A digital coal yard management and control method and system based on three-dimensional modeling technology

Abstract

The application discloses a kind of digital coal yard management and control method and system based on three-dimensional modeling technology, belong to bulk material yard digital management technical field, method includes: providing coal yard digital model, obtains the three-dimensional positioning data of label itself in global geodetic coordinate system by UWB positioning label;With the cantilever structure parameter of bucket wheel machine, the real-time three-dimensional coordinates of bucket wheel machine wheel bucket farthest point in global geodetic coordinate system are solved, the real-time pitch angle and real-time rotation angle of cantilever are solved;With the horizontal coordinates of wheel bucket farthest point as index, retrieve the coal pile surface height value corresponding to horizontal coordinates;If coal pile surface height value is greater than the height value of wheel bucket farthest point, then determine that collision occurs, output interlock protection signal;If not, no interlock protection signal is output.The application deeply fuses coal yard digital model construction and wheel bucket positioning, completes anti-collision judgment by spatial comparison of model and positioning, supports coal flow equalization regulation, and reliability is better.

Description

Technical Field

[0001] This invention belongs to the field of digital management technology for bulk material stockpiles, specifically relating to a digital coal yard management method and system based on three-dimensional modeling technology. Background Technology

[0002] With the increasing demands for bulk material storage yard management from coal-fired power plants and port terminals, digital coal yard management technology is gradually becoming an industry trend. Currently, this field mainly uses laser scanning technology to acquire point cloud data of coal pile surfaces, combines it with 3D modeling software to calculate coal yard inventory, and utilizes bucket wheel excavators for stacking and reclaiming operations. In the process of digital upgrading, two core issues typically need to be addressed: first, how to accurately acquire the 3D digital information of the coal yard; and second, how to achieve precise positioning and safety control during bucket wheel excavator operation.

[0003] Existing bucket wheel excavator positioning systems mostly employ mechanical sliding rheostats. These rheostats generate voltage changes through the movement of the pitch, slewing, and traveling mechanisms, thereby quantifying the corresponding positional parameters. Due to the humid, dusty, and highly vibrating environment of coal yards, these mechanical components are prone to wear, oxidation, and contamination, leading to positioning data drift or even failure, resulting in low reliability. Furthermore, the lack of real-time three-dimensional coordinates of the bucket wheel and buckets within the global coordinate system of the coal yard during operation means that relying on observation and experience to judge the distance between the bucket wheel / bucket and the coal stack is particularly inaccurate at night or in extreme weather conditions. It also prevents spatial comparison with the acquired three-dimensional digital model of the coal yard, hindering automatic collision avoidance protection. In summary, current digital coal yard management systems struggle to achieve relatively high-precision dynamic updates of the three-dimensional digital model during operations, and the positioning methods for the bucket wheel within the global coordinate system of the coal yard are unreliable. Summary of the Invention

[0004] This invention provides a digital coal yard management method and system based on three-dimensional modeling technology. The purpose is to solve the problems in current digital coal yard management, such as the difficulty in dynamically updating the three-dimensional digital model of the coal yard with relatively high accuracy during the operation process, and the unreliability of the positioning method of the bucket wheel in the global coordinate system of the coal yard.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a digital coal yard management and control method based on three-dimensional modeling technology, comprising the following steps: Provide a digital model of the coal yard and obtain the three-dimensional positioning data of the tag itself in the global geodetic coordinate system in real time through UWB positioning tags; based on the three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, calculate the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system, and calculate the real-time pitch angle and real-time rotation angle of the cantilever. The construction of the digital model of the coal yard includes: scanning the coal pile area to obtain the original measurement data of the measuring points on the coal pile surface, including the slant range, horizontal azimuth angle and elevation angle of the radar to the measuring points; converting the original measurement data to a local three-axis coordinate system with the radar center as the origin to obtain the three-dimensional coordinates of the measuring points in the local three-axis coordinate system; converting the three-dimensional coordinates to the global geodetic coordinate system of the coal yard to obtain the three-dimensional coordinates of the measuring points in the global geodetic coordinate system, and using it as point cloud data to construct the digital model of the coal yard. Using the horizontal coordinate of the farthest point of the bucket wheel as the query index, the coal pile surface height value corresponding to the horizontal coordinate is retrieved in the coal yard digital model; if the coal pile surface height value is greater than the height value of the farthest point of the bucket wheel, a collision is determined to have occurred, and an interlock protection signal is output; otherwise, no interlock protection signal is output.

[0006] In some implementations, the raw measurement data is converted to a local three-axis coordinate system with the radar center as the origin, and calculated using the following formula: ; in, The slope distance from the radar to the measuring point. It is the horizontal azimuth. The pitch angle, The horizontal coordinate is in the local coordinate system. The vertical coordinate is in the local coordinate system. These are the vertical coordinates in the local coordinate system.

[0007] Furthermore, the three-dimensional coordinates under the local three-axis coordinate system are transformed to the global geodetic coordinate system of the coal yard, and the following formula is used for calculation: ; in, The known coordinates of the laser coal counting instrument installation point in the global geodetic coordinate system are given. Three-dimensional coordinates in a local three-axis coordinate system. The coordinates of the measuring point are in the three-dimensional coordinates of the global geodetic coordinate system.

[0008] In some implementations, constructing a digital model of the coal yard includes: filtering the point cloud data of all measuring points to remove outlier noise points and retain valid measuring points; generating a coal pile surface grid model based on the valid measuring points; calculating the coal pile volume based on the grid model and then multiplying it by a preset packing density to obtain the current coal yard inventory.

[0009] In some implementations, the cantilever structure parameters include: total cantilever length. , is the straight-line distance from the center of the cantilever pitch hinge to the foremost point of the bucket wheel; , is the distance along the cantilever direction from the UWB positioning tag installation point to the cantilever pitch hinge. The fixed deviation distance between the foremost point of the bucket wheel and the installation point of the UWB positioning tag. It satisfies the following formula: .

[0010] Furthermore, the real-time three-dimensional coordinates of the farthest point of the bucket wheel of the bucket engine in the global geodetic coordinate system are calculated, including: Based on the vertical coordinates of the UWB positioning tag in the global geodetic coordinate system and Calculate the real-time pitch angle of the cantilever. The formula is as follows: ; Based on three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, the real-time slewing angle of the cantilever is calculated, including: Calculate the horizontal projection length of the UWB positioning tag using the following formula. : ; Calculate using the following formula: ; in, The horizontal projection length at the location of the UWB positioning tag. The vertical coordinates of the UWB positioning tag in the global geodetic coordinate system are given. This is the real-time rotation angle of the cantilever.

[0011] Furthermore, the real-time three-dimensional coordinates of the farthest point of the bucket wheel of the bucket engine in the global geodetic coordinate system are calculated using the following formula: ; in, This represents the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system. This provides the 3D positioning data of the UWB positioning tag in the global geodetic coordinate system. This refers to the fixed deviation distance between the foremost point of the bucket wheel and the installation point of the UWB positioning tag.

[0012] In some implementations, the horizontal coordinates of the farthest point of the bucket wheel are used as a query index to retrieve the coal pile surface height value corresponding to the horizontal coordinates in the coal yard digital model. This includes: using the horizontal and vertical coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system as query keys, performing a spatial index retrieval in the point cloud data of the coal yard digital model to find valid measurement points whose horizontal coordinate deviation is within a set tolerance range; if valid measurement points exist, the vertical coordinates of the valid measurement points are obtained as the coal pile surface height value; if they do not exist, the judgment result of the previous cycle is maintained or an early warning is triggered.

[0013] In some implementations, the calculated real-time slewing angle is sent as an input to the slewing motor frequency converter, and the slewing speed of the bucket wheel excavator boom is dynamically adjusted according to the magnitude of the real-time slewing angle; when the real-time slewing angle increases, the slewing speed is increased, and when the real-time slewing angle decreases, the slewing speed is decreased. After outputting the interlock protection signal, the interlock protection signal is sent to the coal conveying DCS system. When the DCS system detects the interlock protection signal and the interlock is activated, it issues a slewing stop command for the bucket wheel excavator. The slewing stop command only allows the bucket wheel excavator to rotate in a safe direction.

[0014] This invention also provides a digital coal yard management system based on three-dimensional modeling technology to implement the aforementioned digital coal yard management method based on three-dimensional modeling technology, including a three-dimensional coordinate cantilever structure parameter calculation module and a judgment and protection module, wherein: The data acquisition module is used to: provide a digital model of the coal yard, and acquire the three-dimensional positioning data of the tag itself in the global geodetic coordinate system in real time through the UWB positioning tag; based on the three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, calculate the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system, and calculate the real-time pitch angle and real-time rotation angle of the cantilever. The construction of the digital model of the coal yard includes: scanning the coal pile area to obtain the original measurement data of the measuring points on the coal pile surface, including the slant range, horizontal azimuth angle and elevation angle of the radar to the measuring points; converting the original measurement data to a local three-axis coordinate system with the radar center as the origin to obtain the three-dimensional coordinates of the measuring points in the local three-axis coordinate system; converting the three-dimensional coordinates to the global geodetic coordinate system of the coal yard to obtain the three-dimensional coordinates of the measuring points in the global geodetic coordinate system, and using it as point cloud data to construct the digital model of the coal yard. The detection and protection module is used to: use the horizontal coordinate of the farthest point of the bucket wheel as the query index to retrieve the coal pile surface height value corresponding to the horizontal coordinate in the coal yard digital model; if the coal pile surface height value is greater than the height value of the farthest point of the bucket wheel, a collision is detected and an interlock protection signal is output; otherwise, no interlock protection signal is output.

[0015] Compared with existing technologies, the digital coal yard management method and system based on three-dimensional modeling technology of the present invention has the following beneficial effects: This invention employs UWB positioning technology to replace the traditional mechanical sliding rheostat positioning method, improving the accuracy of positioning data drift and failure caused by wear, oxidation, and contamination of mechanical components due to complex factors in the coal yard environment. This results in higher real-time performance and reliability of the bucket wheel's three-dimensional positioning in the global geodetic coordinate system of the coal yard. A laser coal inventory device is installed on the bucket wheel excavator body, allowing coal inventory scanning to be performed synchronously with the excavator's operation. The coal yard digital model can be dynamically updated during each operation. Compared to the traditional method of relying on manual handheld coal inventory devices for intermittent measurements at fixed times, the existing coal yard data has higher timeliness and accuracy. This invention does not simply collect and store positioning data and model data; instead, it uses spatial coordinate indexing to correlate and compare positioning data and model data in real time, determining collisions and outputting interlocking protection signals. This achieves automated anti-collision judgment based on the actual coal pile shape, enabling stable and reliable operation, especially under low visibility conditions such as nighttime or dusty conditions. This invention can relatively effectively improve the update frequency and accuracy of the digital model of the coal yard, provide an automatic anti-collision scheme for the bucket wheel excavator in the global space of the coal yard, and optimize the digitalization and intelligence of coal yard management. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the invention and constitute a part of this invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0017] Figure 1 This is a flowchart illustrating an embodiment of a digital coal yard management method based on 3D modeling technology according to the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0021] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0022] In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0023] like Figure 1 As shown, the present invention provides a digital coal yard management and control method based on three-dimensional modeling technology, comprising the following steps: Provide a digital model of the coal yard and obtain the three-dimensional positioning data of the tag itself in the global geodetic coordinate system in real time through UWB positioning tags; based on the three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, calculate the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system, and calculate the real-time pitch angle and real-time rotation angle of the cantilever. The construction of the digital model of the coal yard includes: scanning the coal pile area to obtain the original measurement data of the measuring points on the coal pile surface, including the slant range, horizontal azimuth angle and elevation angle of the radar to the measuring points; converting the original measurement data to a local three-axis coordinate system with the radar center as the origin to obtain the three-dimensional coordinates of the measuring points in the local three-axis coordinate system; converting the three-dimensional coordinates to the global geodetic coordinate system of the coal yard to obtain the three-dimensional coordinates of the measuring points in the global geodetic coordinate system, and using it as point cloud data to construct the digital model of the coal yard. Using the horizontal coordinate of the farthest point of the bucket wheel as the query index, the coal pile surface height value corresponding to the horizontal coordinate is retrieved in the coal yard digital model; if the coal pile surface height value is greater than the height value of the farthest point of the bucket wheel, a collision is determined to have occurred, and an interlock protection signal is output; otherwise, no interlock protection signal is output.

[0024] The digital coal yard management method of this invention can achieve real-time balancing of coal flow, resulting in balanced output of downstream equipment of the bucket wheel excavator and saving power consumption. It can also reduce staffing costs to a certain extent. Furthermore, this invention can be retrofitted to existing coal yard bucket wheel excavators without altering the original main structure, resulting in a short retrofit cycle and controllable costs, thus possessing significant engineering practical value.

[0025] Furthermore, this invention clarifies the mathematical foundation for spatial location calculation; by combining the known coordinates of the laser coal inventory device installation point in the global geodetic coordinate system, the coordinates of the measurement points are reduced from the local coordinate system to the global geodetic coordinate system, providing a relatively unified global geodetic coordinate system and ensuring accuracy from the original scanning data to the final collision avoidance determination. This invention effectively reduces measurement interference introduced by factors such as dust and splashed materials by filtering the point cloud data of all measurement points to remove outlier noise points, thus improving the quality of the point cloud data; and by generating a mesh model of the coal pile surface and calculating its volume and stock, the calculation results of the coal yard stock are more accurate and reliable.

[0026] This invention calculates the cantilever pitch angle from the vertical coordinates of the UWB tag and the rotation angle from the longitudinal coordinates. Based on the pitch and rotation angles, combined with the three-dimensional coordinates of the UWB tag and the bucket wheel deviation distance, the three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system are calculated. This allows the positioning data of a point on the cantilever head of the UWB tag to be accurately converted into the spatial coordinates of the farthest point of the bucket wheel, solving the problem of positional deviation between the UWB tag installation position and the actual working endpoint (the foremost point of the bucket wheel) caused by the cantilever geometry.

[0027] In some operating conditions, this invention uses the lateral and longitudinal coordinates of the farthest point of the bucket wheel as query keys to perform spatial index retrieval in point cloud data, and sets a tolerance range for horizontal coordinate deviation, enabling the retrieval process to adapt to the discrete distribution characteristics of point cloud data while ensuring matching accuracy. Based on collision avoidance judgment, Furthermore, this invention, through real-time adjustment of slewing speed and output control of interlock protection signals, sends the calculated real-time slewing angle as an input to the slewing motor frequency converter, dynamically adjusting the boom slewing speed according to the slewing angle, and maintaining a constant instantaneous material collection volume by adjusting the speed when the material collection section width changes; the interlock protection signal is sent to the coal conveying DCS system, and when the interlock is activated, a slewing stop command is issued, allowing only rotation in the safe direction, so that the bucket wheel excavator can obtain a relatively accurate protection response when a collision risk occurs, improving the reliability of safety protection.

[0028] This invention also provides a digital coal yard management system based on three-dimensional modeling technology, including a three-dimensional coordinate cantilever structure parameter calculation module and a judgment and protection module, wherein: The data acquisition module is used to: provide a digital model of the coal yard, and acquire the three-dimensional positioning data of the tag itself in the global geodetic coordinate system in real time through the UWB positioning tag; based on the three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, calculate the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system, and calculate the real-time pitch angle and real-time rotation angle of the cantilever. The construction of the digital model of the coal yard includes: scanning the coal pile area to obtain the original measurement data of the measuring points on the coal pile surface, including the slant range, horizontal azimuth angle and elevation angle of the radar to the measuring points; converting the original measurement data to a local three-axis coordinate system with the radar center as the origin to obtain the three-dimensional coordinates of the measuring points in the local three-axis coordinate system; converting the three-dimensional coordinates to the global geodetic coordinate system of the coal yard to obtain the three-dimensional coordinates of the measuring points in the global geodetic coordinate system, and using it as point cloud data to construct the digital model of the coal yard. The detection and protection module is used to: use the horizontal coordinate of the farthest point of the bucket wheel as the query index to retrieve the coal pile surface height value corresponding to the horizontal coordinate in the coal yard digital model; if the coal pile surface height value is greater than the height value of the farthest point of the bucket wheel, a collision is detected and an interlock protection signal is output; otherwise, no interlock protection signal is output.

[0029] In some embodiments, the specific steps of the present invention are as follows: Step 1: High-precision 3D modeling of the coal yard The laser coal inventory analyzer is fixedly mounted on a rigid bracket above the bucket wheel of the bucket wheel excavator and moves with the excavator throughout the coal yard. The analyzer controller controls the laser probe to continuously scan the coal pile area below the bucket wheel at a set sampling frequency, acquiring three-dimensional raw data of the measuring points on the coal pile surface.

[0030] Each time, the lidar probe returns a set of measurement point data, including the straight-line distance from the lidar to the measurement point on the coal pile surface. (m), horizontal angle within the horizontal plane (rad), with 0° directly in front of the radar. The angle (rad) between the measuring line and the horizontal plane is positive when pointing upwards and negative when pointing downwards.

[0031] With the radar probe installation center as the origin, the following axes are defined: the Y-axis represents the front of the radar, the X-axis represents the horizontal direction (right is positive), and the Z-axis represents the vertical direction upwards. The conversion algorithm is as follows: ; in, The slope distance from the radar to the measuring point. It is the horizontal azimuth. The pitch angle, The horizontal coordinate is in the local coordinate system. The vertical coordinate is in the local coordinate system. These are the vertical coordinates in the local coordinate system. Slope distance Converted to the horizontal projection length in the horizontal plane; and Divide the horizontal projection length into horizontal... and longitudinal ; The height difference between the measuring point and the center of the radar antenna is calculated directly.

[0032] Suppose the known coordinates of the radar base station, i.e., the coal meter installation point, in the global coordinate system are: ,in, This represents the elevation of the radar antenna. The three-dimensional coordinates of the measurement point in the global coordinate system are also shown. Calculated by the following formula: ; in, The known coordinates of the laser coal counting instrument installation point in the global geodetic coordinate system are given. Three-dimensional coordinates in a local three-axis coordinate system. This represents the three-dimensional coordinates of the measurement point in the global geodetic coordinate system. Transforming all scanning data from the radar's local coordinate system to the unified geodetic coordinate system of the coal yard is the foundation for all subsequent spatial calculations.

[0033] 1) Integrate all measuring points into the overall system 3D point cloud collection; 2) Use filtering algorithms to remove outlier noise points; 3) Based on the retained effective point cloud, a surface reconstruction algorithm is used to generate a mesh model of the coal pile surface; 4) Based on the grid model, the volume of the coal pile is calculated by the integral method, and then multiplied by the preset bulk density to obtain the current stock of the coal yard and automatically generate a report.

[0034] After completing a full-field scan, the global 3D coordinates of all measurement points are obtained. Along with additional information such as timestamps, they are all stored in a database file on the local control computer. This database serves as a static digital model of the coal yard, which is used by anti-collision algorithms and other applications.

[0035] Step 2: Real-time 3D Positioning and Attitude Calculation of Bucket Wheels and Buckets of the Bucket Excavator UWB positioning tags are installed at the cantilever head of the bucket wheel excavator, and a UWB reference base station network is deployed around the coal yard. The tags return their own 3D positioning data in real time via the UWB module's serial port. This data has been unified into the global geodetic coordinate system of the coal yard.

[0036] definition The total length of the cantilever is the straight-line distance (m) from the center of the cantilever pitch hinge to the foremost (farthest) point of the bucket wheel. The distance (m) from the UWB positioning tag installation point to the cantilever pitch hinge point along the cantilever direction. The fixed deviation distance (m) between the foremost point of the bucket wheel and the UWB tag mounting point, satisfying .

[0037] The real-time coordinates of the UWB tag are known to be... The height measured by UWB (Relative to the cantilever hinge point), cantilever pitch angle satisfy: ; ; Calculate the horizontal projection length at the UWB label using the following formula: ; set up The angle between the cantilever and the direction of the bucket wheel excavator's travel track in the horizontal plane (i.e., the rotation angle) is calculated from the horizontal component of the UWB positioning data: ; in, The horizontal projection length at the location of the UWB positioning tag. The vertical coordinates of the UWB positioning tag in the global geodetic coordinate system are given. This is the real-time rotation angle of the cantilever.

[0038] The deviation distance of the foremost edge of the bucket wheel along the cantilever direction relative to the UWB tag is known to be... ,but: ; in, This represents the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system. This provides the 3D positioning data of the UWB positioning tag in the global geodetic coordinate system. This refers to the fixed deviation distance between the foremost point of the bucket wheel and the installation point of the UWB positioning tag.

[0039] Based on the three-dimensional coordinates of the wheel bucket The three core attitude data of the bucket wheel engine can be derived in reverse: slewing angle. Pitch angle and walking route (by (Calculated from the track position) for subsequent automatic control.

[0040] Step 3: Collision avoidance constraints and automatic control interlocks During the operation of the bucket wheel excavator, the following is executed cyclically according to a fixed period: Read real-time data from the UWB positioning module Calculate the farthest point of the bucket wheel using the formula in step two. .

[0041] by Using this as the query key, a spatial index retrieval is performed in the database file to check if a valid measurement point exists that meets the following conditions: the horizontal coordinate deviation is within the set tolerance range, and... The value is valid. Collision determination is as follows: If a corresponding measuring point exists and The collision was determined to be non-collision (the bucket wheel was located above the coal stack). like The collision was determined to have occurred (the coal pile surface was higher than the wheel bucket, or there was spatial overlap or intrusion). If there is no corresponding record, the conservative strategy will be adopted to maintain the judgment result of the previous cycle or trigger an early warning.

[0042] In the absence of a collision, the module remains normally open and does not output a signal. Upon a collision, the control software immediately drives the module to close the normally open contact, outputting a connection signal. This switch signal is hardwired to the coal conveying DCS system as an interlock protection condition for the bucket wheel excavator operation. When the DCS system detects that this signal is on and the interlock is active, the DCS automatically issues a bucket wheel excavator rotation stop command (allowing rotation only in the safe direction), thus achieving hard interlock protection.

[0043] Based on the real-time rotation angle calculated in step two As input, the data is sent to the rotary motor inverter PLC module via serial port to dynamically adjust the rotation speed, keeping the instantaneous material intake constant and achieving a balanced coal flow. Simultaneously, after the central control unit selects the material intake area and method, the control software automatically plans the material intake path, controls the trolley to travel to the target area, and adjusts the bucket wheel to the appropriate height, completing the fully automated stacking and reclaiming operation in conjunction with anti-collision logic.

[0044] The present invention will be further described in detail below through specific embodiments.

[0045] In this embodiment, the total length of the bucket wheel excavator cantilever is... m (determined by equipment design drawings); the UWB positioning tag is installed on the cantilever head, at a distance from the cantilever hinge point. m; therefore, the fixed deviation distance between the foremost edge of the bucket wheel and the UWB tag. m (This deviation distance can be determined by a single calibration after the equipment is installed, and is a fixed constant).

[0046] Suppose that at a certain moment, the global coordinates returned by the UWB tag are... m, m, m. Substituting into the general formula of step two, the calculation is as follows: Calculate the pitch angle: ; ; Calculate the horizontal projection length: ; Calculate the rotation angle: ; Calculate the coordinates of the farthest point of the bucket wheel: ; ; ; The three-dimensional coordinates of the farthest point of the bucket wheel at that moment in the global coordinate system are as follows: Simultaneously calculate the pitch angle Turning angle .

[0047] Based on the calculated coordinates of the furthest point of the bucket wheel The collision avoidance algorithm is executed according to the following steps: In collision-free scenarios: by To index the database, retrieve the surface height of the coal pile corresponding to this horizontal position. m. The system determined that the bucket wheel was located above the coal pile and there was no risk of collision. The switch output module remained open, and the bucket wheel excavator continued to operate normally.

[0048] In scenarios where a collision occurs: by To index the database, retrieve the surface height of the coal pile corresponding to this horizontal position. m.

[0049] Upon detecting a collision (the coal pile surface has encroached on the space where the bucket wheel is located), the control software immediately drives the switch module to close its contacts, outputting a connection signal to the DCS system. When the DCS detects this signal and the interlock is activated, it automatically issues a slewing stop command within ≤100ms, forcing the bucket wheel excavator to stop rotating in the dangerous direction and only allowing it to rotate in the safe direction, thereby achieving collision protection.

[0050] In summary, the laser coal inventory analyzer of this invention moves and scans the entire area of ​​the bucket wheel excavator, with optimal error control, and supports querying coal yard inventory at any time. UWB positioning eliminates the root causes of positioning failures such as mechanical wear and dust contamination. Based on a protection mechanism of 3D point cloud comparison and hard-wired switch interlocking, this invention offers excellent response time, ensuring the bucket wheel excavator does not collide with the coal pile. Adaptive speed regulation based on the rotation angle ensures continuous and uniform material handling, stable output from the downstream conveyor belt, and extends the equipment's service life and stability.

[0051] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Anyone skilled in the art can readily implement the present invention according to the description and above. Any modifications, alterations, or equivalent variations made using the technical content disclosed above are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A digital coal yard management and control method based on three-dimensional modeling technology, characterized in that, Includes the following steps: Provide a digital model of the coal yard and obtain the three-dimensional positioning data of the tag itself in the global geodetic coordinate system in real time through UWB positioning tags; based on the three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, calculate the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system, and calculate the real-time pitch angle and real-time rotation angle of the cantilever. The construction of the digital model of the coal yard includes: scanning the coal pile area to obtain the original measurement data of the measuring points on the coal pile surface, including the slant range, horizontal azimuth angle and elevation angle of the radar to the measuring points; converting the original measurement data to a local three-axis coordinate system with the radar center as the origin to obtain the three-dimensional coordinates of the measuring points in the local three-axis coordinate system; converting the three-dimensional coordinates to the global geodetic coordinate system of the coal yard to obtain the three-dimensional coordinates of the measuring points in the global geodetic coordinate system, and using it as point cloud data to construct the digital model of the coal yard. Using the horizontal coordinate of the farthest point of the bucket wheel as the query index, the coal pile surface height value corresponding to the horizontal coordinate is retrieved in the coal yard digital model; if the coal pile surface height value is greater than the height value of the farthest point of the bucket wheel, a collision is determined to have occurred, and an interlock protection signal is output; otherwise, no interlock protection signal is output.

2. The digital coal yard management method based on three-dimensional modeling technology according to claim 1, characterized in that, The original measurement data is transformed into a local three-axis coordinate system with the radar center as the origin, and the following formula is used for calculation: ； in, The slope distance from the radar to the measuring point. It is the horizontal azimuth. The pitch angle, The horizontal coordinate is in the local coordinate system. The vertical coordinate is in the local coordinate system. These are the vertical coordinates in the local coordinate system.

3. The digital coal yard management method based on three-dimensional modeling technology according to claim 2, characterized in that, The three-dimensional coordinates under the local three-axis coordinate system are transformed to the global geodetic coordinate system of the coal yard, and the following formula is used for calculation: ； in, The known coordinates of the laser coal counting instrument installation point in the global geodetic coordinate system are given. Three-dimensional coordinates in a local three-axis coordinate system. The coordinates of the measuring point are in the three-dimensional coordinates of the global geodetic coordinate system.

4. The digital coal yard management method based on three-dimensional modeling technology according to claim 1, characterized in that, Constructing a digital model of the coal yard includes: filtering the point cloud data of all measuring points, removing outlier noise points, and retaining valid measuring points; generating a coal pile surface grid model based on the valid measuring points; calculating the coal pile volume based on the grid model, and then multiplying it by a preset packing density to obtain the current coal yard inventory.

5. The digital coal yard management method based on three-dimensional modeling technology according to claim 1, characterized in that, Cantilever structure parameters, including: total cantilever length , is the straight-line distance from the center of the cantilever pitch hinge to the foremost point of the bucket wheel; , is the distance along the cantilever direction from the UWB positioning tag installation point to the cantilever pitch hinge. The fixed deviation distance between the foremost point of the bucket wheel and the installation point of the UWB positioning tag. It satisfies the following formula: 。 6. The digital coal yard management method based on three-dimensional modeling technology according to claim 5, characterized in that, The real-time three-dimensional coordinates of the farthest point of the bucket wheel of the bucket turbine in the global geodetic coordinate system are calculated, including: Based on the vertical coordinates of the UWB positioning tag in the global geodetic coordinate system and Calculate the real-time pitch angle of the cantilever. The formula is as follows: ； Based on three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, the real-time slewing angle of the cantilever is calculated, including: Calculate the horizontal projection length of the UWB positioning tag using the following formula. : ； Calculate using the following formula: ； in, The horizontal projection length at the location of the UWB positioning tag. The vertical coordinates of the UWB positioning tag in the global geodetic coordinate system are given. This is the real-time rotation angle of the cantilever.

7. The digital coal yard management method based on three-dimensional modeling technology according to claim 6, characterized in that, The real-time three-dimensional coordinates of the farthest point of the bucket wheel excavator in the global geodetic coordinate system are calculated using the following formula: ； in, This represents the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system. This provides the 3D positioning data of the UWB positioning tag in the global geodetic coordinate system. This refers to the fixed deviation distance between the foremost point of the bucket wheel and the installation point of the UWB positioning tag.

8. The digital coal yard management method based on three-dimensional modeling technology according to claim 1, characterized in that, Using the horizontal coordinates of the farthest point of the bucket wheel as a query index, the surface height value of the coal stack corresponding to the horizontal coordinates is retrieved in the coal yard digital model. This includes: using the horizontal and vertical coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system as query keys, performing a spatial index retrieval in the point cloud data of the coal yard digital model, and finding valid measurement points whose horizontal coordinate deviation is within the set tolerance range; if a valid measurement point exists, the vertical coordinates of the valid measurement point are obtained as the surface height value of the coal stack; if it does not exist, the judgment result of the previous cycle is maintained or an early warning is triggered.

9. The digital coal yard management method based on three-dimensional modeling technology according to claim 1, characterized in that, The calculated real-time slewing angle is sent as an input to the slewing motor frequency converter, which dynamically adjusts the slewing speed of the bucket wheel excavator boom according to the magnitude of the real-time slewing angle; when the real-time slewing angle increases, the slewing speed is increased, and when the real-time slewing angle decreases, the slewing speed is decreased. After outputting the interlock protection signal, the interlock protection signal is sent to the coal conveying DCS system. When the DCS system detects the interlock protection signal and the interlock is activated, it issues a slewing stop command for the bucket wheel excavator. The slewing stop command only allows the bucket wheel excavator to rotate in a safe direction.

10. A digital coal yard management and control system based on three-dimensional modeling technology, used to implement the digital coal yard management and control method based on three-dimensional modeling technology as described in any one of claims 1-9, characterized in that, It includes a three-dimensional coordinate cantilever structure parameter calculation module and a judgment and protection module, wherein: The data acquisition module is used to: provide a digital model of the coal yard, and acquire the three-dimensional positioning data of the tag itself in the global geodetic coordinate system in real time through the UWB positioning tag; based on the three-dimensional positioning data and the cantilever structure parameters of the bucket wheel excavator, calculate the real-time three-dimensional coordinates of the farthest point of the bucket wheel in the global geodetic coordinate system, and calculate the real-time pitch angle and real-time rotation angle of the cantilever. The construction of the digital model of the coal yard includes: scanning the coal pile area to obtain the original measurement data of the measuring points on the coal pile surface, including the slant range, horizontal azimuth angle and elevation angle of the radar to the measuring points; converting the original measurement data to a local three-axis coordinate system with the radar center as the origin to obtain the three-dimensional coordinates of the measuring points in the local three-axis coordinate system; converting the three-dimensional coordinates to the global geodetic coordinate system of the coal yard to obtain the three-dimensional coordinates of the measuring points in the global geodetic coordinate system, and using it as point cloud data to construct the digital model of the coal yard. The detection and protection module is used to: use the horizontal coordinate of the farthest point of the bucket wheel as the query index to retrieve the coal pile surface height value corresponding to the horizontal coordinate in the coal yard digital model; if the coal pile surface height value is greater than the height value of the farthest point of the bucket wheel, a collision is detected and an interlock protection signal is output; otherwise, no interlock protection signal is output.

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