Cooperative positioning-based coal quality detection system and method

Abstract

The invention relates to a coal quality detection system and method based on cooperative localization, and the system comprises a sampling module; a distance measuring module; the barrier gate identification module is used for identifying the license plate number of the mobile sampling vehicle and opening an off-line fast detection station barrier gate according to the license plate number; the cooperative positioning module is used for cooperatively positioning the mobile sampling vehicle; the calculation module is used for calculating the position of the mobile sampling vehicle relative to the feeding port; the upper control module is used for controlling the mechanical arm to execute sample feeding operation and sample receiving operation; the sample feeding module is used for feeding the coal sample in the coal sample barrel to the feeding hole along a preset planning path; and the detection module is used for detecting at least one item of detection data of the to-be-detected coal sample and generating a final detection result of the coal quality. According to the invention, the whole process from the completion of the sampling task by the mobile sampling vehicle, driving to the off-line rapid detection station, barrier gate intelligent identification opening, vehicle positioning, mechanical arm sample throwing trajectory planning and operation, rapid detection and data uploading is automatic, manual intervention is reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of coal detection technology, and in particular to a coal quality detection system and method based on cooperative positioning. Background Technology

[0002] Traditional coal quality testing processes involve multiple steps such as sampling, sample preparation, and testing. The process is complex and involves many steps, and the testing time is too long, usually exceeding 24 hours, which makes it difficult to meet the needs of rapid testing.

[0003] In related technologies, most bulk coal stations still rely on manual sampling operations, and there are many human involvements in the sampling, preparation, and analysis process.

[0004] However, the relevant technologies not only pose safety risks but also easily lead to corruption risks. In the sampling process, most bulk coal stations still use manual sampling methods, which can only collect coal surface samples and cannot collect deep coal samples. Moreover, the overall management process of manual sampling is not uniform and the operation process is fragmented, resulting in low detection efficiency, which urgently needs to be improved. Summary of the Invention

[0005] This application provides a coal quality testing system and method based on collaborative positioning to address the problems that related technologies not only pose safety risks but also easily lead to corruption risks. In the sampling process, most bulk coal stations still use manual sampling methods, which can only collect coal surface samples and cannot collect deep coal samples. Furthermore, the overall management process of manual sampling is not unified, and the operation process is fragmented, resulting in low testing efficiency.

[0006] The first aspect of this application provides a coal quality testing system based on cooperative positioning, comprising: a sampling module for writing the sampling time, sampling location, and vehicle number of a sample into a sample container lid using a mobile sampling vehicle; a ranging module for measuring the distance between the mobile sampling vehicle and the barrier gate of an offline rapid testing station using a laser rangefinder based on the sample container lid; a barrier gate identification module for identifying the license plate number of the mobile sampling vehicle and opening the barrier gate of the offline rapid testing station according to the license plate number when the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station is less than a preset distance; and a cooperative positioning module for controlling the front and rear wheels of the mobile sampling vehicle to press on speed bumps arranged on the lane after the mobile sampling vehicle enters the barrier gate of the offline rapid testing station, so as to cooperatively position the mobile sampling vehicle and determine the actual location of the mobile sampling vehicle. The system comprises: a mobile sampling vehicle and an offline rapid testing station barrier gate; a calculation module for calculating the position of the mobile sampling vehicle relative to the feeding port based on the actual position of the mobile sampling vehicle and the distance between the mobile sampling vehicle and the barrier gate gate of the offline rapid testing station; a host control module for calculating the angles of each joint of the robotic arm based on the position of the mobile sampling vehicle relative to the feeding port and at least one physical parameter of the robotic arm, and controlling the robotic arm to perform sampling and receiving operations according to the angles of each joint of the robotic arm; a sampling module for discharging coal samples from the coal sample bucket to the feeding port along a preset planned path based on the sampling and receiving operations to obtain coal samples to be tested; and a testing module for detecting at least one test data of the coal samples to be tested, and uploading the at least one test data to a preset remote platform after processing to generate the final test results of the coal quality.

[0007] Optionally, in one embodiment of this application, the system further includes: a data direct connection cabinet; and a wireless access module for establishing a communication link between the mobile sampling vehicle and the data direct connection cabinet, so as to transmit the sampling request and equipment status of the mobile sampling vehicle to the data direct connection cabinet according to the communication link.

[0008] Optionally, in one embodiment of this application, it further includes: a construction module, used to obtain the left positioning point, the right positioning point and the top positioning point of the robotic arm of the mobile sampling vehicle, and construct a triangle based on the left positioning point, the right positioning point and the top positioning point; and a position determination module, used to establish a system of equations based on the distance between the left positioning point, the right positioning point and the top positioning point of the robotic arm, using the relationship between the side length of the triangle and the coordinates, and determine the position of the mobile sampling vehicle based on the system of equations.

[0009] Optionally, in one embodiment of this application, the formula for establishing the system of equations is:

[0010] in,( , ) are the coordinates of the left-side positioning point, ( , ) are the coordinates of the right-side positioning point, ( , ) represents the coordinates of the top positioning point of the robotic arm.

[0011] Optionally, in one embodiment of this application, the calculation module includes: a setting unit, configured to set positioning rods on the left and right sides of the offline rapid testing station respectively, and set positioning points at the feeding port and the waste port respectively; and a determining unit, configured to determine the position of the mobile sampling vehicle relative to the feeding port by measuring the distance between the positioning points and the positioning rods.

[0012] Optionally, in one embodiment of this application, the angle calculation formula for each joint of the robotic arm is as follows:

[0013]

[0014] in, and These are the lengths of the two joints of the robotic arm. and The angles of each joint of the robotic arm are given.

[0015] A second aspect of this application provides a coal quality testing method based on cooperative positioning, comprising the following steps: using a mobile sampling vehicle to write the sampling time, sampling location, and vehicle number of the sample into the sample container lid; based on the sample container lid, using a laser rangefinder to measure the distance between the mobile sampling vehicle and the barrier gate of an offline rapid testing station; when the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station is detected to be less than a preset distance, identifying the license plate number of the mobile sampling vehicle and opening the barrier gate of the offline rapid testing station according to the license plate number; after the mobile sampling vehicle enters the barrier gate of the offline rapid testing station, controlling the front and rear wheels of the mobile sampling vehicle to press on speed bumps arranged on the lane to cooperatively position the mobile sampling vehicle and determine the location of the mobile sampling vehicle. Actual position; based on the actual position of the mobile sampling vehicle and the distance between the mobile sampling vehicle and the offline rapid testing station gate, calculate the position of the mobile sampling vehicle relative to the feeding port; based on the position of the mobile sampling vehicle relative to the feeding port and at least one physical parameter of the robotic arm, calculate the angle of each joint of the robotic arm, and control the robotic arm to perform the sample feeding and receiving operations according to the angle of each joint of the robotic arm; based on the sample feeding and receiving operations, feed the coal sample in the coal sample bucket to the feeding port along the preset planned path to obtain the coal sample to be tested; detect at least one test data of the coal sample to be tested, and upload the at least one test data to the preset remote platform after processing to generate the final test result of the coal quality.

[0016] Optionally, in one embodiment of this application, the method further includes: establishing a communication link between the mobile sampling vehicle and the data direct connection cabinet, so as to transmit the sampling request and equipment status of the mobile sampling vehicle to the data direct connection cabinet according to the communication link.

[0017] Optionally, in one embodiment of this application, the method further includes: obtaining the left positioning point, the right positioning point, and the top positioning point of the robotic arm of the mobile sampling vehicle, and constructing a triangle based on the left positioning point, the right positioning point, and the top positioning point; establishing a system of equations based on the distance between the left positioning point, the right positioning point, and the top positioning point of the robotic arm using the relationship between the side length of the triangle and the coordinates, and determining the position of the mobile sampling vehicle based on the system of equations.

[0018] Optionally, in one embodiment of this application, the formula for establishing the system of equations is:

[0019] in,( , ) are the coordinates of the left-side positioning point, ( , ) are the coordinates of the right-side positioning point, ( , ) represents the coordinates of the top positioning point of the robotic arm.

[0020] Optionally, in one embodiment of this application, calculating the position of the mobile sampling vehicle relative to the feeding port includes: setting up positioning rods on the left and right sides of the offline rapid testing station, and setting positioning points at the feeding port and the waste port; determining the position of the mobile sampling vehicle relative to the feeding port by measuring the distance between the positioning points and the positioning rods.

[0021] Optionally, in one embodiment of this application, the angle calculation formula for each joint of the robotic arm is as follows:

[0022]

[0023] in, and These are the lengths of the two joints of the robotic arm. and The angles of each joint of the robotic arm are given.

[0024] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the coal quality detection method based on cooperative positioning as described in the above embodiments.

[0025] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described coal quality detection method based on cooperative localization.

[0026] This application's embodiment automates the entire process, from the mobile sampling vehicle completing its sampling task and heading to the offline rapid testing station, to the intelligent recognition and opening of the barrier gate, vehicle positioning, robotic arm sampling trajectory planning and operation, and finally to rapid testing and data uploading. This reduces manual intervention and improves testing efficiency. It addresses the problems of related technologies not only posing safety risks but also potentially leading to corruption issues. In the sampling stage, bulk coal stations mostly still use manual sampling methods, which can only collect surface coal samples and cannot collect deep coal samples. Furthermore, the overall management process for manual sampling is inconsistent and fragmented, resulting in low testing efficiency.

[0027] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0028] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of a coal quality detection system based on cooperative positioning according to an embodiment of this application; Figure 2 This is a schematic diagram of a coal quality detection system based on cooperative positioning according to an embodiment of this application; Figure 3 This is a flowchart of a coal quality detection system based on cooperative localization according to an embodiment of this application; Figure 4 This is a schematic flowchart of a coal quality detection method based on cooperative localization provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0030] The following description, with reference to the accompanying drawings, illustrates a coal quality testing system and method based on collaborative positioning, according to embodiments of this application. Addressing the issues raised in the background section regarding related technologies, which not only pose safety risks but also potential corruption hazards, the current system addresses the problems of manual sampling at bulk coal stations, where samples can only be collected from the surface and not from deeper layers. Furthermore, the inconsistent and fragmented management processes of manual sampling lead to low testing efficiency. This application provides a coal quality testing system based on collaborative positioning. In this system, the entire process—from the mobile sampling vehicle completing its sampling task and heading to the offline rapid testing station, to the intelligent opening of the barrier gate, vehicle positioning, robotic arm sample delivery trajectory planning and operation, and finally to rapid testing and data uploading—is automated, reducing manual intervention and improving testing efficiency. This solves the problems of related technologies, which not only pose safety risks but also potential corruption hazards, and the current system, where samples can only be collected from the surface and not from deeper layers, and where the inconsistent and fragmented management processes of manual sampling lead to low testing efficiency.

[0031] Specifically, Figure 1 This is a schematic diagram of a coal quality detection system based on cooperative positioning, provided in an embodiment of this application.

[0032] like Figure 1As shown, the coal quality detection system 10 based on cooperative positioning includes: Specifically, the sampling module 100 is used to write the sampling time, sampling location and vehicle number of the sample into the sample container lid using a mobile sampling vehicle.

[0033] It is understood that the mobile sampling vehicle in this application embodiment has the function of sample barrel sealing and coding.

[0034] In actual implementation, the sampling module 100 in this embodiment can use a mobile sampling vehicle to write the sampling time, sampling location and vehicle number of the sample into the sample bucket lid after sampling, thereby realizing the binding of basic information for full-process traceability of the sample and providing support for subsequent coal testing and analysis.

[0035] The ranging module 200 is used to measure the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station based on the sample barrel lid using a laser rangefinder.

[0036] In actual implementation, the ranging module 200 in this embodiment can use a laser rangefinder to measure the distance between the mobile sampling vehicle and the offline rapid testing station barrier gate, thereby realizing precise positioning guidance of the mobile sampling vehicle and intelligent linkage control of the barrier gate.

[0037] The barrier gate recognition module 300 is used to recognize the license plate number of the mobile sampling vehicle when it is detected that the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station is less than a preset distance, and to open the barrier gate of the offline rapid testing station according to the license plate number.

[0038] It is understood that the offline rapid testing station in this application embodiment has an automatic start / stop function. The barrier gate of the offline rapid testing station is controlled by the data direct connection cabinet in the offline rapid testing station, which is used to identify the license plate of the mobile sampling vehicle and control the vehicle's entry and exit; the preset distance can be 2m.

[0039] In this embodiment, the barrier gate recognition module 300 can identify the license plate number of the mobile sampling vehicle when it detects that the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station is less than a certain distance, and open the barrier gate of the offline rapid testing station according to the license plate number. For example, this application can identify the license plate number of the mobile sampling vehicle through an image acquisition device to open the barrier gate of the offline rapid testing station when it detects that the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station is less than 2m.

[0040] In this embodiment of the application, since the license plate information of the mobile sampling vehicle was pre-entered into the data direct connection cabinet, the barrier gate automatically opens and the detection door of the detection area automatically opens to the side after the license plate number is recognized.

[0041] The collaborative positioning module 400 is used to control the front and rear wheels of the mobile sampling vehicle to press on the speed bumps arranged on the lane after the mobile sampling vehicle enters the barrier gate of the offline rapid testing station, so as to collaboratively locate the mobile sampling vehicle and determine its actual position.

[0042] In actual implementation, the barrier gate of the offline rapid testing station in this embodiment opens after the intelligent recognition of the license plate number of the mobile sampling vehicle. After the mobile sampling vehicle enters the offline rapid testing station, the collaborative positioning module 400 uses the speed bumps arranged on the lane to achieve four-wheel positioning for front and rear positioning, and the laser rangefinder to complete the left and right positioning. The laser rangefinder measures the distance between the sampling vehicle and the offline rapid testing station in real time. Combined with the sampling vehicle position information obtained by the collaborative positioning algorithm, the precise position of the sampling vehicle relative to the feeding port is calculated.

[0043] The calculation module 500 is used to calculate the position of the mobile sampling vehicle relative to the feeding port based on the actual position of the mobile sampling vehicle and the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station.

[0044] In actual implementation, the embodiments of this application can calculate the position of the mobile sampling vehicle relative to the feeding port based on the actual position of the mobile sampling vehicle and the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station, thereby achieving precise alignment and positioning of the mobile sampling vehicle and the feeding port, providing support for precise sample feeding, and ensuring the efficiency and accuracy of the sample transfer and handover process.

[0045] Optionally, in one embodiment of this application, the coal quality testing system 10 based on cooperative positioning further includes: a construction module, used to acquire the left positioning point, the right positioning point and the top positioning point of the robotic arm of the mobile sampling vehicle, and construct a triangle based on the left positioning point, the right positioning point and the top positioning point; and a position determination module, used to establish a system of equations based on the distance between the left positioning point, the right positioning point and the top positioning point of the robotic arm, using the relationship between the side length of the triangle and the coordinates, and determine the position of the mobile sampling vehicle based on the system of equations.

[0046] In actual implementation, such as Figure 2 As shown in the embodiment of this application, the mobile sampling vehicle uses a three-point positioning algorithm to determine its own position. The three-point positioning mainly relies on the positioning points on both sides of the sampling vehicle plus the position of the robotic arm to confirm the position of the triangle. By measuring the distance between the three points, the position of the sampling vehicle is solved by establishing a system of equations based on the relationship between the side length of the triangle and the coordinates.

[0047] Among them, the three points form a fixed triangle. Let the coordinates of the left positioning point be ( ). , The coordinates of the right-side positioning point are ( , The coordinates of the top positioning point of the robotic arm are ( ); , ); by measuring the distance between these three points , , Establish a system of equations using the relationship between the side length of a triangle and its coordinates.

[0048] In one embodiment of this application, the formula for establishing the system of equations is:

[0049] in,( , ) represents the coordinates of the left-side positioning point. , ) represents the coordinates of the right-hand positioning point. , ) represents the coordinates of the top positioning point of the robotic arm.

[0050] This application employs a three-point positioning algorithm, which relies on the positioning points on both sides of the sampling vehicle plus the position of the robotic arm to determine the position of the triangle. By measuring the distance between the three points, the algorithm establishes a system of equations based on the relationship between the side length of the triangle and the coordinates to solve for the position of the sampling vehicle, thus achieving accurate positioning.

[0051] Optionally, in one embodiment of this application, the calculation module 500 includes: a setting unit, used to set up positioning rods on the left and right sides of the offline rapid testing station respectively, and set positioning points at the feeding port and the waste port respectively; and a determining unit, used to determine the position of the mobile sampling vehicle relative to the feeding port by measuring the distance between the positioning points and the positioning rods.

[0052] Specifically, in this embodiment of the application, positioning rods can be set on the left and right sides of the offline rapid testing station, and positioning points can be set on the waste port and the feed port. The relative positional relationship can be determined by measuring the distance between the positioning point of the mobile sampling vehicle and the positioning rod of the offline rapid testing station, combined with the geometric characteristics of the quadrilateral.

[0053] In the quadrilateral positioning algorithm, let the coordinates of the left positioning rod be... The coordinates of the right positioning rod are The coordinates of the waste discharge port location point are: The coordinates of the feeding port positioning point are: ; After the mobile sampling vehicle moves into the lane, the distances between the positioning points on both sides of the sampling vehicle and the two positioning poles of the offline rapid testing station are measured. Let the distance between the left positioning point of the sampling vehicle and the left positioning pole of the offline rapid testing station be denoted as . The distance between the left positioning point of the sampling vehicle and the right positioning pole of the offline rapid testing station is... The distance between the positioning point on the right side of the sampling vehicle and the positioning pole on the left side of the offline rapid testing station is... The distance between the positioning point on the right side of the sampling vehicle and the positioning pole on the right side of the offline rapid testing station is... By using this distance data, combined with the geometric properties of quadrilaterals, and utilizing the side lengths and angular relationships of polygons, the relative positional relationship between the sampling vehicle and the offline rapid testing station can be further determined.

[0054] In this embodiment, the offline rapid testing station adopts a quadrilateral positioning algorithm. By measuring the distance between the positioning point of the mobile sampling vehicle and the positioning rod of the offline rapid testing station, and combining the geometric characteristics of the quadrilateral, the relative positional relationship is determined, which further ensures the accuracy of positioning.

[0055] The upper control module 600 is used to calculate the angles of each joint of the robotic arm based on the position of the mobile sampling vehicle relative to the feeding port and at least one physical parameter of the robotic arm, and to control the robotic arm to perform the feeding and receiving operations according to the angles of each joint.

[0056] It is understood that the upper-level control module 600 in this embodiment can be implemented using a host computer. The host computer is used to build the model and calculate relevant parameters, and control the entire docking and testing process. The robotic arm is used to complete the sample delivery and receiving operations. Based on the relative position information between the sampling vehicle and the offline rapid testing station obtained by the cooperative positioning algorithm, and the physical parameters of the robotic arm, the host computer calculates the angles of each joint of the robotic arm through the inverse kinematics algorithm, and controls the robotic arm to complete the sample delivery and receiving operations.

[0057] The cooperative localization algorithm is as follows:

[0058]

[0059] in,( , ( ) represents the initial position coordinates of the sampling vehicle obtained through a cooperative localization algorithm. The angle between the direction of travel of the sampling vehicle and the direction of the feeding port can be predetermined by the trajectory of the sampling vehicle and the layout of the offline rapid testing station.

[0060] For example, in robotic arm sampling trajectory planning: the host computer calculates the angles of each joint of the robotic arm using inverse kinematics algorithms, based on the calculated precise position of the sampling vehicle and the physical parameters of the robotic arm. For instance, suppose the center coordinates of the feeding port are (10,5), the coordinates of the robotic arm base are (0,0), and the lengths of the two joints of the robotic arm are... , Solve the system of equations using inverse kinematics algorithms:

[0061]

[0062] Obtain joint angle and The value is used to control the robotic arm to accurately move the coal sample bucket above the feed inlet.

[0063] The host computer uses the relative position information of the sampling vehicle and the offline rapid testing station obtained through a cooperative positioning algorithm, along with the physical parameters of the robotic arm, to establish a motion model for the robotic arm. Specifically, the physical parameters of the robotic arm include its length. Joint angle range; In the robotic arm motion model, the coordinates of the center of the feeding port are set as ( , The coordinates of the robotic arm base are ( ). , The inverse kinematics algorithm is used to calculate the angles of each joint of the robotic arm, ensuring that the top of the robotic arm accurately reaches above the feeding port. The basic formula of the inverse kinematics algorithm is as follows: Assume the robotic arm has two degrees of freedom, with the joint angles being respectively... , Then, in one embodiment of this application, the formula for calculating the angles of each joint of the robotic arm is:

[0064]

[0065] in, and These are the lengths of the two joints of the robotic arm. and The angles of each joint of the robotic arm are used to control the robotic arm to accurately move the coal sample bucket above the feed inlet for quantitative pouring of the coal sample.

[0066] The sampling module 700 is used to feed the coal sample in the coal sample bucket to the feed inlet along a preset planned path based on the sampling operation and the sample receiving operation, so as to obtain the coal sample to be tested.

[0067] It is understood that the preset planned path in the embodiments of this application can be a pre-planned trajectory.

[0068] In actual implementation, this embodiment utilizes the sampling module 700 for robotic arm sampling: the robotic arm, following a pre-planned trajectory, grabs the unsealed coal sample bucket, moves it above the feed inlet, and quantitatively pours the coal sample to obtain the coal sample to be tested. Furthermore, after completing the first round of feeding, the robotic arm transfers the empty sample bucket to the discharge outlet to collect the tested coal sample, repeating this cycle three times to complete the entire process. A weighing sensor verifies the feeding quantity to ensure accurate feeding.

[0069] The detection module 800 is used to detect at least one detection data of the coal sample to be tested, and to process the at least one detection data and upload it to a preset remote platform to generate the final detection result of the coal quality.

[0070] In this embodiment, the detection module 800 can perform rapid testing and data uploading: after the rapid testing equipment completes the coal sample testing, it sends the test data to the data direct connection cabinet. The data direct connection cabinet processes and packages the data, and transmits the rapid testing results (such as calorific value, sulfur content, etc.) back to the scheduling platform in real time through 5G private network slicing, thus completing the autonomous uploading of coal quality results.

[0071] The mobile sampling vehicle and collaborative positioning system in this embodiment can accurately achieve automatic docking between the mobile sampling vehicle and the offline rapid testing station, complete the precise sampling and rapid testing of coal samples, and upload the test results in real time. This effectively solves the problems existing in traditional coal quality testing, improves testing efficiency and data accuracy, and ensures data security.

[0072] Optionally, in one embodiment of this application, the coal quality testing system 10 based on cooperative positioning further includes: a data direct connection cabinet; and a wireless access module for establishing a communication link between the mobile sampling vehicle and the data direct connection cabinet, so as to transmit the sampling request and equipment status of the mobile sampling vehicle to the data direct connection cabinet according to the communication link.

[0073] It is understood that the data direct connection cabinet in this application embodiment is used for data interaction and processing.

[0074] Specifically, this embodiment utilizes a wireless access module (wireless AP) to establish a communication link between the sampling vehicle and the data direct connection cabinet, transmitting the sampling request and equipment status of the mobile sampling vehicle to the data direct connection cabinet based on the communication link. Specifically, sensors are connected via RS485 / CAN bus, transmitting positioning and action commands in real time at a baud rate of ≥115200bps; the communication link between the sampling vehicle and the data direct connection cabinet is established using an industrial-grade wireless AP, employing the OPCUAoverTSN protocol to transmit key data such as sampling requests and equipment status, with an end-to-end latency of ≤200ms, and equipped with an MQTT protocol to implement a message mechanism with the wireless AP; and the rapid detection results are transmitted back to the scheduling platform in real time via 5G private network slicing, with an uplink bandwidth of ≥100Mbps, supporting the GB / T27930 national industrial protocol standard.

[0075] Specifically, it can be combined with Figure 3 As shown, the working principle of the coal quality detection system based on cooperative positioning in this application is explained in detail with a specific embodiment.

[0076] like Figure 3 As shown, embodiments of this application may include the following steps: Step S301: Intelligent identification of the barrier gate.

[0077] Step S302: Vehicle positioning.

[0078] Step S303: Planning the robotic arm's sampling trajectory.

[0079] Step S304: Robotic arm sample delivery operation.

[0080] Step S305: Quick check and data upload.

[0081] The coal quality testing system based on collaborative positioning proposed in this application automates the entire process, from the mobile sampling vehicle completing its sampling task and heading to the offline rapid testing station, to the intelligent recognition and opening of the barrier gate, vehicle positioning, robotic arm sampling trajectory planning and operation, and finally to rapid testing and data uploading. This reduces manual intervention and improves testing efficiency. Therefore, it solves the problems of related technologies not only posing safety risks but also easily leading to corruption issues. In the sampling stage, bulk coal stations mostly still use manual sampling methods, which can only collect surface coal samples and cannot collect deep coal samples. Furthermore, the overall management process for manual sampling is inconsistent and fragmented, resulting in low testing efficiency.

[0082] Next, a flowchart of the coal quality detection method based on cooperative positioning proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0083] Figure 4 This is a schematic flowchart of the coal quality detection method based on cooperative positioning according to an embodiment of this application.

[0084] like Figure 4 As shown, the coal quality detection method based on cooperative localization includes the following steps: In step S401, the sampling time, sampling location, and vehicle number of the sample are written into the sample container lid using a mobile sampling vehicle.

[0085] In step S402, based on the sample container lid, a laser rangefinder is used to measure the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station.

[0086] In step S403, when the distance between the mobile sampling vehicle and the offline rapid testing station barrier is less than a preset distance, the license plate number of the mobile sampling vehicle is identified, and the offline rapid testing station barrier is opened according to the license plate number.

[0087] In step S404, after the mobile sampling vehicle enters the barrier gate of the offline rapid testing station, the front and rear wheels of the mobile sampling vehicle are controlled to press on the speed bumps arranged on the lane to coordinate the positioning of the mobile sampling vehicle and determine its actual position.

[0088] In step S405, the position of the mobile sampling vehicle relative to the feeding port is calculated based on the actual position of the mobile sampling vehicle and the distance between the mobile sampling vehicle and the offline rapid testing station gate.

[0089] In step S406, based on the position of the mobile sampling vehicle relative to the feeding port and at least one physical parameter of the robotic arm, the angles of each joint of the robotic arm are calculated, and the robotic arm is controlled to perform the feeding and receiving operations according to the angles of each joint of the robotic arm.

[0090] In step S407, based on the sampling operation and the receiving operation, the coal sample in the coal sample bucket is fed into the feed port along the preset planned path to obtain the coal sample to be tested.

[0091] In step S408, at least one test data of the coal sample to be tested is detected, and the at least one test data is processed and uploaded to a preset remote platform to generate the final test result of the coal quality.

[0092] Optionally, in one embodiment of this application, the coal quality testing method based on cooperative positioning further includes: establishing a communication link between the mobile sampling vehicle and the data direct connection cabinet, so as to transmit the sampling request and equipment status of the mobile sampling vehicle to the data direct connection cabinet according to the communication link.

[0093] Optionally, in one embodiment of this application, the coal quality detection method based on cooperative positioning further includes: obtaining the left positioning point, the right positioning point, and the top positioning point of the robotic arm of the mobile sampling vehicle, and constructing a triangle based on the left positioning point, the right positioning point, and the top positioning point; establishing a system of equations based on the distance between the left positioning point, the right positioning point, and the top positioning point of the robotic arm using the relationship between the side length of the triangle and the coordinates, and determining the position of the mobile sampling vehicle based on the system of equations.

[0094] Optionally, in one embodiment of this application, the formula for establishing the system of equations is:

[0095] in,( , ) represents the coordinates of the left-side positioning point. , ) represents the coordinates of the right-hand positioning point. , ) represents the coordinates of the top positioning point of the robotic arm.

[0096] Optionally, in one embodiment of this application, calculating the position of the mobile sampling vehicle relative to the feeding port includes: setting up positioning rods on the left and right sides of the offline rapid testing station, and setting positioning points at the feeding port and the waste port; determining the position of the mobile sampling vehicle relative to the feeding port by measuring the distance between the positioning points and the positioning rods.

[0097] Optionally, in one embodiment of this application, the formula for calculating the angles of each joint of the robotic arm is:

[0098]

[0099] in, and These are the lengths of the two joints of the robotic arm. and These are the angles of the joints of the robotic arm.

[0100] It should be noted that the foregoing explanation of the embodiment of the coal quality detection system based on cooperative positioning also applies to the coal quality detection method based on cooperative positioning in this embodiment, and will not be repeated here.

[0101] According to the coal quality testing method based on collaborative positioning proposed in this application, the entire process—from the mobile sampling vehicle completing its sampling task and heading to the offline rapid testing station, to the intelligent recognition and opening of the barrier gate, vehicle positioning, robotic arm sampling trajectory planning and operation, and finally to rapid testing and data uploading—is automated, reducing manual intervention and improving testing efficiency. This solves the problems of related technologies not only posing safety risks but also easily leading to corruption issues. In the sampling stage, bulk coal stations mostly still use manual sampling methods, which can only collect surface coal samples and cannot collect deep coal samples. Furthermore, the overall management process for manual sampling is inconsistent and fragmented, resulting in low testing efficiency.

[0102] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0103] When the processor 502 executes the program, it implements the coal quality detection method based on cooperative positioning provided in the above embodiments.

[0104] Furthermore, electronic devices also include: Communication interface 503 is used for communication between memory 501 and processor 502.

[0105] The memory 501 is used to store computer programs that can run on the processor 502.

[0106] Memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0107] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0108] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0109] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0110] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described coal quality detection method based on cooperative localization.

[0111] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0112] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0113] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0114] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0115] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0116] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0117] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0118] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A coal quality detection system based on cooperative positioning, characterized in that, include: The sampling module is used to write the sampling time, sampling location, and vehicle number of the sample into the sample container lid using a mobile sampling vehicle; The ranging module is used to measure the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station based on the sample barrel lid using a laser rangefinder; The barrier gate recognition module is used to identify the license plate number of the mobile sampling vehicle when the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station is less than a preset distance, and to open the barrier gate of the offline rapid testing station according to the license plate number. The collaborative positioning module is used to control the front and rear wheels of the mobile sampling vehicle to press on the speed bumps arranged on the lane after the mobile sampling vehicle enters the barrier gate of the offline rapid testing station, so as to collaboratively position the mobile sampling vehicle and determine its actual position. The calculation module is used to calculate the position of the mobile sampling vehicle relative to the feeding port based on the actual position of the mobile sampling vehicle and the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station; The upper-level control module is used to calculate the angles of each joint of the robotic arm based on the position of the mobile sampling vehicle relative to the feeding port and at least one physical parameter of the robotic arm, and to control the robotic arm to perform the feeding and receiving operations according to the angles of each joint of the robotic arm. The sampling module is used to, based on the sampling operation and the sample receiving operation, feed the coal sample in the coal sample bucket to the feed inlet along a preset planned path to obtain the coal sample to be tested; The detection module is used to detect at least one detection data of the coal sample to be tested, and to process the at least one detection data and upload it to a preset remote platform to generate the final detection result of the coal quality.

2. The coal quality detection system based on cooperative positioning according to claim 1, characterized in that, Also includes: Data is directly connected to the server rack; The wireless access module is used to establish a communication link between the mobile sampling vehicle and the data direct connection cabinet, so as to transmit the sampling request and equipment status of the mobile sampling vehicle to the data direct connection cabinet according to the communication link.

3. The coal quality detection system based on cooperative positioning according to claim 1, characterized in that, Also includes: A construction module is used to obtain the left and right positioning points of the mobile sampling vehicle and the top positioning point of the robotic arm, and to construct a triangle based on the left, right, and top positioning points. The position determination module is used to establish a system of equations based on the distance between the left positioning point, the right positioning point and the top positioning point of the robotic arm, using the relationship between the side length of the triangle and the coordinates, and to determine the position of the mobile sampling vehicle according to the system of equations.

4. The coal quality detection system based on cooperative positioning according to claim 3, characterized in that, The formula for establishing the system of equations is: in,( , ) are the coordinates of the left-side positioning point, ( , ) are the coordinates of the right-side positioning point, ( , ) represents the coordinates of the top positioning point of the robotic arm.

5. The coal quality detection system based on cooperative positioning according to claim 1, characterized in that, The computing module includes: The setting unit is used to set up positioning rods on the left and right sides of the offline rapid testing station, and set positioning points at the feeding port and the waste port, respectively. The determining unit is used to determine the position of the mobile sampling vehicle relative to the feeding port by measuring the distance between the positioning point and the positioning rod.

6. The coal quality detection system based on cooperative positioning according to claim 1, characterized in that, The formula for calculating the angles of each joint of the robotic arm is as follows: in, and These are the lengths of the two joints of the robotic arm. and The angles of each joint of the robotic arm are given.

7. A coal quality detection method based on cooperative localization, characterized in that, include: The sampling time, sampling location, and vehicle number of the sample are written into the sample container lid using a mobile sampling vehicle; Based on the sample container lid, the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station is measured using a laser rangefinder; When the distance between the mobile sampling vehicle and the offline rapid testing station barrier is less than a preset distance, the license plate number of the mobile sampling vehicle is identified, and the offline rapid testing station barrier is opened according to the license plate number. After the mobile sampling vehicle enters the barrier gate of the offline rapid testing station, the front and rear wheels of the mobile sampling vehicle are controlled to press on the speed bumps arranged on the lane to coordinate the positioning of the mobile sampling vehicle and determine its actual position. Based on the actual location of the mobile sampling vehicle and the distance between the mobile sampling vehicle and the barrier gate of the offline rapid testing station, the position of the mobile sampling vehicle relative to the feeding port is calculated; Based on the position of the mobile sampling vehicle relative to the feeding port and at least one physical parameter of the robotic arm, the angles of each joint of the robotic arm are calculated, and the robotic arm is controlled to perform the feeding and receiving operations according to the angles of each joint of the robotic arm. Based on the sampling operation and the receiving operation, the coal sample in the coal sample bucket is fed into the feed inlet along the preset planned path to obtain the coal sample to be tested; The test data of at least one of the coal samples to be tested are detected, and the at least one test data is processed and uploaded to a preset remote platform to generate the final test result of the coal quality.

8. The coal quality detection method based on cooperative positioning according to claim 7, characterized in that, Also includes: A communication link is established between the mobile sampling vehicle and the data direct connection cabinet to transmit the sampling request and equipment status of the mobile sampling vehicle to the data direct connection cabinet according to the communication link.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the coal quality detection method based on cooperative positioning as described in any one of claims 7-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the coal quality detection method based on cooperative positioning as described in any one of claims 7-8.

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