Automatic stacking method and device, electronic equipment and storage medium

Abstract

The invention provides an automatic stacking method and device, electronic equipment and a storage medium, and relates to the technical field of automatic control. The method comprises the following steps: acquiring stockpiling operation parameters of a stockyard to be stockpiled; determining three-dimensional data of a coal pile according to the stockpiling operation parameters, and generating a virtual stockpiling result according to the three-dimensional data of the coal pile; determining operation parameters of the stacker-reclaimer according to the virtual stacking result; and generating a stacking control instruction corresponding to the operation parameters of the stacker-reclaimer, controlling the stacker-reclaimer to walk to a stacking area indicated by the stacking control instruction based on the stacking control instruction, and sending a coal supply signal to the coal conveying equipment, so that the stacker-reclaimer stacks the coal conveyed by the coal conveying equipment to the stacking area, thereby realizing automatic control of the stacker-reclaimer, and improving the working efficiency of the stacker-reclaimer. The coal pile is standard in form and stable in structure, and the operation efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of automation control technology, and in particular to an automatic stacking method, device, electronic device and storage medium. Background Art

[0002] With the continuous development of modern industrial technology and the growing strength of the coal industry, coal yard stacking operations, as a key link in the coal supply chain, are crucial to the sustainable development of the entire industry in terms of efficiency, safety and standardization.

[0003] At present, the coal yard stacking operation in the related technology is highly dependent on the operator to operate the stacker-reclaimer based on manual experience.

[0004] However, operators operating stackers and reclaimers based on manual experience can easily lead to problems such as difficulty in standardizing the shape of the coal pile, insufficient structural stability of the pile, and low operating efficiency. Summary of the Invention

[0005] The present disclosure provides an automatic stacking method, device, electronic device, and storage medium. Its primary purpose is to address the problems of manual stacking in related technologies, such as difficulty in standardizing coal pile morphology, insufficient pile structural stability, and low operating efficiency. By automatically acquiring stacking operation parameters, generating virtual stacking simulation results, and determining the optimal operating parameters of a stacker / reclaimer based on these results, the present disclosure achieves precise control of the stacker / reclaimer, improving the standardization of coal pile morphology and the stability of the pile structure, while significantly enhancing operating efficiency.

[0006] According to a first aspect of the present disclosure, there is provided an automatic stacking method, comprising:

[0007] Obtaining the stacking operation parameters of the material storage yard;

[0008] Determine the three-dimensional data of the coal pile according to the stockpiling operation parameters, and generate a virtual stockpiling simulation result based on the three-dimensional data of the coal pile;

[0009] Determine the stacker-reclaimer operating parameters based on the virtual stacking simulation results;

[0010] Generate stacking control instructions corresponding to the stacker-reclaimer operating parameters, and based on the stacking control instructions, control the stacker-reclaimer to move to the stacking area indicated by the stacking control instructions, and send a coal supply signal to the coal conveying equipment to enable the stacker-reclaimer to stack the coal transported by the coal conveying equipment into the stacking area.

[0011] Optionally, generate virtual pile simulation results based on the 3D coal pile data, including:

[0012] Based on the 3D data of the coal pile, a 3D model of the coal yard is constructed using digital twin technology;

[0013] The particle dynamics of the three-dimensional coal yard model were simulated using the discrete element method, and the sensor data were integrated to obtain the virtual stacking results.

[0014] Optionally, the stacker-reclaimer operating parameters include a target moving path and a target cantilever motion trajectory. The stacker-reclaimer operating parameters are determined based on the virtual stacking simulation results, including:

[0015] Get the stacker-reclaimer position and boom posture;

[0016] Based on the stacker-reclaimer position, boom posture, coal pile shape and stacking pattern predicted by virtual stacking simulation results, the target movement trajectory of the stacker-reclaimer and the target boom motion trajectory of the boom are determined.

[0017] Optionally, generating a stacking control instruction corresponding to the stacker-reclaimer operating parameters includes:

[0018] generating a first control instruction based on the stacker-reclaimer operating parameters, and displaying the first control instruction through a program control interface so that an operator can modify the stacker-reclaimer operating parameters in the first control instruction;

[0019] A second control instruction is obtained after the operator modifies the first control instruction, and the second control instruction is used as the stacking control instruction.

[0020] Optionally, the stacker-reclaimer is controlled to move to the stockpiling area indicated by the stockpiling control instruction, and a coal supply signal is sent to the coal conveying equipment. Thereafter, the method includes:

[0021] When the stacker-reclaimer deposits the coal transported by the coal conveying equipment into the stockpile area, the slope of the coal pile is detected according to the preset period.

[0022] If the coal pile slope is greater than or equal to the preset safety threshold, the stacking speed of the stacker-reclaimer will be reduced and an audible and visual alarm will be triggered.

[0023] Optionally, the method further includes:

[0024] Monitor the coal pile status and coal conveying equipment operating data while the stacker-reclaimer deposits coal from the coal conveying equipment into the stockpile area;

[0025] If the coal pile status or the coal conveying equipment operating data is monitored to meet the operation stop conditions, the stacker-reclaimer is controlled to stop stacking the coal transported by the coal conveying equipment into the stockpiling area.

[0026] Optionally, the job stop condition includes at least one of the following:

[0027] The coal pile size is equal to a preset three-dimensional size threshold indicated by the pile control instruction;

[0028] The coal pile temperature is greater than or equal to the preset temperature threshold;

[0029] The coal handling equipment continuously idles for a preset period of time.

[0030] According to a second aspect of the present disclosure, there is provided an automatic stacking device, comprising:

[0031] An acquisition unit, used for acquiring the stacking operation parameters of the material storage yard;

[0032] A virtual stacking unit is used to determine the three-dimensional data of the coal pile according to the stacking operation parameters, so as to generate a virtual stacking result according to the three-dimensional data of the coal pile;

[0033] Determine the unit and determine the stacker-reclaimer operating parameters based on the virtual stacking simulation results;

[0034] The control unit is used to generate stacking control instructions corresponding to the operating parameters of the stacker and reclaimer, and based on the stacking control instructions, control the stacker and reclaimer to move to the stacking area indicated by the stacking control instructions, and send a coal supply signal to the coal conveying equipment so that the stacker and reclaimer can stack the coal transported by the coal conveying equipment into the stacking area.

[0035] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0036] at least one processor; and

[0037] a memory communicatively connected to at least one processor; wherein,

[0038] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of the first aspect.

[0039] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method of the aforementioned first aspect.

[0040] The automatic stacking method, device, electronic device and storage medium provided by the present disclosure have the following main technical solutions: obtaining the stacking operation parameters of the stockpile yard to be stacked; determining the three-dimensional data of the coal pile based on the stacking operation parameters, so as to generate a virtual stacking simulation result based on the three-dimensional data of the coal pile; determining the operating parameters of the stacker-reclaimer based on the virtual stacking simulation result; generating a stacking control instruction corresponding to the operating parameters of the stacker-reclaimer, and based on the stacking control instruction, controlling the stacker-reclaimer to move to the stacking area indicated by the stacking control instruction, and sending a coal supply signal to the coal conveying equipment so that the stacker-reclaimer stacks the coal transported by the coal conveying equipment to the stacking area, thereby realizing automatic control of the stacker-reclaimer, ensuring the standard shape and stable structure of the coal pile, and improving operation efficiency.

[0041] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0043] Figure 1 A schematic flow chart of an automatic stacking method provided in an embodiment of the present disclosure;

[0044] Figure 2 A schematic flow chart of another automatic stacking method provided by an embodiment of the present disclosure;

[0045] Figure 3 A schematic structural diagram of an automatic stacking device provided in an embodiment of the present disclosure;

[0046] Figure 4 A schematic block diagram of an exemplary electronic device provided for an embodiment of the present disclosure. DETAILED DESCRIPTION

[0047] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0048] The following describes the automatic stacking method, device, electronic device, and storage medium according to embodiments of the present disclosure with reference to the accompanying drawings.

[0049] Figure 1 A schematic flow chart of an automatic stacking method provided in an embodiment of the present disclosure.

[0050] like Figure 1 As shown, the method comprises the following steps:

[0051] Step 101: Obtain the stockpiling operation parameters of the stockpile yard.

[0052] In embodiments of the present disclosure, 3D laser scanning technology (such as the GoSLAM system) can be used to scan a stockpile. For example, a mobile device carrying a laser scanner can be used to move around a coal pile. The laser scanner then acquires real-time 3D point cloud data of the coal pile surface. Supporting software automatically processes the point cloud data, generates a 3D model of the coal pile, and extracts key stockpile operation parameters.

[0053] The stacking operation parameters include fixed operation parameters, dynamic operation parameters and stacking parameters.

[0054] Fixed operating parameters: step length of the stacker and reclaimer, positioning safety pitch angle, stacking pitch angle, pile height, safe rotation angle for changing sites and reclaiming, anti-collision safety distance, etc.

[0055] Dynamic operation parameters: the left and right boundary rotation angles and pitch angles of each layer of the pile when taking materials; the left and right boundary rotation angles of the pile when stacking materials.

[0056] Stockpile parameters: starting and ending trolley positions of each layer of the stockpile, left and right boundary rotation angles, etc. (automatically obtained from the 3D model, manual modification is allowed)

[0057] Step 102 : determining three-dimensional data of the coal pile according to the stockpiling operation parameters, so as to generate a virtual stockpiling simulation result according to the three-dimensional data of the coal pile.

[0058] In an embodiment of the present disclosure, the present disclosure can obtain coal pile point cloud data through three-dimensional laser scanning, and determine its three-dimensional data through surface reconstruction and volume calculation; use digital twin technology to integrate coal yard CAD drawings and equipment information to construct a three-dimensional model; use discrete element algorithm to simulate particle dynamics, and adjust simulation parameters in combination with sensor data (such as humidity and cohesion), and finally generate virtual stacking results reflecting the coal pile morphology, particle distribution and stacking density, providing a scientific basis for coal yard management.

[0059] Step 103: Determine stacker-reclaimer operating parameters based on the virtual stacking simulation results.

[0060] In an embodiment of the present disclosure, the stacker-reclaimer operating parameters include a target movement path and a target boom motion trajectory.

[0061] The present disclosure can obtain the current position and boom posture of the stacker-reclaimer through a GNSS precise position detection system and an absolute encoder.

[0062] Then, based on the position and boom posture of the stacker-reclaimer, combined with the coal pile shape and stockpiling pattern predicted by the virtual stacking simulation results, the stacker-reclaimer operation control model is used to determine the target movement trajectory of the stacker-reclaimer.

[0063] Finally, through kinematic analysis and control algorithms, the target motion trajectory of the cantilever is determined, so that the cantilever moves according to the target trajectory, thereby achieving precise operation of the stacker-reclaimer.

[0064] Step 104: Generate a stacking control instruction corresponding to the stacker-reclaimer operating parameters, and based on the stacking control instruction, control the stacker-reclaimer to move to the stacking area indicated by the stacking control instruction, and send a coal supply signal to the coal conveying equipment, so that the stacker-reclaimer stacks the coal transported by the coal conveying equipment into the stacking area.

[0065] In an embodiment of the present disclosure, the present disclosure can generate stacking control instructions according to operating parameters (target moving path, cantilever motion trajectory), including: walking control instructions, cantilever control instructions and coal supply signal instructions.

[0066] Travel control instructions: set the target travel position, speed and acceleration of the stacker-reclaimer trolley.

[0067] Cantilever control instructions: set the cantilever's rotation angle, pitch angle, and movement speed.

[0068] Coal supply signal command: controls the start and stop of coal conveying equipment (such as belt conveyor) and the coal conveying rate.

[0069] The PLC (Programmable Logic Controller) then transmits control commands to the stacker / reclaimer. Following these commands, the stacker / reclaimer automatically moves to the stacking area, adjusts its boom position, and simultaneously sends a coal supply signal to the coal handling equipment. The stacker / reclaimer performs stacking operations according to pre-set paths and parameters, monitoring operating status (such as position, angle, and coal flow) in real time to ensure accurate and safe stacking.

[0070] In summary, the automatic stacking method provided by the embodiment of the present disclosure obtains the stacking operation parameters of the stockpile to be stacked; determines the three-dimensional data of the coal pile according to the stacking operation parameters, so as to generate a virtual stacking simulation result according to the three-dimensional data of the coal pile; determines the operating parameters of the stacker and reclaimer according to the virtual stacking simulation result; generates stacking control instructions corresponding to the operating parameters of the stacker and reclaimer, and based on the stacking control instructions, controls the stacker and reclaimer to move to the stacking area indicated by the stacking control instructions, and sends a coal supply signal to the coal conveying equipment, so that the stacker and reclaimer stacks the coal transported by the coal conveying equipment to the stacking area, thereby realizing automatic control of the stacker and reclaimer, ensuring that the coal pile has a standardized shape and a stable structure, and improving operation efficiency.

[0071] Figure 2 A schematic flow chart of another automatic stacking method provided in an embodiment of the present disclosure. Figure 2 based on Figure 1 In the embodiment shown, step 102 and step 103 are further defined. Figure 2 In the embodiment shown, step 101 includes step 202 and step 203, and step 103 includes step 204 and step 205. Figure 2 As shown, the method includes the following steps.

[0072] Step 201: Obtain the stockpiling operation parameters of the stockpile yard.

[0073] Step 202: Determine the three-dimensional data of the coal pile according to the stockpiling operation parameters, and construct a three-dimensional model of the coal yard based on the three-dimensional data of the coal pile using digital twin technology.

[0074] In an embodiment of the present disclosure, 3D laser scanning technology can be used to acquire point cloud data of a coal pile based on stockpiling operation parameters. The specific process is as follows: First, a reference station is set up at a suitable location in the stockpile yard. GPS rover stations are installed at the rotation center and boom head of the stacker / reclaimer. GPS location information and spatial geometry algorithms are used to calculate the stacker / reclaimer position and boom posture in real time. Then, a 3D laser scanner is used to scan the coal pile from all directions and angles to acquire point cloud data of the coal pile surface.

[0075] After acquiring the point cloud data, the present invention requires surface reconstruction and volume calculation to determine the three-dimensional data of the coal pile. The surface reconstruction process includes filtering, point cloud registration, and surface reconstruction. Filtering removes noise and outliers to ensure the accuracy of the point cloud data. Point cloud registration integrates point cloud data acquired from different angles into a complete point cloud model in a unified coordinate system. Surface reconstruction uses algorithms such as Delaunay triangulation or Alpha Shapes to reconstruct the point cloud surface, forming a closed three-dimensional model. Finally, by calculating the volume of this model, the three-dimensional data of the coal pile is obtained.

[0076] With the three-dimensional data of the coal pile, the present disclosure can use digital twin technology to construct a three-dimensional model of the coal yard. Digital twin technology is a technology that integrates the physical world with the virtual world, and realizes real-time monitoring, prediction and optimization by creating virtual copies of physical entities. In the process of constructing the three-dimensional model of the coal yard, the three-dimensional point cloud data of the coal pile is first converted into a surface mesh or voxel mesh using three-dimensional modeling software. Then, the surface mesh or voxel mesh is integrated with the actual CAD drawings and equipment information of the coal yard to construct a three-dimensional geometric model of the coal yard, that is, a three-dimensional model of the coal yard. This model can intuitively display the overall structure and equipment layout of the coal yard, providing a scientific basis for the management and operation of the coal yard.

[0077] Step 203 , using a discrete element algorithm to simulate the particle dynamics of the three-dimensional model of the coal yard, and integrating the sensor data to obtain a virtual stack simulation result.

[0078] In the embodiments of the present disclosure, the discrete element method (DEM) is a numerical calculation technique used to simulate the behavior of granular materials. Based on the principles of Newtonian mechanics, it treats particles as independent rigid units and describes the dynamic evolution of the entire system by tracking the motion of each particle. When simulating the particle dynamics of a three-dimensional coal yard model, the DEM algorithm considers the contact forces between particles, including elastic collisions, friction, and cohesion, as well as the influence of boundary conditions on particle motion.

[0079] To simulate the particle dynamics of a 3D coal yard model, a 3D model of the coal yard must first be constructed. This can be achieved by converting the 3D point cloud data of the coal pile into a surface mesh or voxel mesh using 3D modeling software. This mesh is then integrated with actual CAD drawings and equipment information of the coal yard using digital twin technology. Once the 3D coal yard model is constructed, a DEM algorithm can be used to simulate the dynamic behavior of the particles.

[0080] During the simulation process, the DEM algorithm initializes parameters such as particle position and velocity, then performs collision detection, calculates contact forces between particles, updates the particle's motion state, and solves the particle's equation of motion. By iteratively advancing these steps, the dynamic behavior of particles in the 3D coal yard model can be simulated.

[0081] At the same time, to obtain more accurate virtual pile simulation results, the present disclosure can also use sensors to collect real-time coal pile status data and environmental parameters. These sensors can include lidar, cameras, temperature sensors, etc., which can collect state data such as coal pile particle size, humidity, cohesion, as well as environmental parameters such as temperature and humidity. After collecting this data, it is necessary to use data fusion algorithms to improve data accuracy and reliability. Data fusion algorithms can adopt weighted averaging, Kalman filtering, multi-Bayesian estimation, etc., which can fuse data from different sensors to obtain a more accurate and reliable data set.

[0082] Finally, the fused data is fed into a discrete element model. By adjusting simulation parameters, such as inter-particle contact forces and boundary conditions, virtual simulation results of the coal pile under different operating conditions can be obtained. These virtual simulation results can include information such as coal pile morphology, particle distribution, and stacking density, providing a scientific basis for coal yard management and operation.

[0083] Step 204: Acquire the position of the stacker-reclaimer and the posture of the boom.

[0084] In an embodiment of the present disclosure, the present disclosure can obtain the position and boom posture of the stacker-reclaimer through a GNSS precise position detection system and an absolute encoder.

[0085] Specifically, the present disclosure can set up a GNSS reference station at a suitable location in the yard. The reference station provides differential data and is the control part of the entire system. The reference station needs to be built in a location with little interference and a stable foundation to ensure positioning accuracy and all-weather use.

[0086] Next, GPS rovers are installed at the stacker-reclaimer's rotation center and boom head. These rovers detect three-dimensional spatial coordinates in real time and calculate the position, pitch, and angle of each stacker-reclaimer. Using GPS location information and spatial geometry algorithms, the machine's position and boom attitude can be calculated in real time.

[0087] In addition, absolute encoders are installed on the stacker-reclaimer's pitch mechanism, boom slewing mechanism, and gantry travel mechanism. These encoders can identify real-time position, generate pulse signals, and transmit the pulse counts to the PLC. After computer processing, the absolute physical coordinates of each mechanism, including the stacker-reclaimer's pitch, boom slewing mechanism, and gantry travel, are fed back.

[0088] By combining data from a precise GNSS position detection system and an absolute encoder, the present invention can comprehensively and accurately determine the position of a stacker-reclaimer and the boom attitude. This method not only improves the accuracy of data detection but also eliminates errors in intermediate data conversion, thus enabling precise monitoring of the stacker-reclaimer's position and boom attitude.

[0089] Step 205 : determining a target moving trajectory of the stacker and reclaimer and a target cantilever motion trajectory of the cantilever based on the position of the stacker and reclaimer, the cantilever posture, the coal pile shape and the stacking pattern predicted by the virtual stacking simulation results.

[0090] In embodiments of the present disclosure, a stacker-reclaimer control model can be used to determine its target movement trajectory based on the stacker-reclaimer's current position and boom posture, combined with the coal pile shape and stockpile pattern predicted from virtual stacking simulation results. Kinematic analysis is then performed based on the target movement trajectory and the predicted coal pile shape to determine the boom's target movement trajectory, thereby achieving precise control of the stacker-reclaimer's operations.

[0091] Step 206: Generate a stacking control instruction corresponding to the stacker-reclaimer operating parameters, and based on the stacking control instruction, control the stacker-reclaimer to move to the stacking area indicated by the stacking control instruction, and send a coal supply signal to the coal conveying equipment so that the stacker-reclaimer stacks the coal transported by the coal conveying equipment into the stacking area.

[0092] In an embodiment of the present disclosure, the present disclosure can generate stacking control instructions including parameters such as stacker moving speed, cantilever movement speed and direction according to the target movement trajectory of the stacker and reclaimer and the target cantilever movement trajectory, so as to control the precise operation of the stacker and reclaimer.

[0093] In addition, the present disclosure can also generate a first control instruction based on the stacker-reclaimer operating parameters, and display the first control instruction through a program control interface so that the operator can modify the stacker-reclaimer operating parameters in the first control instruction; obtain a second control instruction after the operator modifies the first control instruction, and use the second control instruction as the stacking control instruction.

[0094] The present invention controls a stacker-reclaimer to move to a stockpiling area indicated by a stockpiling control instruction and sends a coal supply signal to a coal conveying device. Thereafter, the method includes: while the stacker-reclaimer is stacking the coal transported by the coal conveying device into the stockpiling area, detecting the slope of the coal pile according to a preset period; if the slope of the coal pile is greater than or equal to a preset safety threshold, reducing the stockpiling speed of the stacker-reclaimer and triggering an audible and visual alarm.

[0095] The present disclosure further includes monitoring the coal pile status and coal conveyor operation data while the stacker-reclaimer deposits coal delivered by the coal conveyor into the stockpile area; and controlling the stacker-reclaimer to stop depositing the coal delivered by the coal conveyor into the stockpile area if the monitored coal pile status or coal conveyor operation data meet an operation stop condition. The operation stop condition includes at least one of the following: the size of the coal pile equals a preset three-dimensional dimension threshold indicated by a stockpile control instruction; the temperature of the coal pile is greater than or equal to a preset temperature threshold; or the coal conveyor has been idling continuously for a preset period of time.

[0096] In summary, the present disclosure realizes intelligent and precise control of coal pile operations by integrating digital twin, discrete element simulation and real-time sensing technology. Specifically: based on the three-dimensional model of the coal pile and the dynamic simulation of particles, the pile shape is predicted and the optimal path is generated to reduce the error of manual intervention and ensure that the size and slope of the coal pile meet the preset targets; through real-time slope monitoring and temperature early warning, the speed is automatically reduced or shut down to avoid accidents such as collapse and spontaneous combustion; the operator is allowed to correct the control instructions, balance automation and manual experience, and improve the adaptability to complex working conditions; combined with the idling detection and closed-loop control of the coal conveying equipment, energy consumption and equipment wear are reduced, and the stacking cycle is shortened through dynamic trajectory planning. Ultimately, the intelligent management goals of high precision, high safety and high energy efficiency of the yard operation are achieved.

[0097] Corresponding to the above-mentioned automatic stacking method, the present invention also provides an automatic stacking device. Since the device embodiment of the present invention corresponds to the above-mentioned method embodiment, details not disclosed in the device embodiment can be referred to the above-mentioned method embodiment and will not be repeated in the present invention.

[0098] Figure 3 A schematic diagram of the structure of an automatic stacking device provided in an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, including:

[0099] An acquisition unit 310 is used to acquire the stockpiling operation parameters of the stockpile yard;

[0100] The virtual stacking unit 320 is used to determine the three-dimensional data of the coal pile according to the stacking operation parameters, so as to generate a virtual stacking result according to the three-dimensional data of the coal pile;

[0101] The determining unit 330 determines the stacker-reclaimer operating parameters according to the virtual stacking simulation results;

[0102] The control unit 340 is used to generate stacking control instructions corresponding to the operating parameters of the stacker and reclaimer, and based on the stacking control instructions, control the stacker and reclaimer to move to the stacking area indicated by the stacking control instructions, and send a coal supply signal to the coal conveying equipment so that the stacker and reclaimer stacks the coal transported by the coal conveying equipment into the stacking area.

[0103] In some embodiments, the virtual stacking unit 320 is used to construct a three-dimensional model of the coal yard based on the three-dimensional data of the coal pile through digital twin technology; use the discrete element algorithm to simulate the particle dynamics of the three-dimensional model of the coal yard, and integrate sensor data to obtain virtual stacking results.

[0104] In some embodiments, the stacker-reclaimer operating parameters include a target moving path and a target cantilever motion trajectory, and the determination unit 330 is used to: obtain the stacker-reclaimer position and cantilever posture; based on the stacker-reclaimer position, cantilever posture, and the coal pile shape and stacking pattern predicted by the virtual stacking simulation results, determine the target moving trajectory of the stacker-reclaimer and the target cantilever motion trajectory of the cantilever.

[0105] In some embodiments, the control unit 340 is used to generate a first control instruction based on the stacker operating parameters, and display the first control instruction through a program control interface so that the operator can modify the stacker operating parameters in the first control instruction; obtain a second control instruction after the operator modifies the first control instruction, and use the second control instruction as the stacking control instruction.

[0106] In some embodiments, the control unit 340 is used to: control the stacker-reclaimer to move to the stacking area indicated by the stacking control instruction, and send a coal supply signal to the coal conveying equipment, and then detect the coal pile slope according to a preset period while the stacker-reclaimer stacks the coal transported by the coal conveying equipment to the stacking area; if the coal pile slope is greater than or equal to a preset safety threshold, reduce the stacking speed of the stacker-reclaimer and trigger an audible and visual alarm.

[0107] In some embodiments, the device also includes a monitoring unit for monitoring the coal pile status and coal conveying equipment operation data during the process of the stacker-reclaimer stacking the coal transported by the coal conveying equipment into the stacking area; if the monitored coal pile status or coal conveying equipment operation data meets the operation stop conditions, the stacker-reclaimer is controlled to stop stacking the coal transported by the coal conveying equipment into the stacking area.

[0108] In some embodiments, the operation stop conditions include at least one of the following: the coal pile size is equal to the preset three-dimensional size threshold indicated by the pile control instruction; the coal pile temperature is greater than or equal to the preset temperature threshold; the coal conveying equipment continuously idles for a preset period of time.

[0109] It should be noted that the above explanation of the method embodiment is also applicable to the device of the embodiment of the present disclosure, and the principles are the same, which is no longer limited in the embodiment of the present disclosure.

[0110] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0111] Figure 4 A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0112] like Figure 4 As shown, the device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 402 or a computer program loaded from a storage unit 408 into a RAM (Random Access Memory) 403. Various programs and data required for the operation of the device 400 can also be stored in the RAM 403. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An I / O (Input / Output) interface 405 is also connected to the bus 404.

[0113] Various components in device 400 are connected to I / O interface 405, including an input unit 406, such as a keyboard, mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409, such as a network card, modem, wireless communication transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0114] The computing unit 401 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), various specialized AI (Artificial Intelligence) computing chips, various computing units that run machine learning model algorithms, a DSP (Digital Signal Processor), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the automatic stacking method. For example, in some embodiments, the automatic stacking method can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the computing unit 401, one or more steps of the method described above can be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to execute the aforementioned automatic stacking method in any other appropriate manner (for example, by means of firmware).

[0115] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System on Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0118] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0119] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0120] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0121] It's important to note that artificial intelligence (AI) is the study of how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). This encompasses both hardware and software technologies. AI hardware technologies generally include sensors, specialized AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily encompass computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graphs.

[0122] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0123] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. An automatic stacking method, characterized in that: The method comprises: Obtaining the stacking operation parameters of the material storage yard; determining three-dimensional data of the coal pile according to the stockpiling operation parameters, and generating a virtual stockpiling simulation result according to the three-dimensional data of the coal pile; Determining stacker-reclaimer operating parameters according to the virtual stacking simulation results; Generate a stacking control instruction corresponding to the operating parameters of the stacker and reclaimer, and based on the stacking control instruction, control the stacker and reclaimer to move to the stacking area indicated by the stacking control instruction, and send a coal supply signal to the coal conveying equipment so that the stacker and reclaimer stacks the coal transported by the coal conveying equipment to the stacking area.

2. The method according to claim 1, characterized in that Generating a virtual coal pile simulation result according to the three-dimensional data of the coal pile includes: Based on the three-dimensional data of the coal pile, a three-dimensional model of the coal yard is constructed using digital twin technology; The particle dynamics of the three-dimensional model of the coal yard are simulated using a discrete element algorithm, and sensor data are integrated to obtain virtual stacking results.

3. The method according to claim 1, characterized in that The stacker-reclaimer operating parameters include a target moving path and a target cantilever motion trajectory. The stacker-reclaimer operating parameters are determined based on the virtual stacking simulation results, including: Get the stacker-reclaimer position and boom posture; Based on the position of the stacker and reclaimer, the boom posture, the coal pile shape and the stacking pattern predicted by the virtual stacking simulation results, the target movement trajectory of the stacker and reclaimer and the target cantilever movement trajectory of the cantilever are determined.

4. The method according to claim 1, wherein The generating of the stacking control instruction corresponding to the stacker-reclaimer operating parameters comprises: generating a first control instruction based on the stacker-reclaimer operating parameters, and displaying the first control instruction through a program control interface so that an operator can modify the stacker-reclaimer operating parameters in the first control instruction; A second control instruction is obtained after the operator modifies the first control instruction, and the second control instruction is used as the stacking control instruction.

5. The method according to claim 1, wherein After controlling the stacker-reclaimer to move to the stockpiling area indicated by the stockpiling control instruction and sending a coal supply signal to the coal conveying equipment, the method includes: During the process of the stacker-reclaimer stacking the coal transported by the coal conveying equipment into the stacking area, detecting the slope of the coal pile according to a preset period; If the coal pile slope is greater than or equal to a preset safety threshold, the stacking speed of the stacker-reclaimer is reduced and an audible and visual alarm is triggered.

6. The method according to claim 1, characterized in that The method further comprises: monitoring the coal pile status and coal conveying equipment operation data during the process of the stacker-reclaimer stacking the coal conveyed by the coal conveying equipment into the stacking area; If it is monitored that the coal pile state or the coal conveying equipment operation data meets the operation stop condition, the stacker-reclaimer is controlled to stop stacking the coal transported by the coal conveying equipment into the stockpiling area.

7. The method according to claim 6, characterized in that The operation stop condition includes at least one of the following: The coal pile size is equal to the preset three-dimensional size threshold indicated by the pile control instruction; The coal pile temperature is greater than or equal to the preset temperature threshold; The coal conveying equipment continuously idles for a preset period of time.

8. An automatic stacking device, characterized in that: The device comprises: An acquisition unit, used for acquiring the stacking operation parameters of the material storage yard; A virtual stacking unit, configured to determine three-dimensional data of a coal pile according to the stacking operation parameters, so as to generate a virtual stacking result according to the three-dimensional data of the coal pile; a determination unit, which determines the stacker-reclaimer operating parameters according to the virtual stacking simulation result; A control unit is used to generate a stacking control instruction corresponding to the operating parameters of the stacker and reclaimer, and based on the stacking control instruction, control the stacker and reclaimer to move to the stacking area indicated by the stacking control instruction, and send a coal supply signal to the coal conveying equipment so that the stacker and reclaimer stacks the coal transported by the coal conveying equipment to the stacking area.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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