Intelligent inspection method for sampling of coal storage yard of thermal power plant

Abstract

The invention discloses a thermal power plant coal storage yard sampling intelligent inspection method, and relates to the technical field of inspection management, and the method comprises the steps: carrying out the three-dimensional data collection and statistics of a coal storage yard based on a mobile collection device, and constructing the three-dimensional map data of the coal storage yard; randomly selecting coal piles in the three-dimensional map data based on sampling requirements to obtain random sampling points; based on the coal pile distribution condition and the random sampling points in the three-dimensional map data, planning a driving path of the mobile acquisition device to obtain a routing inspection path, and performing routing inspection and sampling according to the routing inspection path; carrying out coal quality detection on sample coal obtained by sampling, determining coal quality data of the sample coal, comparing the coal quality data with an index standard value, and outputting an early warning signal if an abnormal index is judged to exist; and acquiring an early warning feedback signal, and adding coal quality data to the three-dimensional map data according to the early warning feedback signal to obtain a coal quality distribution thermodynamic diagram of the coal storage yard. The method has the effect of improving the management efficiency of the coal storage yard.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection management, in particular to a coal storage yard sampling intelligent inspection method for a thermal power plant. BACKGROUND

[0002] As one of the main sources of power supply in China, thermal power plants play an important role in the energy structure. The coal storage yard is a key link in the fuel supply of thermal power plants, and the coal storage quantity and quality directly affect the stable operation and power generation efficiency of thermal power plants. Coal sampling is an important means to accurately evaluate the coal quality of the coal storage yard. Through sampling analysis, the key indicators such as ash content, calorific value, and sulfur content of the coal can be understood, providing a scientific basis for fuel proportioning and combustion adjustment of thermal power plants, thereby ensuring the safe and economic operation of the unit.

[0003] Traditional coal sampling inspection work in the coal storage yard of a thermal power plant faces many challenges. The area of the coal storage yard is usually large, and the coal accumulation form is complex. Manual sampling requires inspection personnel to shuttle between the coal piles, which is labor-intensive, low in work efficiency, and high in risk. The safety of the inspection personnel during sampling and inspection is low, which leads to low management efficiency when scheduling the use of coal piles in the coal storage yard, and there is room for improvement. SUMMARY

[0004] In order to improve the management efficiency of the coal storage yard, the present application provides a coal storage yard sampling intelligent inspection method for a thermal power plant.

[0005] The present application provides a coal storage yard sampling intelligent inspection method for a thermal power plant, which adopts the following technical solution:

[0006] A coal storage yard sampling intelligent inspection method for a thermal power plant, comprising:

[0007] Based on the mobile collection device, three-dimensional data of the coal storage yard is collected, initial three-dimensional data obtained by collection is subjected to coal pile identification and coal pile integrity identification, and a three-dimensional model of each coal pile in the coal storage yard is constructed according to the identification results;

[0008] The driving path of the mobile collection device during coal pile collection is obtained, the stacking position of the corresponding coal pile in the coal storage yard is determined according to the driving path, and a three-dimensional map data of the coal storage yard is constructed in combination with the three-dimensional model of the corresponding coal pile;

[0009] The sampling requirement at each inspection is obtained, and the coal piles in the three-dimensional map data are randomly selected according to the sampling requirement to obtain a random sampling point;

[0010] The driving path of the mobile collection device is planned based on the coal pile distribution in the three-dimensional map data and the random sampling points, first path data for coal yard inspection and second path data for coal pile inspection and sampling are obtained, and the first path data and the second path data are uniformly recorded as an inspection path, and the mobile collection device inspects and samples according to the inspection path;

[0011] The sample coal obtained by sampling is subjected to coal quality detection to determine the coal quality data of the sample coal, and the coal quality data of the sample coal is compared with the built-in index item standard value to determine whether there is an abnormal index item in the sample coal, and according to the position information of the sample coal of the abnormal index item, a corresponding early warning signal is output;

[0012] The early warning feedback signal is obtained, and the coal quality data of the three-dimensional map data is added according to the early warning feedback signal, the position information of the coal pile and the coal quality data on the corresponding coal pile, and the coal quality distribution heat map of the coal yard is obtained.

[0013] Preferably, the mobile collection device drives according to the built-in initial route, and collects the surrounding environment of the initial route during driving to obtain initial three-dimensional data;

[0014] The initial three-dimensional data is judged to determine whether there is a coal pile in the three-dimensional data collected at present;

[0015] If it is determined that there is a coal pile, the initial three-dimensional data is subjected to coal pile integrity judgment, and if the coal pile corresponding to the initial three-dimensional data has integrity, the driving continues based on the initial route;

[0016] If it is determined that there is a coal pile, but the coal pile does not have integrity, the recognition ratio of the mobile collection device is obtained, and the coal pile is climbed and collected according to the recognition ratio until the coal pile is completely collected;

[0017] The three-dimensional data of the completely collected coal pile and the driving data of the mobile collection device are obtained, and the plurality of three-dimensional data of the completely collected coal pile are spliced according to the driving data to obtain a three-dimensional model of the coal pile.

[0018] Preferably, the initial three-dimensional data is grouped in the vertical direction perpendicular to the horizontal plane to obtain three-dimensional vertical group data;

[0019] The three-dimensional vertical group data is subjected to depth data reading, and the depth data in the three-dimensional vertical group data is arranged from bottom to top according to the vertical direction to obtain a first depth scatter plot;

[0020] The first depth scatter plot is judged to determine the distribution rule of the scatter points in the first depth scatter plot;

[0021] If the distribution rule of the first depth scatter plot is linear distribution, linear data presented by the distribution rule of the first depth scatter plot is determined according to the first depth scatter plot;

[0022] An inclination angle judgment is performed on the linear data, if the inclination angle presented by the linear data is greater than or equal to a preset inclination value, it is determined that there is no coal pile in the initial three-dimensional data;

[0023] If the inclination angle presented by the linear data is less than the preset inclination value, the inclination angles of the linear data formed by the three-dimensional vertical group data are counted, and it is determined that the inclination angles of the linear data formed by the three-dimensional vertical group data have convergence, then it is determined that there is a coal pile in the initial three-dimensional data; otherwise, it is determined that there is no coal pile.

[0024] Preferably, when it is determined that there is a coal pile, the initial three-dimensional data is grouped based on a horizontal direction parallel to a horizontal plane to obtain three-dimensional horizontal group data, and a length data is obtained by scanning and counting the length of the three-dimensional horizontal group data in the horizontal direction;

[0025] The length data of each three-dimensional horizontal group data is compared to determine the consistency of the length data in the three-dimensional horizontal group data;

[0026] If the length data in the three-dimensional horizontal group data has consistency, it is determined that the coal pile does not have integrity;

[0027] If the length data in the three-dimensional horizontal group data does not have consistency, height reading and height concentration judgment are performed on the shorter side of the length data in the three-dimensional horizontal group data that does not have consistency;

[0028] If the shorter side of the length data in the three-dimensional horizontal group data that does not have consistency has concentration and the height is greater than a preset height value, boundary judgment is performed on the shorter side of the length data in the three-dimensional horizontal group data that does not have consistency to obtain boundary data;

[0029] Theoretical height data of the coal pile is calculated according to the boundary data, and the height of the shorter side of the length data in the three-dimensional horizontal group data that does not have consistency is calculated based on a recognition ratio to obtain sampling height data;

[0030] The sampling height data is compared with the theoretical height data, if the sampling height data is less than the theoretical height data, it is determined that the coal pile does not have integrity.

[0031] Preferably, based on the initial route, a plane coordinate system matching the initial route is constructed;

[0032] Based on the three-dimensional model of the coal pile, the inclination angle of each region of the coal pile is determined, and the travel data of the mobile collection device at the corresponding position is split according to the inclination angle at each position, so as to convert the three-dimensional travel data into two-dimensional travel data.

[0033] Based on the two-dimensional travel data, the position of the coal pile in the plane coordinate system is determined, and based on the plane coordinate system with the position information of the coal pile and the three-dimensional model of the coal pile, the three-dimensional map data of the coal storage yard is constructed.

[0034] Preferably, the coal pile distribution is matched with the initial route to determine the travel route occupied by the coal pile;

[0035] If the coal pile occupies the travel route, the initial route is adjusted according to the occupied travel route to ensure that the adjusted travel path is not occupied by the coal pile, and first path data is obtained;

[0036] Based on the first path data and the coal pile distribution, the travel path of the mobile collection device on the coal pile is determined, and second path data is obtained;

[0037] Based on the random sampling points, the second path data is calibrated to obtain third path data with sampling marks;

[0038] The first path data and the third path data are integrated to obtain the inspection path of the current mobile collection device.

[0039] Preferably, based on the travel direction of the mobile collection device on the first path data, the cut-in point between the first path data and the coal pile is determined;

[0040] Based on the recognition ratio of the mobile collection device, the scanning range of the mobile collection device is determined;

[0041] Based on the three-dimensional data of the coal pile, the collinear data between the vertex of the coal pile and the cut-in point of the coal pile is determined, and the collinear data is recorded as the return path of the mobile collection device when collecting the coal pile;

[0042] According to the collinear data and the scanning range, the coal pile is divided into a first collection region and a second collection region;

[0043] The scanning range is matched with the first collection region to determine the second sub-path of the mobile collection device; the second sub-path and the return path are integrated to obtain the second path data.

[0044] Preferably, when there is a sampling requirement in the inspection task, the mobile collection device reaches the position marked by the random sampling point according to the inspection path, and determines the sampling head based on the sampling requirement.

[0045] The marked position is sampled by using a corresponding sampling head, and the sampling pressure of the sampling head is collected during sampling to obtain pressure value data;

[0046] The pressure value data is judged according to a preset rated pressure value of the corresponding sampling head, and if the pressure value data is greater than the rated pressure value, the sampling point is marked, and a sampling alarm signal is output.

[0047] In summary, the present application has at least one of the following beneficial technical effects:

[0048] 1. By using the mobile collection device to drive and scan the designated area (coal storage yard), the three-dimensional space information (three-dimensional data) of the designated area is scanned, and the spatial distribution of the designated area (three-dimensional map data) is constructed by integrating the three-dimensional space information. The spatial distribution includes the size of the coal storage yard, the storage position of the goods in the coal storage yard, etc. During each safety inspection, if there is a sampling requirement, the sampling requirement is randomly matched with the coal pile in the coal storage yard, so that the collected sample can truly reflect the true situation of the corresponding coal pile. At the same time, due to the different sampling points (random sampling points), the inspection path of the mobile collection device is re-planned to ensure that the coal pile can be successfully sampled at the designated sampling point during daily inspection, improving the work efficiency; the quality of the sample coal is detected to determine the true situation of the coal quality of each coal pile, and when an abnormal index item is determined, an early warning signal is output to remind the relevant staff to manually judge the abnormal coal pile, thereby improving the accuracy of the coal quality evaluation of the coal pile and ensuring the accuracy of the finally generated coal quality distribution thermal map, providing data support for coal yard partition storage and coal blending combustion, optimizing the boiler combustion efficiency, and improving the management efficiency of the coal storage yard;

[0049] 2. The system utilizes a built-in initial route control mobile acquisition device to collect environmental data, thereby determining the surrounding environment within the scanning range and along the path. After each acquisition, the initial 3D data is analyzed to determine whether a coal pile exists and, if so, its integrity. If no coal pile is found or the coal pile is intact, it indicates that the coal pile has been completely acquired, and its safety can be directly assessed without further acquisition. Therefore, the system can continue along the initial route. Conversely, if the coal pile is not intact, further acquisition is required. The mobile acquisition device climbs the coal pile to collect its 3D data. After acquisition, the 3D data is stitched together using the recognition ratio and the mobile acquisition device's travel data, resulting in a more accurate 3D model of the coal pile. This provides a data foundation for subsequent safety inspections, sample testing, and coal quality distribution heat maps, improving management efficiency.

[0050] 3. By comprehensively utilizing the characteristics of coal pile shape, the initial three-dimensional data for coal pile identification is grouped based on the vertical direction. The depth data in each group is read and statistically analyzed to determine the distribution pattern of the depth data in the corresponding three-dimensional vertical group data. When the distribution pattern of the depth data is determined to be linear, the tilt angle of the linearly distributed data is judged. Based on the magnitude of the tilt angle, the probability of the coal pile is re-evaluated. At the same time, the convergence of the tilt angles of the linear data in each three-dimensional vertical group data is judged to further determine the probability of the coal pile. This makes the identification of coal piles in the initial three-dimensional data more accurate and ensures the accurate identification of coal piles in the coal storage yard by the mobile acquisition device. Attached Figure Description

[0051] Figure 1 This is a flowchart illustrating the steps of the intelligent inspection method for sampling coal storage yards in thermal power plants in this embodiment. Detailed Implementation

[0052] The following is in conjunction with the appendix Figure 1 This application will be described in further detail.

[0053] This application discloses an intelligent inspection method for sampling coal storage yards in thermal power plants.

[0054] Example: Figure 1 As shown, the present invention provides an intelligent inspection method for sampling coal storage yards in thermal power plants, comprising:

[0055] S1, based on the mobile acquisition device, three-dimensional data of the coal storage yard is collected, the initial three-dimensional data collected is identified for coal pile and coal pile integrity, and a three-dimensional model of each coal pile in the coal storage yard is constructed according to the identification result; wherein the mobile acquisition device can carry a high-definition camera and a laser radar to ensure that the mobile acquisition device can correctly collect the situation in the coal storage yard. The mobile acquisition device can be a tracked robot to meet the requirements of driving on uneven terrain and climbing slopes.

[0056] S2, the driving path of the mobile acquisition device when collecting the coal pile is obtained, and the stacking position of the corresponding coal pile in the coal storage yard is determined according to the driving path, and a three-dimensional map data of the coal storage yard is constructed in combination with the three-dimensional model of the corresponding coal pile;

[0057] S3, the sampling requirement at each inspection is obtained, and the coal pile in the three-dimensional map data is randomly selected according to the sampling requirement to obtain a random sampling point;

[0058] S4, based on the distribution of the coal pile in the three-dimensional map data and the random sampling point, the driving path of the mobile acquisition device is planned to obtain first path data for coal storage yard inspection and second path data for coal pile inspection and sampling, and the first path data and the second path data are uniformly recorded as an inspection path, and the mobile acquisition device inspects and samples according to the inspection path;

[0059] S5, coal quality detection is performed on the sample coal to determine the coal quality data of the sample coal, and the coal quality data of the sample coal is compared with the built-in index item standard value to determine whether there is an abnormal index item in the sample coal, and according to the position information of the sample coal with the abnormal index item, a corresponding early warning signal is output; the relevant personnel determine the coal pile on the position information according to the position information of the sample coal in the early warning signal, and output the human judgment result, that is, the early warning feedback signal.

[0060] S6, the early warning feedback signal is obtained, and the coal quality data is added to the three-dimensional map data according to the early warning feedback signal, the position information of the coal pile and the coal quality data on the corresponding coal pile, and a coal quality distribution heat map of the coal storage yard is obtained.

[0061] In this embodiment, the three-dimensional space information (three-dimensional data) of the specified area is scanned by driving and scanning the specified area (coal storage yard) by using the mobile collection device, and the spatial distribution of the specified area (three-dimensional map data) is constructed by integrating the three-dimensional space information, which includes the size of the coal storage yard, the storage position of the goods in the coal storage yard, etc. When there is a sampling requirement during each safety inspection, the sampling requirement is randomly matched with the coal pile in the coal storage yard, so that the collected sample can truly reflect the true situation of the corresponding coal pile. At the same time, due to the selection of different sampling points (random sampling points), the inspection path of the mobile collection device is re-planned to ensure that the coal pile can be successfully sampled at the specified sampling point during daily inspection, thereby improving the work efficiency; the coal quality of the sampled sample coal is detected to determine the true situation of the coal quality of each coal pile, and when an abnormal index item is determined, an early warning signal is output to remind the relevant staff to manually re-judge the abnormal coal pile, thereby improving the accuracy of the coal quality evaluation of the coal pile and ensuring the accuracy of the finally generated coal quality distribution thermal map, providing data support for coal yard partition storage and coal blending combustion, optimizing the boiler combustion efficiency, and improving the management efficiency of the coal storage yard.

[0062] For example, before ensuring that the mobile collection device can perform daily inspection on the coal storage yard of the thermal power plant, the coal storage yard needs to be learned first to ensure that the mobile collection device can accurately recognize the storage situation in the coal storage yard.

[0063] The distribution of each coal pile and the stacking amount of the coal pile in the coal storage yard are obtained by using the high-definition camera and the laser radar carried on the mobile collection device to collect the situation in the coal storage yard, and a complete three-dimensional map data of the coal storage yard is constructed. After determining the three-dimensional map data of the coal storage yard, the coal storage yard is inspected daily, and when there is a coal sampling requirement, the sampling requirement is randomly matched to ensure that the sample collected by the mobile collection device during collection can accurately reflect the true situation of the coal pile.

[0064] Since each coal pile is a three-dimensional solid, the sampling point may also be located at different positions during sampling, so the path of the sampling point needs to be added to the original inspection path during coal sampling. For example, the sampling point is located at the top of the coal pile, and the mobile collection device needs to move to the top of the coal pile for collection.

[0065] When the mobile collection device collects the sample, the sample coal after collection is detected quickly by using the portable infrared coal quality analyzer carried in the mobile collection device to determine the moisture, ash, volatile matter and other indexes of the coal, and the detected data is uploaded to the coal storage yard management system in real time. At the same time, the detected data is compared with the standard value of the built-in index item, if it exceeds the standard value, it indicates that the coal pile has an abnormal index, and the abnormal index may be a machine failure during machine detection, or it may be the true situation of the coal pile, so an alarm is needed to remind the relevant staff to recheck, so as to ensure the accuracy of the coal quality data of the coal pile, and at the same time, the automatic identification of the sample coal by using the portable infrared coal quality analyzer in the mobile collection device reduces the artificial labor of the relevant staff and improves the safety of the personnel.

[0066] When the relevant staff conducts human inspection, the results after inspection are fed back to the system, and the system updates the coal quality data of the abnormal coal pile according to the feedback results, so as to ensure that the coal quality data of each coal pile in the coal storage yard is accurate, that is, the position recognition of the coal pile in the coal storage yard is realized by using the mobile collection device, and the accurate recognition of the coal quality data of each coal pile is realized, so that the finally generated coal quality distribution thermal map is more accurate, so as to be able to accurately select different coal piles according to different production needs, and improve the production efficiency.

[0067] In step S1, the mobile collection device collects three-dimensional data of the coal storage yard, recognizes the coal pile and the integrity of the coal pile from the collected initial three-dimensional data, and constructs a three-dimensional model of each coal pile in the coal storage yard according to the recognition results, including the following steps:

[0068] S11, the mobile collection device drives according to the built-in initial route, and collects the surrounding environment of the initial route during driving to obtain initial three-dimensional data;

[0069] S12, judging the initial three-dimensional data to determine whether there is a coal pile in the currently collected three-dimensional data;

[0070] S13, if it is determined that there is a coal pile, the integrity of the coal pile is judged from the initial three-dimensional data, if the coal pile corresponding to the initial three-dimensional data has integrity, the driving continues based on the initial route; which also includes: when it is determined that there is no coal pile, driving continues according to the initial route.

[0071] S14, if it is determined that there is a coal pile, but the coal pile does not have integrity, the recognition ratio of the mobile collection device is obtained, and the coal pile is climbed and collected according to the recognition ratio until the coal pile is completely collected;

[0072] S15, acquire the three-dimensional data of the complete coal pile and the driving data of the mobile acquisition device, and splice the plurality of three-dimensional data acquired completely according to the driving data to obtain the three-dimensional model of the coal pile.

[0073] In this embodiment, the initial route control mobile acquisition device is used to collect the environment, so as to determine the surrounding environment located around the path and within the scanning range. After each collection, the initial three-dimensional data collected is analyzed and judged to determine whether there is a coal pile in the initial three-dimensional data collected newly, and the integrity of the coal pile when there is a coal pile. When it is determined that there is no coal pile in the initial three-dimensional data or the coal pile has integrity, it indicates that the coal pile has been completely collected, and the safety of the coal pile can be directly judged without further collection of the coal pile. Therefore, the mobile acquisition device can continue to travel according to the initial route. Otherwise, when it is determined that the coal pile does not have integrity, the mobile acquisition device needs to further collect the coal pile by climbing on the coal pile to completely collect the three-dimensional data of the coal pile. After the collection is completed, the three-dimensional data of the coal pile collected is spliced by using the recognition scale and the driving data of the mobile acquisition device, so that the three-dimensional model of the coal pile finally constructed is more accurate, which provides a data basis for subsequent safety inspection, sample inspection and coal quality distribution thermal map, and improves the management efficiency.

[0074] For example, when constructing a three-dimensional map of a specified area (coal storage yard), the three-dimensional data of the area needs to be obtained first. Therefore, the area is scanned by using the high-definition camera and laser radar carried by the mobile acquisition device to obtain the corresponding three-dimensional data. However, the scanning range of the high-definition camera and laser radar is limited, and the coal storage yard is much larger than the scanning range of the mobile acquisition device. Therefore, the mobile acquisition device needs to move constantly to ensure that the entire space can be scanned when scanning the three-dimensional spatial information of the coal storage yard. Therefore, the scanning path of the mobile acquisition device needs to be determined before the mobile acquisition device scans, so as to ensure that the entire space can be scanned.

[0075] When the mobile acquisition device travels and scans according to the initially set route, the initial three-dimensional data formed by each scan is obtained. The initial three-dimensional data can be regarded as one picture image after another. Whether there is a coal pile in the picture image (initial three-dimensional data) is determined. If there is a coal pile, the completeness of the coal pile in the picture needs to be judged. If it is complete, further collection is not needed. If it is not complete, further collection is needed. The possible reason for the incompleteness is that the coal pile is too large, so that the complete picture of the coal pile exceeds the scanning range of the high-definition camera and laser radar. Therefore, the mobile acquisition device needs to climb on the coal pile to enable the mobile acquisition device to completely collect the coal pile and ensure the completeness of the coal pile collection.

[0076] Since the overall volume of the coal pile exceeds the scanning range, when the climbing collection is performed, the collected three-dimensional data is only a part of the coal pile, and thus a large amount of collected three-dimensional data needs to be arranged to be combined into a complete three-dimensional data of the coal pile.

[0077] By using the identification ratio to determine the real situation corresponding to the scanned three-dimensional data, for example, 1 pixel grid corresponds to 1 cm in reality. In combination with the travel data of the mobile collection device, the specific area of the coal pile corresponding to each collected three-dimensional data is determined, for example, each collected three-dimensional data is an area image of one grid in a nine-square grid, and the position of each area image (three-dimensional data) in the nine-square grid is determined by using the travel data. For example, the mobile collection device collects the space environment once every 1 cm of travel, and obtains a three-dimensional data, and the direction and distance of the travel correspond to the change of the change direction of the image and the supplement, so that when the coal pile is completely collected, all the three-dimensional data is spliced to construct the real three-dimensional situation of the coal pile.

[0078] In step S2, the travel path of the mobile collection device when collecting the coal pile is obtained, and the stacking position of the corresponding coal pile in the coal storage yard is determined according to the travel path, and the three-dimensional model of the corresponding coal pile is combined to construct the three-dimensional map data of the coal storage yard, further comprising the following steps:

[0079] S21, based on the initial route, a plane coordinate system matching the initial route is constructed;

[0080] S22, based on the three-dimensional model of the coal pile, the inclination angle on each region of the coal pile is determined, and the travel data of the mobile collection device on the corresponding position is split according to the inclination angle on each position, and the three-dimensional travel data is converted into two-dimensional travel data;

[0081] S23, based on the two-dimensional travel data, the position of the coal pile on the plane coordinate system is determined, and based on the plane coordinate system with the coal pile position information and the three-dimensional model of the coal pile, the three-dimensional map data of the coal storage yard is constructed.

[0082] In this embodiment, by using the initial route, a plane coordinate system is constructed, and the initial route is quantified to determine the land area of the coal storage yard. The climbing track of the mobile collection device on the coal pile is converted into two-dimensional travel data to be quantified into the plane coordinate system, so that the position of each coal pile can be accurately reflected on the constructed plane coordinate system. Based on the quantified coal pile position, data is added to the three-dimensional model of the corresponding coal pile to obtain the three-dimensional map data reflecting the distribution and real storage situation of each coal pile in the coal storage yard, so as to facilitate subsequent safety inspection and sample inspection, and improve the management efficiency of the coal storage yard.

[0083] For example, when it is determined that there is a coal pile and a three-dimensional model of the coal pile is constructed, the constructed individual three-dimensional models need to be integrated to obtain the distribution and area of each coal pile in the coal storage yard.

[0084] First, the movement of the mobile collection device is quantified by using the initial route to construct a plane coordinate system, thereby quantifying the coal storage space of the entire coal storage yard. Then, the three-dimensional movement trajectory of the mobile collection device on the coal pile is converted into a two-dimensional movement trajectory, thereby determining the position of the corresponding coal pile in the plane coordinate system. After determining the position of the coal pile in the plane coordinate system, the three-dimensional model of the coal pile is combined to construct a three-dimensional map data that can reflect the stacking position, shape and amount of the coal pile in the coal storage yard.

[0085] In step S12, the initial three-dimensional data is judged to determine whether there is a coal pile in the three-dimensional data collected at present, including the following steps:

[0086] S12a, the initial three-dimensional data is grouped in the vertical direction perpendicular to the horizontal plane to obtain three-dimensional vertical group data;

[0087] S12b, the depth data of the three-dimensional vertical group data is read, and the depth data in the three-dimensional vertical group data is arranged from bottom to top according to the vertical direction to obtain a first depth scatter plot;

[0088] S12c, the first depth scatter plot is judged to determine the distribution rule of the scatter points in the first depth scatter plot; wherein the distribution rule includes linear distribution and nonlinear distribution. If it is determined that the distribution rule of the first depth scatter plot formed by each three-dimensional vertical group data is nonlinear distribution, it is determined that there is no coal pile in the initial three-dimensional data.

[0089] S12d, if the distribution rule of the first depth scatter plot is linear distribution, the linear data presented by the distribution rule of the first depth scatter plot is determined; wherein the linear data refers to the straight line formula of the straight line surrounded by the scatter points of the depth at different positions. For example, y=ax, wherein y=ax is the straight line (linear data) presented by the first depth scatter plot, y is the depth value, x is the height in the vertical direction, and a is the inclination angle coefficient.

[0090] S12e, the inclination angle of the linear data is judged, and if the inclination angle presented by the linear data is greater than or equal to a preset inclination value, it is determined that there is no coal pile in the initial three-dimensional data;

[0091] S12f, if the inclination angle of the linear data formed by the respective three-dimensional vertical group data is less than a preset inclination value, then the inclination angle of the linear data formed by the respective three-dimensional vertical group data is counted, and it is determined that the inclination angle of the linear data formed by the respective three-dimensional vertical group data has convergence, and it is determined that the initial three-dimensional data has a coal pile; otherwise, it is determined that there is no coal pile.

[0092] In the embodiment, when the initial three-dimensional data obtained by scanning is identified, according to the characteristics of the shape of the coal pile, the initial three-dimensional data to be identified is grouped based on the vertical direction, and the depth data in each group is read and counted, and the distribution of the depth data in the corresponding three-dimensional vertical group data is determined. When it is determined that the distribution of the depth data is linear, the inclination angle of the linear data is determined, and the possibility of the coal pile is further determined according to the inclination angle, and the convergence of the inclination angle of the linear data of the respective three-dimensional vertical group data is determined, so as to further determine the possibility of the coal pile, so that the identification of the coal pile in the initial three-dimensional data is more accurate, and the accurate identification of the coal pile in the coal yard by the mobile acquisition device is ensured.

[0093] For example, during the movement of the mobile acquisition device according to the initial route, the initial three-dimensional data is obtained by scanning the surrounding environment. The initial three-dimensional data can only reflect the concave-convex changes of the surrounding environment, and cannot determine what causes the concave-convex changes. Therefore, when a new three-dimensional data is obtained, it is necessary to determine whether the three-dimensional data has a coal pile.

[0094] When the initial three-dimensional data collected is determined, since the stacking status of the coal pile is mainly close to a cone or a three-prism, that is, there is a certain inclination angle between the lower edge close to the ground and the top point away from the ground, the characteristics are used to identify and determine the coal pile.

[0095] Suppose that the mobile acquisition device scans the surrounding environment, and the initial three-dimensional data obtained by scanning contains a coal pile, then the result shown in the initial three-dimensional data should be that the depth data in the initial three-dimensional data gradually increases in the vertical direction. For example, the mobile acquisition device scans the surrounding environment by using a laser radar, then the closer the position to the laser radar, the faster the reflected time and the higher the light intensity; the farther the position to the laser radar, the slower the reflected time and the lower the light intensity. Therefore, the depth data in the corresponding direction is determined according to the reflection of the light. Suppose that the shape of the coal pile is conical, then the higher the depth at the position away from the ground, and it can be determined whether the initial three-dimensional data obtained by scanning contains a coal pile. Since the characteristics of the coal pile lead to the same inclination angle of each group, there may also be a situation that a wall leads to the same inclination angle, so the inclination angle needs to be limited. Suppose that when the inclination angle is greater than or equal to 90 degrees, it is determined that the scanned object is not a coal pile, and when the inclination angle is less than 90 degrees, it is determined that the scanned object is a coal pile. Thus, the accuracy of the determination of the coal pile in the initial three-dimensional data is improved.

[0096] In step S13, if it is determined that there is a coal pile, the initial three-dimensional data is subjected to a coal pile completeness determination, including the following steps:

[0097] S13a, after it is determined that there is a coal pile, the initial three-dimensional data is grouped based on the horizontal direction parallel to the horizontal plane to obtain three-dimensional horizontal group data, and the length of the three-dimensional horizontal group data is counted according to the horizontal direction to obtain length data;

[0098] S13b, the length data of each three-dimensional horizontal group data is compared to determine the consistency of the length data in the three-dimensional horizontal group data; wherein the consistency refers to the length of the object scanned in the horizontal direction in the scanned three-dimensional data being the same.

[0099] S13c, if the length data in the three-dimensional horizontal group data has consistency, it is determined that the coal pile does not have completeness;

[0100] S13d, if the length data in the three-dimensional horizontal group data does not have consistency, the height of the shorter side of the three-dimensional horizontal group data which does not have consistency is read and the concentration in the height is determined;

[0101] S13e, if the one with less length data in the three-dimensional horizontal group data without consistency has concentration and the height is greater than a preset height value, boundary judgment is performed on the one with less length data in the three-dimensional horizontal group data without consistency to obtain boundary data; wherein the preset height value refers to the height percentage of the detected object. For example, if the height percentage is set to 80%, and the height of the collected object is 1 m, the corresponding height value is 0.8 m. When the height of the concentrated position area is higher than 0.8 m, boundary judgment is performed.

[0102] S13f, the theoretical height data of the coal pile is calculated according to the boundary data, and the height of the one with less length data in the three-dimensional horizontal group data without consistency is calculated based on the recognition ratio to obtain the sampling height data.

[0103] S13g, the sampling height data is compared with the theoretical height data, and if the sampling height data is less than the theoretical height data, it is determined that the coal pile does not have integrity.

[0104] In the embodiment, after it is determined that there is a coal pile, the initial three-dimensional data is grouped in the horizontal direction, the length of each three-dimensional horizontal group data is counted, the length data of each three-dimensional horizontal group data is judged for consistency, and the integrity of the coal pile is determined according to the consistency of the length data. When the length data has consistency, it indicates that the initial three-dimensional data scanned by the detected coal pile does not have integrity. When the length data does not have consistency, the integrity of the coal pile is further judged by using the distribution characteristics of the three-dimensional horizontal group data without consistency. When the distribution of the three-dimensional horizontal group data without consistency does not have concentration, it can be directly determined that the coal pile reflected by the initial three-dimensional data does not have integrity. When the distribution of the three-dimensional horizontal group data without consistency has concentration and the concentrated position area is greater than a preset height value, the theoretical height of the coal pile is simulated and judged by using the boundary data in the initial three-dimensional data and the stacking characteristics of the coal pile, the theoretical height is compared with the actual sampling height, and whether the coal pile corresponding to the initial three-dimensional data has integrity is further determined, so that the judgment result is more accurate when the integrity of the coal pile is judged for each initial three-dimensional data.

[0105] For example, after it is determined that there is a coal pile in the initial three-dimensional data, since the scanning range of the mobile collection device is limited, the coal pile may not be completely scanned in height, so that the three-dimensional data collected can only represent part of the coal pile. In this case, the mobile collection device needs to be controlled to climb to ensure complete collection of the coal pile and the integrity of the three-dimensional model of the coal pile.

[0106] By using the change in depth of the initial three-dimensional data in the vertical direction to determine the possibility of the existence of the coal pile, and by dividing the coal pile in the horizontal direction to determine whether it is completely matched, the change in length of the three-dimensional horizontal group data is determined by length statistics of the three-dimensional horizontal group data in the horizontal direction.

[0107] Suppose the collection range of the mobile collection device is a (width) x b (height), and the currently collected coal pile is in the shape of a cone. If the initial three-dimensional data collected covers the entire collection range, it indicates that the current collection surface of the coal pile is larger than the collection range of the mobile collection device, so it can be determined that the collected coal pile is not complete. At this time, the data characteristics are that the length data from bottom to top is completely the same, i.e., the length data is consistent. Conversely, if the initial three-dimensional data collected does not cover the entire collection range, the data characteristics are that the length data in some areas is not equal to that in other areas covered. There are three cases of this inequality: one is that the distribution of the area with short length data is random, the second is that the distribution of the area with short length data is concentrated, and this concentration includes being concentrated in the top area and being concentrated in the bottom area. However, whether the distribution is random or concentrated in the bottom area, it can be determined that the collected coal pile is not complete. Only when the distribution is concentrated in the top area can it be further determined whether the collection is complete.

[0108] When the distribution of the area with short length data is concentrated in the top area, it indicates that the boundary position of the coal pile can be directly determined from the initial three-dimensional data. Then, according to the boundary condition, the height of the coal pile is simulated and judged, and the simulated height is directly compared with the actual height, so that whether the coal pile is completely collected can be more accurately determined. The accuracy of the judgment of the completeness of the coal pile collection is improved.

[0109] In step S4, based on the coal pile distribution in the three-dimensional map data and the random sampling points, the driving path of the mobile collection device is planned to obtain the first path data for the coal storage yard inspection and the second path data for the coal pile inspection and sampling, and the first path data and the second path data are uniformly recorded as the inspection path. The mobile collection device performs inspection and sampling according to the inspection path, including the following steps:

[0110] S41, match the coal pile distribution with the initial route to determine the driving route occupied by the coal pile;

[0111] S42, if the coal pile occupies the driving route, adjust the initial route according to the occupied driving route to ensure that the adjusted driving path is not occupied by the coal pile, and obtain the first path data;

[0112] S43, determine a driving path of the mobile collection device on the coal pile based on the first path data and the distribution of the coal pile, and obtain second path data;

[0113] S431, determine an entry point between the first path data and the coal pile based on the driving direction of the mobile collection device on the first path data;

[0114] S432, determine a scanning range of the mobile collection device based on the recognition ratio of the mobile collection device; assuming that the recognition ratio of the mobile collection device is 10:1, i.e. for every 1 cm away, the corresponding scanning range is enlarged by 10 cm2, and then the corresponding real scanning range can be determined according to the current real distance.

[0115] S433, determine collinear data between the entry point of the coal pile and the vertex of the coal pile based on the three-dimensional data of the coal pile, and record the collinear data as a return path of the mobile collection device when collecting the coal pile;

[0116] S434, divide the coal pile into a first collection area and a second collection area according to the collinear data and the scanning range; wherein the second collection area is an area formed by the return path and the scanning range, and the first collection area is a remaining area outside the second collection area on the coal pile.

[0117] S435, match the scanning range with the first collection area to determine a second sub-path of the mobile collection device; integrate the second sub-path and the return path to obtain the second path data.

[0118] S44, calibrate the second path data based on random sampling points to obtain third path data with sampling marks;

[0119] S45, integrate the first path data and the third path data to obtain a patrol path of the current mobile collection device.

[0120] In this embodiment, the distribution of the coal pile is matched with the initial route to re-plan the driving path of the mobile collection device during subsequent safety inspection, so as to ensure that the planned first path data can scan the entire coal storage space and avoid occupying the initial route by the coal pile, and ensure the normal operation of the mobile collection device. At the same time, the driving direction of the mobile collection device on the first path data is used to determine the entry point of the mobile collection device when climbing the coal pile for scanning, and the area of the coal pile that needs to be scanned is divided according to the entry point and the vertex of the coal pile, to obtain a second collection area composed of a return path and a scanning range, and a first collection area composed of other remaining areas. Then, the first collection area is planned, and the second sub-path obtained by planning the first collection area is combined with the return path to determine the driving path of the mobile collection device when climbing the coal pile. Then, the final inspection path is determined by integration, so that the mobile collection device can detect the distribution of the coal pile in the coal storage yard again each time it performs inspection, reducing the missed detection of newly added coal piles. At the same time, by climbing and checking each coal pile, the safety of the coal pile is ensured, and the management efficiency of the coal storage yard is comprehensively improved.

[0121] For example, during the construction of the three-dimensional map data of the coal storage yard, the mobile collection device is used to scan and collect according to the initial route. During this process, when a coal pile cannot be collected at one time, the mobile collection device is controlled to climb the coal pile, so as to realize the comprehensive collection of the coal pile. During the climbing and comprehensive collection process, the driving path of the mobile collection device can be various and chaotic to ensure that the finally constructed three-dimensional data of the coal pile is accurate. When the three-dimensional map data of the coal storage yard is constructed, the mobile collection device needs to be planned to ensure the working efficiency of the mobile collection device when scanning and collecting the coal pile.

[0122] At the same time, since the initial route is an initial inspection mode according to the scanning range of the mobile collection device, the path information planned in this inspection mode may conflict with the stacking position of the coal pile, and the initial route needs to be re-planned according to the distribution of the coal pile to ensure that the planned first path data can scan the entire coal storage space and avoid occupying the initial route by the coal pile, and ensure the normal operation of the mobile collection device.

[0123] When the driving path of the mobile collection device except for coal pile scanning is determined, the driving direction of the mobile collection device on the first path data is used to determine the entry point (cut-in point) of the mobile collection device when scanning the coal pile, so as to achieve the purpose of comprehensive scanning of the coal pile by climbing, and improve the working efficiency of the mobile collection device while performing safety inspection and sample collection of the coal pile.

[0124] By using the identification ratio of the mobile acquisition device, the scanning range of the mobile acquisition device is determined, the collinear data between the top point of the coal pile and the entry point of the mobile acquisition device is determined according to the three-dimensional data corresponding to the coal pile, and the collinear data is matched based on the scanning range, so that the complete coal pile to be scanned area is divided into a first acquisition area and a second acquisition area. The first acquisition area can be composed of an S-shaped path, and the second acquisition area can be composed of a loop path constructed by the collinear data and the scanning range, so that the mobile acquisition device does not exist in the whole scanning process. Repeat the scanning part, thereby improving the scanning efficiency of the mobile acquisition device. Then determine the scanning path (second path data) of the mobile acquisition device to the coal pile, and combine the scanning path (first path data) of the mobile acquisition device to the coal storage yard space, so as to construct the inspection path in the subsequent inspection and sampling process, and ensure the working efficiency of the mobile acquisition device.

[0125] A kind of intelligent inspection method for sampling of coal storage yard of thermal power plant, further comprising:

[0126] When there is sampling demand in the inspection task, the mobile acquisition device reaches the position marked by random sampling point according to the inspection path, and determines the sampling head based on the sampling demand;

[0127] The marked position is sampled using the corresponding sampling head, and the sampling pressure of the sampling head is collected during the sampling process to obtain pressure value data;

[0128] The pressure value data is judged by the rated pressure value preset for the corresponding sampling head, and if the pressure value data is greater than the rated pressure value, the sampling point is marked, and a sampling alarm signal is output.

[0129] In this embodiment, by selecting the corresponding sampling head according to the sampling demand, and collecting and judging the sampling force (pressure) borne by the sampling head during the sampling process, it is ensured that the sampling force can be adjusted according to the hardness of the coal pile during use, avoiding damage to the sampling head. When the adjusted sampling force is greater than the rated pressure value that the sampling head can bear, the sampling point is marked and an alarm is given to notify the relevant staff for manual detection in time, avoiding damage to the sampling head and ensuring the sampling demand, so that the evaluation result is more accurate.

[0130] Compared with the existing intelligent inspection method for sampling of coal storage yard of thermal power plant, the management efficiency of the coal storage yard is improved.

[0131] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A method for intelligent sampling and inspection of coal storage yards in thermal power plants, characterized in that, include: Three-dimensional data of the coal storage yard is collected using a mobile acquisition device. The initial three-dimensional data is used to identify coal piles and assess their integrity. Based on the identification results, a three-dimensional model of each coal pile in the coal storage yard is constructed. The travel path of the mobile acquisition device during coal pile acquisition is obtained, and the stacking position of the corresponding coal pile in the coal storage yard is determined based on the travel path. The three-dimensional map data of the coal storage yard is constructed by combining the three-dimensional model of the corresponding coal pile. Obtain the sampling requirements for each inspection, and randomly select coal piles in the 3D map data according to the sampling requirements to obtain random sampling points; Based on the distribution of coal piles and random sampling points in the 3D map data, the travel path of the mobile data acquisition device is planned to obtain the first path data for coal storage yard inspection and the second path data for coal pile inspection and sampling. The first path data and the second path data are uniformly recorded as the inspection path, and the mobile data acquisition device performs inspection and sampling according to the inspection path. The sampled coal is subjected to coal quality testing to determine the coal quality data of the sample coal. The coal quality data of the sample coal is compared with the built-in standard values ​​of the indicator items to determine whether there are abnormal indicator items in the sample coal. Based on the location information of the abnormal indicator items in the sample coal, the corresponding early warning signal is output. The system acquires early warning feedback signals, and adds coal quality data to the three-dimensional map data based on the early warning feedback signals, the location information of the coal piles, and the coal quality data on the corresponding coal piles, thus obtaining a thermal map of coal quality distribution in the coal storage yard.

2. The intelligent inspection method for sampling in a coal storage yard of a thermal power plant according to claim 1, characterized in that: The method involves using a mobile acquisition device to collect three-dimensional data from the coal storage yard, identifying coal piles and assessing their integrity based on the initial three-dimensional data, and constructing three-dimensional models of each coal pile in the coal storage yard based on the identification results. This includes: The mobile data acquisition device travels along a pre-set initial route and collects data on the surrounding environment of the initial route during the journey to obtain initial 3D data. The initial 3D data is evaluated to determine whether a coal pile exists in the currently acquired 3D data. If a coal pile is determined to exist, the integrity of the coal pile is judged based on the initial three-dimensional data. If the coal pile corresponding to the initial three-dimensional data is complete, the journey continues based on the initial route. If a coal pile is determined to exist, but the coal pile is not complete, the recognition ratio of the mobile acquisition device is obtained, and the coal pile is climbed and collected according to the recognition ratio until the coal pile is completely collected. The system acquires complete 3D data of the coal pile and driving data of the mobile acquisition device, and stitches together the multiple complete 3D data based on the driving data to obtain a 3D model of the coal pile.

3. The intelligent inspection method for sampling in a coal storage yard of a thermal power plant according to claim 2, characterized in that: The step of judging the initial three-dimensional data to determine whether a coal pile exists in the currently acquired three-dimensional data includes: The initial three-dimensional data is grouped according to the vertical direction of the horizontal plane to obtain three-dimensional vertical group data; Depth data is read from the three-dimensional vertical group data, and the depth data in the three-dimensional vertical group data is arranged from bottom to top according to the vertical direction to obtain the first depth scatter plot; The distribution pattern of the scatter points in the first depth scatter plot is determined by analyzing the scatter plot. If the distribution pattern of the first depth scatter plot is linear, then determine the linear data presented by the distribution pattern based on the first depth scatter plot; The tilt angle of the linear data is determined. If the tilt angle of the linear data is greater than or equal to the preset tilt value, it is determined that there is no coal pile in the initial three-dimensional data. If the tilt angle of the linear data is less than the preset tilt value, the tilt angles of the linear data composed of each three-dimensional vertical group of data are statistically analyzed. If the tilt angles of the linear data composed of each three-dimensional vertical group of data are convergent, it is determined that there is a coal pile in the initial three-dimensional data; otherwise, it is determined that there is no coal pile.

4. The intelligent inspection method for sampling in a coal storage yard of a thermal power plant according to claim 3, characterized in that: If a coal pile is determined to exist, the initial three-dimensional data is then used to determine the integrity of the coal pile, including: Once the presence of a coal pile is determined, the initial three-dimensional data is grouped based on the horizontal direction parallel to the horizontal plane to obtain three-dimensional horizontal group data. Then, the scanning length of the three-dimensional horizontal group data is statistically analyzed according to the horizontal direction to obtain length data. Compare the length data of each three-dimensional horizontal group to determine the consistency of the length data in the three-dimensional horizontal group data. If the length data in the three-dimensional horizontal group data are consistent, then the coal pile is determined to be incomplete. If the length data in the three-dimensional horizontal group data is inconsistent, then the shorter length data in the inconsistent three-dimensional horizontal group data is used for height reading and height concentration judgment. If the shorter side of the inconsistent 3D horizontal data group has a concentration and its height is greater than the preset height value, then a boundary judgment is performed on the shorter side of the inconsistent 3D horizontal data group to obtain boundary data. The theoretical height of the coal pile is calculated based on the boundary data, and the height of the shorter side of the inconsistent three-dimensional horizontal data is calculated based on the identification ratio to obtain the collected height data. The sampled height data is compared with the theoretical height data. If the sampled height data is less than the theoretical height data, the coal pile is determined to be incomplete.

5. The intelligent inspection method for sampling in a coal storage yard of a thermal power plant according to claim 4, characterized in that, The process of acquiring the travel path of the mobile data acquisition device during coal pile acquisition, determining the corresponding coal pile's location in the coal storage yard based on the travel path, and constructing a 3D map of the coal storage yard using the 3D model of the corresponding coal pile, also includes: Based on the initial route, construct a planar coordinate system that matches the initial route; Based on the three-dimensional model of the coal pile, the tilt angle of each area of ​​the coal pile is determined, and the driving data of the mobile acquisition device at each position is split according to the tilt angle of each position, and the three-dimensional driving data is converted into two-dimensional driving data. The position of the coal pile on the plane coordinate system is determined based on the two-dimensional driving data, and a three-dimensional map of the coal storage yard is constructed based on the plane coordinate system with coal pile position information and the three-dimensional model of the coal pile.

6. The intelligent inspection method for sampling in a coal storage yard of a thermal power plant according to claim 1, characterized in that: Based on the distribution of coal piles and random sampling points in the 3D map data, the travel path of the mobile data acquisition device is planned to obtain first path data for coal storage yard inspection and second path data for coal pile inspection and sampling. The first path data and the second path data are collectively recorded as the inspection path. The mobile data acquisition device performs inspection and sampling according to the inspection path, including: The distribution of coal piles is matched with the initial route to determine the travel route occupied by the coal piles. If the coal pile occupies the driving route, the initial route is adjusted according to the occupied driving route to ensure that the adjusted driving route is not occupied by the coal pile, and the first path data is obtained. Based on the first path data and the distribution of the coal pile, the travel path of the mobile data acquisition device on the coal pile is determined, and the second path data is obtained. The second path data is calibrated based on random sampling points to obtain the third path data with sampling marks; By integrating the data from the first path and the data from the third path, the inspection path of the current mobile data acquisition device is obtained.

7. The intelligent inspection method for sampling in a coal storage yard of a thermal power plant according to claim 6, characterized in that: The process of determining the travel path of the mobile data acquisition device on the coal pile based on the first path data and the distribution of the coal pile, and obtaining the second path data, includes: Based on the travel direction of the mobile acquisition device on the first path data, the entry point between the first path data and the coal pile is determined; The scanning range of the mobile acquisition device is determined based on the recognition ratio of the mobile acquisition device. Based on the three-dimensional data of the coal pile, the collinearity data between the vertex of the coal pile and the entry point of the coal pile is determined, and the collinearity data is recorded as the return path of the mobile acquisition device when acquiring data from the coal pile. Based on the collinear data and scanning range, the coal pile was divided into a first collection area and a second collection area; The scanning range is matched with the first acquisition area to determine the second sub-path of the mobile acquisition device; the second sub-path and the return path are integrated to obtain the second path data.

8. The intelligent inspection method for sampling in a coal storage yard of a thermal power plant according to claim 1, characterized in that: Also includes: When there is a sampling requirement in the inspection task, the mobile data acquisition device arrives at the location marked by the random sampling point according to the inspection path, and then determines the sampling head based on the sampling requirement. The corresponding sampling head is used to sample the marked position, and the sampling pressure of the sampling head is collected during the sampling process to obtain pressure value data; The pressure data is judged against the preset rated pressure value of the corresponding sampling head. If the pressure data is greater than the rated pressure value, the sampling point is marked and a sampling alarm signal is output.

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