Stone coal self-adaptive emission system, control method thereof, terminal device and medium

Abstract

The application discloses a stone coal self-adaptive discharging system and a control method, a terminal device and a medium thereof, and relates to the technical field of stone coal discharging. The system comprises an automatic lifting type stone coal discharging device, a laser navigation tracking carrying device, an automatic overturning and dumping device, a server and an upper computer which are connected in communication. Under the scheduling of the server, the laser navigation tracking carrying device can not only transfer the full-dump bin of the automatic lifting type stone coal discharging device to a transfer area, pick up an empty dump bin from an empty bin area and put the empty dump bin back to the automatic lifting type stone coal discharging device, but also transfer the full-dump bin in the transfer area to the automatic overturning and dumping device, and pick up an empty dump bin and put the empty dump bin back to the empty bin area after the automatic overturning and dumping device finishes dumping. By using the system, manual transfer is not needed, safety and efficiency are high, the system is solid and durable, stone coal can be discharged more autonomously and intelligently, and the operation cost is reduced.

Description

Technical Field

[0001] This application relates to the field of stone and coal emission technology, and in particular to an adaptive stone and coal emission system and its control method, terminal equipment, and medium. Background Technology

[0002] Coal dust, consisting of unground pyrite, gangue, and coal particles discharged from the bottom of the coal mill during operation, must be removed before coal enters the boiler. Coal-fired power plants discharge large quantities of coal dust annually. Currently, the main technologies used are manual and mechanical transfer. However, manual labor is extremely strenuous and carries the risk of burns from high temperatures. Equipment such as scraper conveyors, vibrating conveyors, and belt conveyors are prone to wear and tear, affecting their service life. Furthermore, underground transport corridors are required, increasing civil engineering costs. 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 emission system for coking stones and coal, as well as its control method, terminal equipment, and medium, which can autonomously and intelligently emit coking stones and coal, reduce operating costs, and ensure safety.

[0004] In a first aspect, this application provides an adaptive stone and coal discharge system, which includes an automatic lifting stone and coal discharge device, a laser navigation tracking and handling device, an automatic tilting and dumping device, a server, and a host computer that are connected in communication.

[0005] The server is configured to respond to a slag box landing signal sent by the automatic lifting stone and coal dumping equipment, and to dispatch the laser navigation tracking and handling equipment to the equipment area corresponding to the slag box landing signal. The laser navigation tracking and handling equipment is used to transfer the full slag box of the automatic lifting stone and coal dumping equipment to the transfer area, and to pick up an empty slag box from the empty box area and put it back into the automatic lifting stone and coal dumping equipment. Furthermore, based on the discharge demand data sent by the host computer, the server is configured to dispatch the laser navigation tracking and handling equipment to the transfer area, and to transfer the full slag box in the transfer area to the automatic tilting and dumping equipment, and to pick up an empty slag box and put it back into the empty box area after the automatic tilting and dumping equipment has finished dumping.

[0006] Optionally, in some embodiments of this application, the server is specifically used to collect sensor data of each of the laser navigation tracking and handling devices, and to determine the current position of the laser navigation tracking and handling devices using a Kalman filter algorithm or a particle filter algorithm. The sensor data includes environmental and obstacle information perceived by the lidar, stacking height and discharge point status information identified by the camera, load information detected by the weight sensor, and power information monitored by the power sensor.

[0007] Based on the sensor data and the current location, tasks are assigned and paths are planned for each of the laser navigation tracking and handling devices, and the operating parameters of the laser navigation tracking and handling devices are optimized; and, the operation feedback data sent by the laser navigation tracking and handling devices is received, and the emission strategy is adjusted according to the operation feedback data.

[0008] Optionally, in some embodiments of this application, the server is further configured to assign tasks to each of the laser-guided tracking and transport devices using the following formula:

[0009] C ij =d ij ×t ij +δ×e ij ;

[0010] In the above formula, C ij d represents the cost of the i-th laser-guided tracking and handling device performing task j; ij t represents the distance from the i-th laser-guided tracking and transport device to task j; ij The time taken for the i-th laser-guided tracking and handling device to perform task j is represented by δ; δ represents the energy consumption weighting coefficient, with a value between 0 and 1; e ij This represents the energy consumption of the i-th laser-guided tracking and transport device when performing task j.

[0011] Optionally, in some embodiments of this application, the server is further specifically used to plan the paths of each of the laser-guided tracking and transport devices using 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; and h(n) represents the heuristically estimated cost from node n to the target point.

[0014]

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

[0016] Optionally, in some embodiments of this application, the server is further configured to optimize the operating parameters of the laser-guided tracking and transporting device using the following formula:

[0017]

[0018] In the above formula, u(t) represents the control output of the laser-guided tracking and conveying equipment, which includes velocity and acceleration; e(t) represents the error; Kp K represents the proportionality coefficient. i K represents the integral coefficient. d Represents the differential coefficient;

[0019]

[0020] In the above formula, E represents the total energy consumption of the laser-guided tracking and handling equipment; P m The values ​​represent: motor power; running time; total mass; velocity; ground friction coefficient; g; and distance traveled.

[0021] Optionally, in some embodiments of this application, the automatic lifting stone and coal discharge equipment includes a first control box, an automatic lifting and locking frame, and a level gauge, a pressure relief valve, a slag discharge valve, a weighing sensor, and a first positioning 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 the slag discharge box.

[0022] The first control box is configured to, when receiving a full material signal from the level gauge or a limit signal from the weighing sensor, close the slag discharge valve and open the pressure relief valve, and after a preset delay, open the locking mechanism of the automatic lifting and locking frame and trigger the slag box landing signal; and, when receiving the landing signal from the first landing sensor, control the locking mechanism of the automatic lifting and locking frame to relock and lift the empty slag box, reset the level gauge, open the slag discharge valve and close the pressure relief valve.

[0023] Optionally, in some embodiments of this application, the automatic tipping device includes a fixed frame and a second control box, a transmission mechanism, and a second positioning sensor disposed on the fixed frame;

[0024] The second control box is configured to control the transmission mechanism to tilt the full slag box when it receives the positioning signal sent by the second positioning sensor.

[0025] Secondly, this application provides a control method for an adaptive emission system for coking coal, the control method being used in a server of the adaptive emission system for coking coal according to any one of the first aspects, the control method comprising:

[0026] In response to the slag box landing signal sent by the automatic lifting stone and coal dump equipment, the laser navigation tracking and handling equipment is dispatched to the equipment area corresponding to the slag box landing signal. The laser navigation tracking and handling equipment is used to transfer the full slag box of the automatic lifting stone and coal dump equipment to the transfer area, and to pick up the empty slag box from the empty box area and put it back into the automatic lifting stone and coal dump equipment.

[0027] Based on the emission demand data sent by the host computer, the laser navigation tracking and handling equipment is dispatched to the transfer area. The laser navigation tracking and handling equipment is used to transfer the full slag box in the transfer area to the automatic tilting and dumping equipment. After the automatic tilting and dumping equipment has finished dumping the material, the empty slag box is picked up and put back into the empty box area.

[0028] Thirdly, this application provides a terminal device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, a code set, or an instruction set. 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] Fourthly, this application provides a computer-readable storage medium storing one or more programs that 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 this application have the following advantages:

[0031] This application provides an adaptive stone and coal discharge system and its control method, terminal equipment, and medium. The laser-guided tracking and handling equipment can not only transfer full slag boxes from an automatic lifting stone and coal discharge device to a transfer area, and fork empty slag boxes from the empty box area back to the automatic lifting stone and coal discharge device, eliminating the need for manual handling, making it safe, efficient, and durable, avoiding the drawbacks of easy wear and tear on conveyors, but also transfer full slag boxes from the transfer area to an automatic tipping and dumping device. After the automatic tipping and dumping device has finished dumping, empty slag boxes are forked back to the empty box area, and this cycle repeats, resulting in more autonomous and intelligent stone and coal discharge, reducing operating costs. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A structural block diagram of an adaptive emission system for gravel and coal provided in this application embodiment;

[0034] Figure 2 This application provides a schematic diagram of communication connections between various devices.

[0035] Figure 3This is a schematic diagram of the external structure of a laser navigation tracking and handling device provided in an embodiment of this application;

[0036] Figure 4 A side view of an automatic lifting stone and coal dumping device provided in an embodiment of this application;

[0037] Figure 5 A front view of an automatic lifting stone and coal dumping device provided in an embodiment of this application;

[0038] Figure 6 This is a schematic diagram of the internal structure of an automatic tilting and tipping device provided in an embodiment of this application;

[0039] Figure 7 This is a schematic diagram of the external structure of an automatic tilting and tipping device provided in an embodiment of this application;

[0040] Figure 8 A schematic flowchart of a control method for an adaptive emission system for gravel and coal provided in this application embodiment;

[0041] Figure 9 This is a structural block diagram of a terminal device provided in an embodiment of this application.

[0042] Figure label:

[0043] 10-Adaptive discharge system for gravel and coal, 11-Automatic lifting gravel and coal discharge equipment, 111-Automatic lifting and locking frame, 112-Level gauge, 113-Pressure relief valve, 114-Weighing sensor, 115-First position sensor, 12-Laser navigation tracking and handling equipment, 13-Automatic tilting and dumping equipment, 131-Fixed frame, 132-Second control box, 133-Power unit, 134-Upper limit switch, 135-Counterweight box, 14-Server, 15-Host computer, 20-Slag discharge box, 30-Terminal equipment, 31-Processor, 32-Memory. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The following examples illustrate this. Figures 1 to 9 This application provides a detailed description of the adaptive emission system for stone and coal, its control method, terminal equipment, and medium.

[0047] Please refer to Figure 1 This is a structural block diagram of an adaptive stone and coal discharge system provided in an embodiment of this application. The adaptive stone and coal discharge system 10 includes an automatically lifting stone and coal discharge device 11, a laser-guided tracking and handling device 12, an automatic tipping and dumping device 13, a server 14, and a host computer 15, all connected via communication. Figure 2 The devices shown are interconnected via industrial wireless access points (APs) and switches. Control boxes 1, 2, and 3 represent individual automatic lifting coal and stone stack devices 11, meaning there are 12 coal mills, each corresponding to one automatic lifting coal and stone stack device 11. AGV1, AGV2, AGV3, and AGV4 represent individual laser-guided tracking transport devices 12. Tilting devices 1 and 2 represent individual automatic tipping and tilting devices 13. Roller shutters 1 and 2 separate the automatic lifting coal and stone stack devices 11 and the automatic tipping and tilting devices 13. When the laser-guided tracking transport device 12 moves to the automatic tipping and tilting device 13, it can communicate with the laser-guided tracking transport device 12 to open the door.

[0048] In actual use, the server 14 can not only respond to the slag box landing signal sent by the automatic lifting stone and coal dumping equipment 11, and dispatch the laser navigation tracking and handling equipment 12 to the equipment area corresponding to the slag box landing signal, the laser navigation tracking and handling equipment 12 is used to transfer the full slag box of the automatic lifting stone and coal dumping equipment 11 to the transfer area, and pick up the empty slag box from the empty box area and put it back to the automatic lifting stone and coal dumping equipment 11, but also dispatch the laser navigation tracking and handling equipment 12 to the transfer area according to the emission demand data sent by the host computer 15. The emission demand data includes, but is not limited to, the target emission amount of the emission point, the distribution and height of the coal pile, etc. The laser navigation tracking and handling equipment 12 is used to transfer the full slag box in the transfer area to the automatic tilting and dumping equipment 13, and after the automatic tilting and dumping equipment 13 has finished dumping, it picks up the empty slag box and puts it back to the empty box area, and so on, in a more autonomous and intelligent manner to discharge stone and coal. In addition, the monitoring interface of the host computer 15 can intuitively display the real-time status, historical data and alarm information of the stone coal emission, and can also remotely start and stop the emission system and adjust parameters.

[0049] In some embodiments of this application, the server 14 is specifically able to collect sensor data from each laser-guided tracking and handling device 12, and determine the current position of the laser-guided tracking and handling device 12 using a Kalman filter algorithm or a particle filter algorithm. This sensor data includes, but is not limited to, environmental and obstacle information perceived by the lidar, stacking height and discharge point status information identified by the camera, load information detected by the weight sensor, and power information monitored by the power sensor. For example, the prediction process of the Kalman filter algorithm is as follows:

[0050]

[0051] In equation (1), Represents the predicted state values, including but not limited to position, velocity, acceleration, orientation angle, and angular velocity; A represents the state transition matrix; B represents the control input matrix; u t This indicates the control output quantity, which includes, but is not limited to, speed and acceleration; represents the predicted state covariance; Q represents the process noise covariance.

[0052] The update process is as follows:

[0053]

[0054] In equation (2), K t H represents the Kalman gain; R represents the observation matrix; z represents the observation noise covariance; t This represents the actual observed value. For example... Figure 3As shown, the laser-guided tracking and handling device 12, in addition to a lidar, camera, weight sensor, and power sensor, also includes a SLAM (Simultaneous Localization and Mapping) laser obstacle avoidance sensor, a charging mechanism, a laser navigation mechanism, and a control mechanism. The charging mechanism includes, but is not limited to, a charging interface and a battery pack. The charging interface is located on the side or top of the handling device for easy connection to a charging station. The battery pack provides power to the handling device, supporting long-term continuous operation. This charging mechanism has intelligent charging management functions to protect the battery and extend its lifespan. The laser navigation mechanism includes, but is not limited to, a laser sensor, an odometer, and a navigation controller. The laser sensor emits laser light and receives the reflected signals to obtain real-time environmental information around the handling device. The odometer records the travel distance and speed of the handling device. The navigation controller, based on the information provided by the laser sensor and odometer, combined with preset map information, achieves precise positioning and path planning for the handling device. This laser navigation mechanism has advantages such as high precision, high stability, and high reliability, enabling autonomous navigation of the handling device in complex environments. The control mechanism can receive positioning information provided by the laser navigation mechanism and, in conjunction with preset map information, generate precise navigation commands. Simultaneously, it controls the movement of the transport equipment, automating the transport process. Furthermore, the chassis of the laser navigation tracking transport equipment 12 is made of high-strength, lightweight materials, possessing excellent load-bearing capacity and stability. It employs a steering wheel drive system, which provides both driving and steering functions, enabling the transport equipment to move forward, backward, and rotate in place. The steering wheel is connected to the vehicle body via an independent suspension mechanism. This suspension structure ensures the wheels adapt to uneven terrain, maintaining constant contact with the ground and guaranteeing sufficient driving force. Simultaneously, the suspension mechanism reduces vibration. The steering wheel drive unit includes a polyurethane wheel, a steering motor, and a drive motor.

[0055] Furthermore, the server 14 can specifically allocate tasks and plan paths for each laser navigation tracking and handling device 12 based on sensor data and current location, and optimize the operating parameters of the laser navigation tracking and handling device 12; and receive operating feedback data sent by the laser navigation tracking and handling device 12, and adjust the emission strategy according to the operating 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 for each laser navigation tracking and handling device 12 through equation (3), that is, construct the cost matrix C. ij The matrix is ​​then minimized in terms of rows and columns, covering all zero elements with the fewest possible lines. If the number of lines equals the matrix order, then the optimal solution has been found; otherwise, the matrix is ​​adjusted.

[0056] C ij =dij ×t ij +δ×e ij (3)

[0057] In equation (3), C ij d represents the cost of the i-th laser-guided tracking and handling device performing task j; ij t represents the distance from the i-th laser-guided tracking and transport device to task j; ij The time taken for the i-th laser-guided tracking and handling device to perform task j is represented by δ; δ represents the energy consumption weighting coefficient, with a value between 0 and 1; e ij This represents the energy consumption of the i-th laser-guided tracking and transport device when performing task j.

[0058] Server 14 can also plan the paths of each laser navigation tracking and transport device 12 using equation (4), that is:

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

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

[0061]

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

[0063] Furthermore, server 14 can also optimize the operating parameters of laser navigation tracking and transport equipment 12 using equations (6) and (7), namely:

[0064]

[0065] In equation (6), u(t) represents the control output of the laser navigation tracking and conveying device, which includes velocity and acceleration; e(t) represents the error; K p K represents the proportionality coefficient. i K represents the integral coefficient. d Represents the differential coefficient;

[0066]

[0067] In equation (7), E represents the total energy consumption of the laser-guided tracking and transport equipment, with the goal of minimizing energy consumption; P mt represents motor power; m represents total mass (including load); v represents speed; μ represents ground friction coefficient; g represents gravitational acceleration; and d represents travel distance. In addition, Model Predictive Control (MPC) algorithms can be used to predict future states and optimize control inputs, achieving optimal operation of the transport equipment. Constraints include, but are not limited to, speed, acceleration, power consumption, and obstacle avoidance. During operation, the laser-guided tracking transport equipment can detect obstacles and adjust its path in real time. Algorithms include, but are not limited to, the artificial potential field method and the dynamic window method. The artificial potential field method treats the target point as an attractive force and obstacles as a repulsive force, while the dynamic window method searches for feasible speeds v and angular velocities ω in the velocity space. The evaluation function is shown in equation (8), i.e.:

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

[0069] In equation (8), α represents the target orientation weight, and heading(v,ω) represents the angle of the transport equipment toward the target; β represents the obstacle avoidance weight, and dist(v,ω) represents the distance between the transport equipment and the obstacle; γ represents the speed weight, and velocity(v,ω) represents the speed of the transport equipment; α+β+γ=1. In addition, server 14 also includes a security protection mechanism that can analyze the overall operating status of the system. For example, if a certain monitoring parameter exceeds a preset critical threshold, it indicates that the device corresponding to that monitoring parameter is about to malfunction, and an alarm will be automatically issued and a shutdown maintenance suggestion will be made. This helps operators to detect problems early and prevent malfunctions.

[0070] In some embodiments of this application, such as Figure 4 and Figure 5As shown, the automatic lifting stone and coal discharge equipment 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 discharge valve, a weighing sensor 114, and a first position sensor 115 located on the automatic lifting and locking frame 111 and communicating with the first control box. The automatic lifting and locking frame 111 is connected to the slag discharge box 20. For example, the level gauge 112 includes, but is not limited to, contact level gauges and passive nuclear level gauges. The part of the automatic lifting and locking frame 111 that is in contact with the slag discharge box 20 is provided with a fluororubber sealing ring, which enhances the sealing effect and is more environmentally friendly. The lifting action is performed by a cylinder, an electric cylinder, or a hydraulic cylinder. In actual use, the first control box can close the slag discharge valve and open the pressure relief valve 113 when it receives the full material signal sent by the level gauge 112 or the limit signal sent by the weighing sensor 114. After a preset delay of 10 seconds, it opens the locking mechanism of the automatic lifting and locking frame 111 and triggers the slag box landing signal. When it receives the landing signal sent by the first landing sensor 115, it controls the locking mechanism of the automatic lifting and locking frame 111 to relock and lift the empty slag box, reset the level gauge 112, open the slag discharge valve and close the pressure relief valve 113, and the coal mill continues to discharge slag.

[0071] In some embodiments of this application, such as Figure 6 and Figure 7 As shown, the automatic tilting and dumping device 13 may include a fixed frame 131 and a second control box 132, a transmission mechanism, and a second positioning sensor mounted on the fixed frame 131. The transmission structure includes a power unit 133, an upper limit switch 134, a counterweight box 135, and a lifting guide rail, etc. For example, the automatic tilting and dumping device 13 is powered by two 5.5 kW motors, requiring no other power source. A single operation cycle does not exceed 60 seconds, saving energy and electricity. It also features a simple and reliable structure, low maintenance, a lifting capacity exceeding 2500 kg, a lifting height of 3600 mm, a rising linear speed of 300 mm / s, and a loading / unloading height of 1.1 m to 2.5 m. In actual use, the second control box 132 can control the transmission mechanism to tilt the full slag box when it receives the positioning signal sent by the second positioning sensor. After the material is dumped, the laser-guided tracking and handling device 12 can pick up the empty slag box and return it to the empty box area.

[0072] The adaptive coal and stone discharge system provided in this application embodiment can not only transfer the full slag box of the automatic lifting coal and stone discharge equipment to the transfer area through the laser navigation tracking and handling equipment, but also fork empty slag boxes from the empty box area and put them back into the automatic lifting coal and stone discharge equipment. This eliminates the need for manual handling, making it safe, efficient, and durable, avoiding the drawbacks of easy wear and tear on conveyors. It can also transfer the full slag box in the transfer area to the automatic tilting and dumping equipment, and after the automatic tilting and dumping equipment has finished dumping, fork empty slag boxes and put them back into the empty box area. This cycle is repeated, resulting in more autonomous and intelligent coal and stone discharge, reducing operating costs.

[0073] Based on the foregoing embodiments, this application provides a control method for an adaptive emission system for stone coal, which can be used for... Figures 1 to 7 Server 14 of the adaptive emission system 10 for gravel and coal in the corresponding embodiment. Please refer to... Figure 8 This is a schematic flowchart of a control method for an adaptive emission system for gravel and coal provided in an embodiment of this application. The control method specifically includes the following steps:

[0074] S101, in response to the slag box landing signal sent by the automatic lifting stone and coal dump equipment, dispatches the laser navigation tracking and handling equipment to the equipment area corresponding to the slag box landing signal. The laser navigation tracking and handling equipment is used to transfer the full slag box of the automatic lifting stone and coal dump equipment to the transfer area, and to pick up the empty slag box from the empty box area and put it back into the automatic lifting stone and coal dump equipment.

[0075] S102, based on the emission demand data sent by the host computer, dispatches the laser navigation tracking and handling equipment to the transfer area. The laser navigation tracking and handling equipment is used to transfer the full slag box in the transfer area to the automatic tilting and dumping equipment, and after the automatic tilting and dumping equipment has finished dumping, it picks up the empty slag box and puts it back into the empty box area.

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

[0077] The control method provided in this application embodiment, through a server-scheduled laser navigation tracking and handling equipment, can not only transfer full slag boxes of an automatic lifting stone and coal dumping equipment to a transfer area, and fork empty slag boxes from the empty box area back to the automatic lifting stone and coal dumping equipment, eliminating the need for manual handling, making it safe and efficient, and sturdy and durable, avoiding the drawbacks of easy wear and tear on conveyors, but also transfer full slag boxes in the transfer area to an automatic tilting and dumping equipment. After the automatic tilting and dumping equipment has finished dumping, it forks empty slag boxes back to the empty box area, and so on, repeating this cycle more autonomously and intelligently discharging stone and coal, reducing operating costs.

[0078] Based on the foregoing embodiments, this application provides a terminal device. Please refer to... 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, code set, or 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] In another aspect, embodiments of this application provide a computer-readable storage medium for storing program code for executing the aforementioned... Figure 8 Any implementation of the control method in the corresponding embodiment.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed between each other can be through some interfaces, indirect coupling or communication connection between devices or modules, and can be electrical, mechanical, or other forms. Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0082] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more units can be integrated into one module. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as 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 this understanding, the technical solution of this 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the control methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0084] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0085] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A stone and coal adaptive emission system, characterized in that, The adaptive stone and coal discharge system (10) includes an automatic lifting stone and coal discharge device (11), a laser navigation tracking and handling device (12), an automatic tilting and dumping device (13), a server (14), and a host computer (15) connected by communication. The server (14) is configured to respond to the slag box landing signal sent by the automatic lifting stone and coal dump equipment (11), and dispatch the laser navigation tracking and handling equipment (12) to the equipment area corresponding to the slag box landing signal. The laser navigation tracking and handling equipment (12) is used to transfer the full slag box of the automatic lifting stone and coal dump equipment (11) to the transfer area, and to pick up the empty slag box from the empty box area and put it back into the automatic lifting stone and coal dump equipment (11). And, according to the emission demand data sent by the host computer (15), the laser navigation tracking and handling equipment (12) is dispatched to the transfer area. The laser navigation tracking and handling equipment (12) is used to transfer the full slag box in the transfer area to the automatic tilting and dumping equipment (13), and after the automatic tilting and dumping equipment (13) has finished dumping, the empty slag box is picked up and put back into the empty box area. Specifically, the server (14) is used to collect sensor data from each of the laser navigation tracking and handling devices (12), and to determine the current position of the laser navigation tracking and handling devices (12) using a Kalman filter algorithm or a particle filter algorithm. The sensor data includes environmental and obstacle information perceived by the lidar, stacking height and emission point status information identified by the camera, load information detected by the weight sensor, and power information monitored by the power sensor. Based on the sensor data and the current position, the server allocates tasks and plans paths for each of the laser navigation tracking and handling devices (12), and optimizes the operating parameters of the laser navigation tracking and handling devices (12). The server also receives the operating feedback data sent by the laser navigation tracking and handling devices (12), and adjusts the emission strategy according to the operating feedback data. Specifically, the server (14) is also used to plan the paths of each of the laser navigation tracking and transport devices (12) using the following formula: ； In the above formula, Represents a node The total cost; Indicates the distance from the starting point to the node. The actual cost; Indicates from node Heuristic cost estimation to the target point ， Represents a node coordinates Represents the coordinates of the target point; The operating parameters of the laser-guided tracking and handling device (12) are optimized by the following formula: ； In the above formula, This indicates the control output of the laser-guided tracking and handling equipment. The control output includes speed and acceleration. Indicates error; This represents the proportionality coefficient. Represents the integral coefficient. Represents the differential coefficient; ； In the above formula, This indicates the total energy consumption of the laser-guided tracking and handling equipment. Indicates motor power; Indicates runtime; Indicates the total mass; Indicates speed; Indicates the coefficient of friction of the ground; Represents gravitational acceleration; Indicates the distance traveled.

2. The adaptive emission system for stone and coal as described in claim 1, characterized in that, The server (14) is also specifically used to assign tasks to each of the laser-guided tracking and transport devices (12) by the following formula: ； In the above formula, Indicates the first A laser-guided tracking and handling device performs a task. The cost; Indicates the first A laser-guided tracking and transport device to the task The distance; Indicates the first A laser-guided tracking and handling device performs a task. Time; This represents the energy consumption weighting coefficient, with a value ranging from 0 to 1; Indicates the first A laser-guided tracking and handling device performs a task. Energy consumption.

3. The adaptive emission system for stone and coal according to any one of claims 1 to 2, characterized in that, The automatic lifting stone and coal discharge equipment (11) includes a first control box, an automatic lifting and locking frame (111), and a level gauge (112), a pressure relief valve (113), a slag discharge valve, a weighing sensor (114), and a first position sensor (115) located on the automatic lifting and locking frame (111) and communicating with the first control box. The automatic lifting and locking frame (111) is connected to the slag discharge box (20). The first control box is configured to close the slag discharge valve and open the pressure relief valve (113) when it receives a full material signal sent by the level gauge (112) or a limit signal sent by the weighing sensor (114), and after a preset delay, open the locking mechanism of the automatic lifting and locking frame (111) and trigger the slag box landing signal; and when it receives the landing signal sent by the first landing sensor (115), it controls the locking mechanism of the automatic lifting and locking frame (111) to re-lock and lift the empty slag box, and reset the level gauge (112), open the slag discharge valve and close the pressure relief valve (113).

4. The adaptive emission system for stone and coal according to any one of claims 1 to 2, characterized in that, The automatic tilting and tipping device (13) includes a fixed frame (131) and a second control box (132), a transmission mechanism and a second positioning sensor disposed on the fixed frame (131); The second control box (132) is configured to control the transmission mechanism to tilt the full slag box when it receives the positioning signal sent by the second positioning sensor.

5. A control method for an adaptive emission system for gravel and coal, characterized in that, The control method is used in the server of the adaptive emission system for stone coal according to any one of claims 1 to 4, and the control method includes: In response to the slag box landing signal sent by the automatic lifting stone and coal dump equipment, the laser navigation tracking and handling equipment is dispatched to the equipment area corresponding to the slag box landing signal. The laser navigation tracking and handling equipment is used to transfer the full slag box of the automatic lifting stone and coal dump equipment to the transfer area, and to pick up the empty slag box from the empty box area and put it back into the automatic lifting stone and coal dump equipment. Based on the emission demand data sent by the host computer, the laser navigation tracking and handling equipment is dispatched to the transfer area. The laser navigation tracking and handling equipment is used to transfer the full slag box in the transfer area to the automatic tilting and dumping equipment. After the automatic tilting and dumping equipment has finished dumping the material, the empty slag box is picked up and put back into the empty box area. Specifically, when dispatching the laser-guided tracking and handling equipment to the equipment area corresponding to the slag box landing signal or the transfer area, sensor data of each laser-guided tracking and handling equipment is collected, and the current position of the laser-guided tracking and handling equipment is determined using a Kalman filter algorithm or a particle filter algorithm. The sensor data includes environmental and obstacle information perceived by the lidar, stacking height and emission point status information identified by the camera, load information detected by the weight sensor, and power information monitored by the power sensor. Based on the sensor data and the current position, task allocation and path planning are performed for each laser-guided tracking and handling equipment, and the operating parameters of the laser-guided tracking and handling equipment are optimized. Furthermore, the operation feedback data sent by the laser-guided tracking and handling equipment is received, and the emission strategy is adjusted according to the operation feedback data. The paths of each laser-guided tracking and transport device are planned using the following formula: ； In the above formula, Represents a node The total cost; Indicates the distance from the starting point to the node. The actual cost; Indicates from node Heuristic cost estimation to the target point ， Represents a node coordinates Represents the coordinates of the target point; The operating parameters of the laser-guided tracking and transport equipment are optimized using the following formula: ； In the above formula, This indicates the control output of the laser-guided tracking and handling equipment. The control output includes speed and acceleration. Indicates error; This represents the proportionality coefficient. Represents the integral coefficient. Represents the differential coefficient; ； In the above formula, This indicates the total energy consumption of the laser-guided tracking and handling equipment. Indicates motor power; Indicates runtime; Indicates the total mass; Indicates speed; Indicates the coefficient of friction of the ground; Represents gravitational acceleration; Indicates the distance traveled.

6. A terminal device, characterized in that, The terminal device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set, or instruction set, and the instruction, program, code set, or instruction set is loaded and executed by the processor to implement the steps of the control method of claim 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the control method of claim 5.

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