control box, 133 - Power device, 134 - Upper limit switch, 135 - Counterweight box, 14 - Server, 15 - Host computer, 20 - Slag discharge box, 30 - Terminal device, 31 - Processor, 32 - Memory. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0045] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0046] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The following will Figures 1 to 9 elaborate in detail on the pebble coal adaptive discharge system provided by the embodiments of the present application, its control method, terminal device, and medium.

[0047] Please refer to Figure 1 , which is a structural block diagram of a pebble coal adaptive discharge system provided by an embodiment of the present application. The pebble coal adaptive discharge system 10 includes an automatically lifting pebble coal discharging device 11, a laser navigation and tracing handling device 12, an automatically flipping and dumping device 13, a server 14, and a host computer 15 that are communicatively connected. For example, Figure 2 as shown, the devices are interconnected through an industrial wireless access point (Access Point, AP) and a switch, etc. Control box 1, control box 2, and control box 3, etc. respectively represent a single automatically lifting pebble coal discharging device 11. That is to say, the number of coal mills is 12, and each coal mill corresponds to an automatically lifting pebble coal discharging device 11. And AGV1, AGV2, AGV3, and AGV4 respectively represent a single laser navigation and tracing handling device 12, dumping device 1 and dumping device 2 respectively represent a single automatically flipping and dumping device 13, and rolling shutter door 1 and rolling shutter door 2 can separate the automatically lifting pebble coal discharging device 11 and the automatically flipping and dumping device 13, and can dock and communicate with the laser navigation and tracing handling device 12 to open the door when the laser navigation and tracing handling device 12 goes to the automatically flipping and dumping device 13.

[0048] In the actual use process, the server 14 can not only respond to the signal that the slag box has landed in place sent by the automatically lifting pebble coal discharging device 11, and dispatch the laser navigation and tracing handling device 12 to the device area corresponding to the signal that the slag box has landed in place. The laser navigation and tracing handling device 12 is used to transfer the full slag box of the automatically lifting pebble coal discharging device 11 to the transfer area, and fork an empty slag box from the empty box area and put it back into the automatically lifting pebble coal discharging device 11. It can also, according to the discharge demand data sent by the host computer 15, dispatch the laser navigation and tracing handling device 12 to the transfer area. The discharge demand data includes but is not limited to the target discharge amount at the discharge point, the distribution and height of the coal pile, etc. The laser navigation and tracing handling device 12 is used to transfer the full slag box in the transfer area to the automatically flipping and dumping device 13, and after the automatically flipping and dumping device 13 has completed the dumping, fork an empty slag box and put it back into the empty box area, so as to cycle and discharge the pebble coal more autonomously and intelligently. In addition, the monitoring interface of the host computer 15 can intuitively display the real-time status, historical data, alarm information, etc. of the pebble coal discharge, and at the same time, it can also remotely perform operations such as starting and stopping the discharge system and adjusting parameters.

[0049] In some embodiments of the present application, the server 14 can specifically collect the sensor data of each laser navigation and tracing handling device 12, and use the Kalman filtering algorithm or the particle filtering algorithm to determine the current position of the laser navigation and tracing handling device 12. The sensor data includes, but is not limited to, the environmental and obstacle information sensed by the lidar, the stack height and discharge point status information identified by the camera, the load information detected by the weight sensor, and the power information monitored by the power sensor, etc. For example, the prediction process of the Kalman filtering algorithm is as follows:

[0050]

[0051] In Equation (1), represents the state prediction value, which includes, but is not limited to, position, velocity, acceleration, orientation angle, and angular velocity, etc.; A represents the state transition matrix; B represents the control input matrix; u t represents the control output quantity, which includes, but is not limited to, velocity and acceleration, etc.; represents the state covariance prediction value; Q represents the process noise covariance.

[0052] And the update process is as follows:

[0053]

[0054] In Equation (2), K t represents the Kalman gain; H represents the observation matrix; R represents the observation noise covariance; z t represents the actual observation value. Again, for example Figure 3As shown, in addition to lidar, cameras, weight sensors, and power sensors, the laser navigation and tracing handling device 12 also has a SLAM (Simultaneous Localization and Mapping) laser obstacle avoidance sensor, a charging mechanism, a laser navigation mechanism, and a control mechanism. Among them, the charging mechanism includes, but is not limited to, a charging interface and a battery pack, etc. The charging interface is located on the side or top of the handling device, facilitating docking with the charging station. The battery pack can provide a power source for the handling device, supporting long-term continuous operation. This charging mechanism has an intelligent charging management function, which can protect the battery and extend its service life. The laser navigation mechanism includes, but is not limited to, a laser sensor, an odometer, and a navigation controller, etc. The laser sensor obtains the environmental information around the handling device in real time by emitting laser and receiving the reflected signal. The odometer can record the driving distance and speed of the handling device. The navigation controller can, based on the information provided by the laser sensor and the odometer, and in combination with the preset map information, achieve precise positioning and path planning of the handling device. This laser navigation mechanism has the advantages of high precision, high stability, and high reliability, and can achieve autonomous navigation of the handling device in a complex environment. The control mechanism can receive the positioning information provided by the laser navigation mechanism, and in combination with the preset map information, generate precise navigation instructions, and at the same time control the actions of the handling device to achieve automation of the handling process. Moreover, the chassis of the laser navigation and tracing handling device 12 is made of high-strength lightweight materials, has good load-bearing capacity and stability, and is driven by a steering wheel. The steering wheel has driving and steering functions, realizing actions such as forward, backward, and rotation in place of the handling device. Among them, the steering wheel is connected to the vehicle body through an independent suspension mechanism. The suspension structure can ensure that the wheels adapt to uneven ground, keep the wheels in contact with the ground at all times and ensure sufficient driving force. At the same time, the suspension mechanism can reduce vibrations, and the steering wheel drive unit includes a polyurethane wheel, a steering motor, and a driving motor, etc.

[0055] Furthermore, the server 14 can specifically perform task allocation and path planning for each laser navigation and tracing handling device 12 based on sensor data and the current position, and optimize the operating parameters of the laser navigation and tracing handling device 12; and receive the operation feedback data sent by the laser navigation and tracing handling device 12, and adjust the emission strategy according to the operation feedback data. For example, when the power of a certain handling device is insufficient, the server 14 will reallocate tasks or schedule charging. Specifically, the server 14 can allocate tasks to each laser navigation and tracing handling device 12 through formula (3), that is, construct a cost matrix C ij , and perform minimization processing on the rows and columns of this matrix, using the fewest lines to cover all zero elements. If the number of lines is equal to the matrix order, it means that the optimal solution has been found, otherwise adjust this matrix.

[0056] C ij = dij ×t ij +δ×e ij (3)

[0057] In formula (3), C ij represents the cost for the i-th laser navigation and path following handling device to execute task j; d ij represents the distance from the i-th laser navigation and path following handling device to task j; t ij represents the time for the i-th laser navigation and path following handling device to execute task j; δ represents the energy consumption weight coefficient, and its value ranges from 0 to 1; e ij represents the energy consumption of the i-th laser navigation and path following handling device for executing task j.

[0058] The server 14 can also plan the paths of the laser navigation and path following handling devices 12 through formula (4), that is:

[0059] f(n) = g(n) + h(n) (4)

[0060] In formula (4), f(n) represents the total cost of node n; g(n) represents the actual cost from the starting point to node n; h(n) represents the heuristic estimated cost from node n to the target point.

[0061]

[0062] In formula (5), (x n , y n ) represents the coordinates of node n, and (x goal , y goal ) represents the coordinates of the target point.

[0063] In addition, the server 14 can also optimize the operating parameters of the laser navigation and path following handling devices 12 through formula (6) and formula (7), that is:

[0064]

[0065] In formula (6), u(t) represents the control output of the laser navigation and path following handling device, and the control output includes speed and acceleration; e(t) represents the error; K p represents the proportional coefficient, K i represents the integral coefficient, K d represents the differential coefficient;

[0066]

[0067] In formula (7), E represents the total energy consumption of the laser navigation and path following handling device, and the lowest energy consumption is the goal; P mP represents the motor power; t represents the running time; m represents the total mass (including the load); v represents the speed; μ represents the ground friction coefficient; g represents the acceleration due to gravity; d represents the traveling distance. In addition, the Model Predictive Control (MPC) algorithm can also be used to predict the future state and optimize the control input to achieve the optimal operation of the handling equipment. The constraint conditions include but are not limited to speed, acceleration, power, and obstacle avoidance, etc. When the laser navigation tracking handling equipment is running, it can detect obstacles in real time and adjust the path. The algorithms include but are not limited to the artificial potential field method and the dynamic window method, etc. The artificial potential field method can regard the target point as an attractive force and the obstacle as a repulsive force, while the dynamic window method can search for the feasible speed v and angular velocity ω in the speed space. The evaluation function is shown in Equation (8), that is:

[0068] G(v, ω) = α·heading(v, ω) + β·dist(v, ω) + γ·velocity(v, ω) (8)

[0069] In Equation (8), α represents the weight of heading towards the target, and heading(v, ω) represents the angle of the handling equipment towards the target; β represents the weight of obstacle avoidance, and dist(v, ω) represents the distance between the handling equipment and the obstacle; γ represents the weight of speed, and velocity(v, ω) represents the magnitude of the speed of the handling equipment; α + β + γ = 1. In addition, the server 14 also includes a safety protection mechanism, which can analyze the overall operating state of the system. For example, when a certain monitoring parameter is greater than the preset critical threshold, it indicates that the equipment corresponding to the monitoring parameter is about to operate abnormally, then an alarm will be automatically issued and shutdown maintenance will be recommended. Thus, it can help the operator detect problems early and prevent the occurrence of faults.

[0070] In some embodiments of the present application, such as Figure 4 and Figure 5As shown in the figure, the automatic lifting pebble coal discharging device 11 may include a first control box, an automatic lifting and locking frame 111, and a level gauge 112, a pressure relief valve 113, a slag discharging valve, a weighing sensor 114, and a first in-place sensor 115 that are located on the automatic lifting and locking frame 111 and are communicatively connected to the first control box. The automatic lifting and locking frame 111 is connected to the slag discharging box 20. For example, the level gauge 112 includes, but is not limited to, a contact type level gauge, a passive nuclear level gauge, etc. A fluororubber sealing ring is provided at the fitting part of the automatic lifting and locking frame 111 and the slag discharging box 20, which enhances the sealing effect, is more environmentally friendly, and performs the lifting action through a cylinder, an electric cylinder, or a hydraulic cylinder. During actual use, when the first control box receives a full material signal sent by the level gauge 112 or a limit signal sent by the weighing sensor 114, it closes the slag discharging valve and opens the pressure relief valve 113, and after a preset delay of 10 seconds, it opens the locking mechanism of the automatic lifting and locking frame 111 and triggers the in-place signal for the slag box to land. Also, when it receives the in-place signal sent by the first in-place sensor 115, it controls the locking mechanism of the automatic lifting and locking frame 111 to re-lock and lift the empty slag box, resets the level gauge 112, opens the slag discharging valve, and closes the pressure relief valve 113, and the coal mill continues to discharge slag.

[0071] In some embodiments of the present application, as Figure 6 and Figure 7 shown in the figure, the automatic tipping device 13 may include a fixed frame 131 and a second control box 132, a transmission mechanism, and a second in-place sensor provided on the fixed frame 131. The transmission structure includes a power device 133, an upper limit switch 134, a counterweight box 135, a rising guide rail, etc. For example, the operating power source of the automatic tipping device 13 is two 5.5-kilowatt motors, without other power sources, the single operation cycle does not exceed 60 seconds, it is energy-saving and power-saving, and has a simple and reliable structure with little maintenance. The lifting capacity exceeds 2500 kilograms, the lifting height is 3600 millimeters, the rising linear speed is 300 millimeters per second, and the loading and unloading vehicle height is from 1.1 meters to 2.5 meters. During actual use, when the second control box 132 receives the in-place signal sent by the second in-place sensor, it controls the transmission mechanism to tip the full slag box, and after the tipping is completed, the laser navigation and tracing handling device 12 can fork the empty slag box and put it back into the empty box area.

[0072] The pebble coal adaptive discharge system provided by the embodiments of the present application can, through the laser navigation and tracing handling equipment, not only transfer the full slag box of the automatic lifting pebble coal discharging equipment to the transfer area, and fetch an empty slag box from the empty box area and put it back to the automatic lifting pebble coal discharging equipment, without manual transfer, which is safe, efficient, durable at the same time, avoiding the disadvantage of easy wear of the conveyor, but also transfer the full slag box in the transfer area to the automatic tipping equipment, and after the automatic tipping equipment finishes discharging, fetch an empty slag box and put it back to the empty box area, and so on in a cycle, discharging pebble coal more autonomously and intelligently, and reducing the operation cost.

[0073] Based on the foregoing embodiments, the embodiments of the present application provide a control method for a pebble coal adaptive discharge system, and this control method can be used for Figures 1 to 7 the server 14 corresponding to the pebble coal adaptive discharge system 10 in the corresponding embodiment. Please refer to Figure 8 which is a schematic flowchart of a control method for a pebble coal adaptive discharge system provided by the embodiments of the present application. This control method specifically includes the following steps:

[0074] S101, in response to the signal that the slag box has landed in place sent by the automatic lifting pebble coal discharging equipment, dispatch the laser navigation and tracing handling equipment to the equipment area corresponding to the signal that the slag box has landed in place. This laser navigation and tracing handling equipment is used to transfer the full slag box of the automatic lifting pebble coal discharging equipment to the transfer area, and fetch an empty slag box from the empty box area and put it back to the automatic lifting pebble coal discharging equipment.

[0075] S102, according to the discharge requirement data sent by the upper computer, dispatch the laser navigation and tracing handling equipment to the transfer area. This laser navigation and tracing handling equipment is used to transfer the full slag box in the transfer area to the automatic tipping equipment, and after the automatic tipping equipment finishes discharging, fetch an empty slag box and put it back to the empty box area.

[0076] It should be noted that the descriptions of the same steps and the same content in this embodiment and other embodiments can refer to the descriptions in other embodiments, and will not be repeated here.

[0077] The control method provided by the embodiments of the present application can, through the server, dispatch the laser navigation and tracing handling equipment to not only transfer the full slag box of the automatic lifting pebble coal discharging equipment to the transfer area, and fetch an empty slag box from the empty box area and put it back to the automatic lifting pebble coal discharging equipment, without manual transfer, which is safe, efficient, durable at the same time, avoiding the disadvantage of easy wear of the conveyor, but also transfer the full slag box in the transfer area to the automatic tipping equipment, and after the automatic tipping equipment finishes discharging, fetch an empty slag box and put it back to the empty box area, and so on in a cycle, discharging pebble coal more autonomously and intelligently, and reducing the operation cost.

[0078] Based on the foregoing embodiments, the embodiments of the present application provide a terminal device. Please refer toFigure 9 As shown in Figure 9 , the terminal device 30 may include a processor 31 and a memory 32. For example, the terminal device 30 may be a server. The memory 32 stores at least one instruction, at least one program, a code set, or an instruction set, which is loaded and executed by the processor 31 to implement Figure 8 the steps of the control method in the corresponding embodiment.

[0079] On the other hand, an embodiment of the present application provides a computer-readable storage medium for storing program code, which is used to execute any one of the implementation manners of the control method in the foregoing Figure 8 corresponding embodiments.

[0080] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0081] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection between each other may be an indirect coupling or communication connection through some interfaces, devices, or modules, and may be in an electrical, mechanical, or other form. The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0082] In addition, in each embodiment of the present application, the functional modules may be integrated in a processing unit, or each module may exist physically alone, or two or more units may be integrated in one module. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. When 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.

[0083] Based on such understanding, the technical solution of the present application, 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. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the control method in various embodiments of the present application. The foregoing storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc.

[0084] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0085] Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. An adaptive discharge system for pebble coal, characterized in that, The described self - adaptive pebble coal discharging system (10) includes an automatically - lifting pebble coal discharging device (11), a laser - navigation tracing and carrying device (12), an automatically - flipping and dumping device (13), a server (14) and a host computer (15) which are communicatively connected; The server (14) is configured to respond to the signal that the slag box has reached the ground sent by the automatically - lifting pebble coal discharging device (11), and dispatch the laser - navigation tracing and carrying device (12) to the device area corresponding to the signal that the slag box has reached the ground. The laser - navigation tracing and carrying device (12) is used to transfer the full - material slag box of the automatically - lifting pebble coal discharging device (11) to the transfer area, and fetch an empty slag box from the empty - box area and put it back to the automatically - lifting pebble coal discharging device (11); And, according to the discharging requirement data sent by the host computer (15), dispatch the laser - navigation tracing and carrying device (12) to the transfer area. The laser - navigation tracing and carrying device (12) is used to transfer the full - material slag box in the transfer area to the automatically - flipping and dumping device (13), and after the automatically - flipping and dumping device (13) has completed the discharging, fetch an empty slag box and put it back to the empty - box area.

2. The pebble coal adaptive discharge system according to claim 1, wherein The server (14) is specifically used to collect the sensor data of each laser - navigation tracing and carrying device (12), and use the Kalman filtering algorithm or the particle filtering algorithm to determine the current position of the laser - navigation tracing and carrying device (12). The sensor data includes the environmental and obstacle information sensed by the lidar, the stacking height and discharging point status information recognized by the camera, the load information detected by the weight sensor, and the power information monitored by the power sensor; Based on the sensor data and the current position, perform task allocation and path planning for each laser - navigation tracing and carrying device (12), and optimize the operating parameters of the laser - navigation tracing and carrying device (12); and receive the operation feedback data sent by the laser - navigation tracing and carrying device (12), and adjust the discharging strategy according to the operation feedback data.

3. The pebble coal adaptive discharge system according to claim 2, characterized in that, The server (14) is also specifically used to allocate tasks for each laser - navigation tracing and carrying device (12) through the following formula: C ij = d ij × t ij + δ × e ij ; In the above formula, C ij represents the cost of the i-th laser navigation and tracing handling device to execute task j; d ij represents the distance from the i-th laser navigation and tracing handling device to task j; t ij represents the time for the i-th laser navigation and tracing handling device to execute task j; δ represents the energy consumption weight coefficient, and its value ranges from 0 to 1; e ij represents the energy consumption of the i-th laser navigation tracing handling device when performing task j.

4. The pebble coal adaptive discharge system according to claim 2, wherein The server (14) is also specifically used to plan the paths of each laser - navigation tracing and carrying device (12) through the following formula: f(n)=g(n)+h(n); In the above formula, f(n) represents the total cost of node n; g(n) represents the actual cost from the starting point to node n; h(n) represents the heuristic estimated cost from node n to the target point. (x n , y n ) represents the coordinates of node n, and (x goal , y goal ) represents the coordinates of the target point.

5. The pebble coal adaptive discharge system according to claim 2, wherein, The server (14) is also specifically used to optimize the operating parameters of the laser - navigation tracing and carrying device (12) through the following formula: In the above formula, u(t) represents the control output of the laser navigation tracing handling device, and the control output includes speed and acceleration; e(t) represents the error; K p represents the proportionality coefficient, K i represents the integral coefficient, K d represents the differential coefficient; In the above formula, E represents the total energy consumption of the laser navigation tracing handling device; P m represents the motor power; t represents the running time; m represents the total mass; v represents the speed; μ represents the ground friction coefficient; g represents the acceleration due to gravity; d represents the traveling distance.

6. The pebble coal adaptive discharge system according to any one of claims 1 to 5, characterized in that, The automatically - lifting pebble coal discharging device (11) includes a first control box, an automatically - lifting and locking rack (111), and a level gauge (112), a pressure - relief valve (113), a slag - discharging valve, a weighing sensor (114) and a first in - place sensor (115) which are located on the automatically - lifting and locking rack (111) and communicatively connected to the first control box. The automatically - lifting and locking rack (111) is connected to the slag - discharging box (20); The first control box is configured to close the slag discharge valve and open the pressure relief valve (113) when receiving the full material signal sent by the level gauge (112) or the limit signal sent by the weighing sensor (114), and after a preset time delay, open the locking mechanism of the automatic lifting and locking rack (111) and trigger the signal indicating that the slag box has reached the ground in place; and, when receiving the signal indicating in place sent by the first in-place sensor (115), control the locking mechanism of the automatic lifting and locking rack (111) to re-lock and lift the empty slag box, reset the level gauge (112), open the slag discharge valve and close the pressure relief valve (113).

7. The pebble coal adaptive discharge system according to any one of claims 1 to 5, characterized in that, The automatic tipping device (13) includes a fixed frame (131) and a second control box (132), a transmission mechanism and a second in-place sensor arranged on the fixed frame (131); The second control box (132) is configured to control the transmission mechanism to tip the full slag box when receiving the signal indicating in place sent by the second in-place sensor.

8. A control method for an adaptive discharge system of pebble coal, characterized in that, The control method is used for the server of the pebble coal adaptive discharge system according to any one of claims 1 to 7, and the control method includes: In response to the signal indicating that the slag box has reached the ground in place sent by the automatic lifting type pebble coal discharge device, scheduling the laser navigation and tracing handling device to the equipment area corresponding to the signal indicating that the slag box has reached the ground in place, where the laser navigation and tracing handling device is used to transfer the full slag box of the automatic lifting type pebble coal discharge device to the transfer area and pick up an empty slag box from the empty box area and put it back to the automatic lifting type pebble coal discharge device; According to the discharge requirement data sent by the host computer, scheduling the laser navigation and tracing handling device to the transfer area, where the laser navigation and tracing handling device is used to transfer the full slag box in the transfer area to the automatic tipping device, and after the automatic tipping device has completed tipping, pick up an empty slag box and put it back to the empty box area.

9. A terminal device, characterized in that, The terminal device includes a processor and a memory, and at least one instruction, at least one segment of program, code set or instruction set is stored in the memory, and the instruction, the program, the code set or the instruction set is loaded and executed by the processor to implement the steps of the control method according to claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the control method according to claim 8.

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