426 results about "Coal stockpile" patented technology

The invention provides an image reconstruction method for three-dimensional point cloud incomplete data of coal stocktaking in a coal yard, and relates to the technical field of coal pile reconstruction. The method specifically comprises the following steps: acquiring initial three-dimensional point cloud data of a coal pile by using a laser radar; removing noise from the initial three-dimensional point cloud data by adopting a point cloud filtering algorithm and carrying out point cloud simplification by adopting a self-adaptive point cloud simplification algorithm in sequence, and constructing a triangular network topological structure among points in the simplified three-dimensional point cloud data by adopting an improved greedy triangulation algorithm; identifying all holes in the triangular network topological structure by using a hole identification algorithm, and adding patch curved surfaces at all the identified holes by using a minimum angle grid filling algorithm; and carrying out subdivision processing on the triangular network topological structure by using a grid subdivision algorithm, and carrying out smoothing processing on the triangular network topological structure after subdivision processing by using a grid smoothing algorithm to obtain repaired and reconstructed three-dimensional point cloud data, so that the image reconstruction requirement of the current power plant coal inventory three-dimensional point cloud incomplete data is met.

The invention discloses a coal bunker reserve real-time monitoring method integrating a laser radar and a camera. The method comprises the following steps: step 1, carrying out space-time joint calibration and hardware-level synchronization on a laser radar and a camera, and establishing a projection relationship between a point cloud and an image; 2, cooperatively collecting coal bunker data based on the calibration parameters, and obtaining a point cloud and a high-resolution image; step 3, heterogeneous preprocessing is carried out on the collected point cloud and the image, denoising, segmentation and down-sampling are carried out on the point cloud, semantic segmentation is carried out on the image, and coal and foreign matters are identified; step 4, based on image texture and point cloud coordinate coupling mapping, reconstructing a three-dimensional model with a semantic tag, projecting the point cloud to an image plane to perform feature matching so as to endow the texture, and fusing image semantic information to correct the model; and 5, dynamically calculating the volume of the coal pile by using the semantic three-dimensional model to realize real-time monitoring of reserves. The system overcomes the limitation of a single sensor, achieves the real-time and high-precision monitoring of the reserves of the coal bunker, and effectively improves the intelligent level of coal bunker management.

According to the innovative port cabin cleaning scheme, multi-machine cooperative operation of the unmanned excavator and the ship unloader is utilized, and the operation safety and efficiency are remarkably improved. The system integrates multi-sensor mapping, path planning, intelligent collision avoidance and real-time position tracking technologies, and elevation grid map modeling and vehicle positioning in a cabin are realized through a mapping sensing module. The task scheduling module intelligently selects an operation point and plans a path according to the coal pile layout, and the cooperative control module monitors cooperative work of the unmanned excavator and the ship unloader in real time to prevent the collision risk. The work control module is responsible for dynamically adjusting the equipment state and ensuring safe and efficient operation. The scheme flexibly adapts to various ship types and cargo hold layouts, not only improves the port operation efficiency, but also reduces the risk of manual operation errors, and is an important step for modern port automation and intelligent development.

The invention is suitable for the technical field of coal shed environment monitoring, and provides an integrated intelligent coal shed environment monitoring method and system and an anti-explosion holder. The method comprises the following steps: receiving a laser scanning request, carrying out horizontal and / or vertical rotation adjustment, and obtaining three-dimensional point cloud data of the surface of a coal pile; receiving an infrared thermal imaging request, and performing horizontal and / or vertical rotation adjustment to obtain thermal imaging acquisition data; performing data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data; analyzing the three-dimensional point cloud data, and calculating the volume of the coal pile; and analyzing the fused point cloud data, and carrying out anomaly detection, visualization processing and / or anomaly alarm on the regional temperature. The coal shed management system can realize the functions of real-time monitoring, fire early warning and high-precision laser coal checking of the coal shed environment, has the characteristics of high intelligent degree, sufficient safety, strong real-time performance and high precision, and effectively improves the intelligent level and safety of coal shed management.

The invention discloses a real-time laser coal checking system and method, and relates to the technical field of material management and inventory checking, and the system comprises the following components: a laser detection module, a data processing module, a communication module, a monitoring module and a server module. The laser detection module is adopted to perform high-frequency scanning on the coal pile to obtain the three-dimensional point cloud data of the coal pile, the crown block displacement data measured by the laser range finder and the material and density information of the material pile are combined, the volume and weight of the coal pile are calculated through an algorithm, the outer contour of the coal pile can be determined more accurately, and the accuracy of the coal pile is improved. According to the shape characteristics and the density distribution condition of the coal pile, the coal pile is divided into a plurality of small geometries for volume calculation, and compared with traditional manual measurement or simple geometric shape approximation, the method has the advantages that the measurement precision of the volume and the weight of the coal pile can be remarkably improved; and more accurate data support is provided for material management and inventory checking of enterprises.

The invention relates to a scraper conveyor with a coal quantity monitoring function, and relates to the technical field of coal mining machinery, the scraper conveyor comprises a rack, a driving assembly, a monitoring assembly and a flattening assembly, the rack is rotatably connected with a plurality of rotating rollers, the plurality of rotating rollers are uniformly arranged in the conveying direction of the rack, and the plurality of rotating rollers are jointly sleeved with a conveying belt; the driving assembly is arranged on the rack and used for driving the conveying belt to rotate. The monitoring assembly is arranged on the rack and used for monitoring the height and gradient of a coal pile. The flattening assembly is arranged on the rack, located on the side, away from the input end of the rack, of the monitoring assembly and used for reducing the height of the coal pile. The method has the effect of improving the transportation efficiency.

The invention relates to the technical field of microwave remote sensing monitoring, in particular relates to microwave remote sensing monitoring applied to the internal temperature of a coal storage yard, and particularly discloses a coal pile multi-frequency-band microwave remote sensing monitoring method and a coal pile multi-frequency-band microwave remote sensing monitoring system. The system comprises a multi-band microwave transmitting and receiving module, a signal data processing module, a data fusion and inversion model, a data storage module, a visual early warning control system and the like. Microwave signals of the surface layer and / or the shallow layer of the coal pile are detected through high-frequency-band microwaves; temperature distribution data in the coal pile are analyzed through inversion calculation of a pre-established data fusion and inversion model, laser spectrum data of the coal pile are obtained through detection of laser equipment, and harmful gas concentration data and corresponding position data are obtained. The method and the system can be used for early warning and monitoring the internal temperature and the spontaneous combustion point of the coal pile of the coal storage yard, and can effectively and accurately monitor.

The invention relates to the field of automatic reclaimers, and particularly discloses a remote unattended control system and method for a bucket-wheel stacker-reclaimer, which utilizes a material level radar deployed at the head of a cantilever belt of the bucket-wheel stacker-reclaimer to monitor the vertical distance between the head of the belt and the surface of a coal pile in real time, and determines the position of the coal pile on the basis of the error between the actual distance and the preset distance. And the PLC is used for controlling the adjustment amount of the pitch angle of the cantilever of the bucket-wheel stacker-reclaimer. Meanwhile, in the material level radar distance measuring process, in order to improve the environmental adaptability and measurement accuracy of radar waves, environmental parameter data are further collected in real time through a multi-source sensor, a deep learning algorithm is introduced to conduct deep time sequence analysis on environmental parameters, and the radar transmitting power is intelligently adjusted based on the dynamic interaction change of the multi-source environmental parameters. In this way, dynamic compensation of radar wave propagation characteristics can be achieved, the influence of environmental factors on radar ranging precision is reduced, and therefore the automatic operation precision and safety of the bucket-wheel stacker-reclaimer are improved.

The invention relates to an unmanned aerial vehicle autonomous coal inventory method based on a laser radar. The method comprises the following steps: constructing an offline point cloud map of a coal pile environment; controlling the unmanned aerial vehicle to rise to a preset height from a preset range near the original point of the off-line map, collecting an initial point cloud map of the local environment, and registering the initial point cloud map with the off-line map to obtain an optimized initial pose; laser radar point cloud data are continuously collected in real time in the flight process of the unmanned aerial vehicle, and the pose of the unmanned aerial vehicle is estimated based on an offline map so as to update a three-dimensional point cloud map of the environment; the local point cloud density of the three-dimensional point cloud map is monitored in real time, a neighborhood radius parameter of a DBSCAN algorithm is dynamically adjusted, and meanwhile, a point cloud segmentation strategy is optimized in combination with an IMU motion state, so that coal pile point cloud is obtained; incremental mapping of the point cloud of the coal pile is realized through the dynamic point cloud management capability of the ikd-tree, and real-time volume calculation of the coal pile is realized based on the point cloud of the coal pile. Compared with the prior art, the system has the advantages of autonomous coal pile measurement, high measurement accuracy and efficiency and the like.

The invention discloses a power plant coal yard dynamic management method and a related device, and belongs to the technical field of coal yard management. The method comprises the following steps: acquiring three-dimensional data of a coal pile, and generating a three-dimensional point cloud model of the coal pile; performing increase and decrease comparison on the three-dimensional point cloud model of the coal pile and historical data in space to obtain a layering result of a changed part, and constructing a layered coal pile model; coal seam warehousing data, coal yard environment parameters, power plant unit load and unit emission parameters are obtained, and the coal quality attenuation condition, the spontaneous combustion tendency and a load prediction curve are obtained through the coal quality attenuation prediction model; and acquiring future expected coal entering quantity and coal quality, and inputting a pre-constructed multi-target optimization coal piling and taking model by combining the layered coal pile model, the coal quality attenuation condition, the spontaneous combustion tendency and the load prediction curve to obtain an optimized coal piling and taking scheme. The coal yard can be flexibly managed, coal resource utilization is optimized, and the overall operation efficiency of an enterprise is improved.

The invention provides a fire coal batch management method, device and equipment based on point cloud data, and the method comprises the steps: scanning a coal yard through a laser coal checking instrument to obtain coal pile surface information data, converting the coal pile surface information data into spatial three-dimensional coordinate data, stripping various coal in the coal yard, and carrying out the structure presentation of the coal pile through a three-dimensional structure; acquiring coal piling and taking scheduling task information, coal piling and taking batch information and coal quality composition information of the fuel management system and the generation management system in the same time period, and determining an acting coal area in a scheduling task; comparing the acting coal area in the scheduling task with each coal area in the coal pile structure, if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and completing coal quality information matching and binding; based on matching and binding, real-time display of three-dimensional models of different batches of coal piling and coal taking in a coal yard is realized, so that management of fire coal is realized more accurately, and a good guiding effect on coal blending is also facilitated.

The invention relates to the technical field of three-dimensional modeling, in particular to a dynamic modeling method and device for a coal pile structure. The method comprises the following steps: acquiring coal pile data corresponding to each preset time point; comparing and analyzing the coal pile data corresponding to the adjacent time points, and identifying a coal pile change area; according to the coal pile change area, generating a corresponding change coal pile three-dimensional model; and generating a current coal pile structure three-dimensional model in the coal yard according to all initial three-dimensional models generated by the coal pile data corresponding to the previous time point in the adjacent time points and the variable coal pile three-dimensional model. According to the invention, the real-time dynamic construction of the three-dimensional model of the coal pile structure in the coal yard can be realized according to the coal taking or piling task of the coal pile.

The invention relates to a coal inventory method, system and device based on radar point cloud data and a medium. The method comprises the following steps: acquiring first point cloud data generated by scanning a site where a coal pile is located by a radar; taking a certain height above the ground of the site as a marker bed, and processing the second point cloud data corresponding to the marker bed according to a density clustering algorithm to obtain a clustering result; respectively judging whether each clustering result is a coal pile or not; if the clustering result is a coal pile, expanding the third point cloud data corresponding to the clustering result to obtain fourth point cloud data of the whole coal pile; and calculating the volume of the coal pile based on the fourth point cloud data of the whole coal pile. According to the technical scheme provided by the invention, errors caused by interference of a non-target object in a traditional measurement method are avoided. According to the method, the accuracy of coal quantity calculation is improved, the reliability and credibility of data are enhanced, and powerful support is provided for fine management of coal mine enterprises and effective supervision of supervision organizations.

The invention provides a coal stockpiling method based on thermal power intelligent coal transportation, which comprises the following steps that: coal storage yard acquisition equipment acquires three-dimensional point cloud, surface texture, space coordinates, material identity and stacker-reclaimer attitude data of a coal pile, and transmits the data to an edge server through an optical fiber wireless redundant network; preprocessing the data to generate a coal seam three-dimensional digital twinborn model containing a spatial position, a component label and stacking time, and supporting virtual roaming; basic information and constraint conditions are input, a stacking plan is generated based on an optimization algorithm, and an operation instruction is generated after verification; the stacker-reclaimer receives the instruction, completes stacking according to track planning through the PLC control system and records data; the digital twin platform monitors the process, automatically alarms when abnormity occurs, updates the inventory in combination with an inventory making algorithm, and generates a report; the stacking effect is evaluated every day, algorithm parameters of the next round are optimized, and closed-loop management is formed. According to the method, the intelligence and accuracy of coal stacking are improved, and efficient operation of the thermal power coal conveying system is guaranteed.

The invention provides a coal storage temperature detection method and device, electronic equipment and a storage medium. An ultrasonic generator is arranged on the upper portion of the ground of a coal yard and transmits an ultrasonic signal to a coal pile; an ultrasonic signal receiver is arranged at the lower part of a ceiling of a coal yard to receive an ultrasonic signal penetrating through a coal pile and obtain propagation time and energy attenuation information of the ultrasonic signal, and temperature distribution of each area in the coal pile can be calculated based on the propagation time and the energy attenuation information in combination with a preset corresponding relation between ultrasonic sound velocity and temperature; and when the temperature of any area of the coal pile exceeds the preset coal ignition point threshold value, an alarm signal is triggered and position information of the corresponding high-temperature area is output, so that the problems that in the prior art, due to the fact that heat cannot be dissipated in time after coal is stacked, temperature distribution conditions of the middle and lower layers of the coal seam are difficult to master and early warning cannot be performed in time are solved. The spontaneous combustion of the coal is easily caused.

The invention discloses a fire preventing and extinguishing material for inhibiting spontaneous combustion of a coal pile and a construction method thereof, and belongs to the technical field of coal spontaneous combustion prevention and control. The fire preventing and extinguishing material is composed of fly ash slurry and composite colloid, the adding proportion of the composite colloid in the fly ash slurry is 0.3-1 wt%, and the fly ash slurry is composed of the following components in parts by weight: 80-100 parts of fly ash and 100 parts of water; the composite colloid is composed of the following components in parts by weight: 20-50 parts of a high-molecular polymer, 10-15 parts of active silica powder, 3-5 parts of a cross-linking agent, 2-5 parts of a composite alkali activator and 1-2 parts of a water-retaining agent. During construction, coal ash slurry is prepared firstly, then the composite colloid is added in proportion, and the mixture is sprayed to the surface of a coal pile. According to the fire preventing and extinguishing material disclosed by the invention, the coal ash is used as a main raw material, local materials are used, and the fire preventing and extinguishing material is matched with the high-water-retention composite colloid, so that the fire preventing and extinguishing material has good diffusion filling performance in a coal body and good covering and plugging performance on the surface of the coal body, and the effects of locking water, cooling, solidifying slurry and isolating oxygen are achieved.

The invention discloses a constant-current reclaiming control method and system for a circular coal yard stacker-reclaimer in a coal yard partition, and relates to the technical field of constant-current reclaiming control. The constant-current reclaiming control method comprises the steps that data in a circular coal yard are collected, and data preprocessing is carried out; the method comprises the following steps: dividing a circular coal yard into three different stockpiling areas at intervals of 120 degrees by using an encoder and positioning equipment; each divided material stacking area is coded, and position calibration is conducted through an encoder installed on the material stacking and taking machine; according to the preprocessed data and the position calibration information, the operation parameters of the material taking machine are adjusted to adapt to the physical characteristics of the coal pile; and the current feedback data of the reclaimer is monitored and analyzed by using the information of the stacking area, the operation parameters are further adjusted in real time, and the flow is constant in the reclaiming process under the conditions of different areas and different coal types. The operation precision and efficiency of the circular coal yard stacker-reclaimer are improved, adaptive management of physical characteristics of coal piles is achieved, and flow constancy in the reclaiming process is ensured.

The invention relates to the technical field of safety monitoring, in particular to an intelligent safety monitoring method and system for a coal yard of a thermal power plant, and the method comprises the steps: carrying out the multi-dimensional safety monitoring analysis based on a coal pile infrared thermogram, a coal yard monitoring image and environment monitoring data, and determining a multi-dimensional safety monitoring analysis result. When the multi-dimensional safety monitoring analysis result is abnormal, emergency processing analysis is carried out based on abnormal data, emergency measure information is determined, and the emergency measure information is sent to the corresponding linkage equipment, so that the linkage equipment is controlled to automatically execute emergency measures. In the process of carrying out safety monitoring on the coal yard of the thermal power plant, multi-dimensional monitoring analysis on the safety of the coal yard is realized by integrating multiple monitoring means and data resources, the limitation of a single monitoring mode in related technologies is solved, the discovery and processing efficiency of potential safety hazards is improved, and the safety of the coal yard is ensured. And powerful technical support is provided for safety management of the coal yard of the thermal power plant.

The invention discloses a coal yard safety analysis system based on infrared imaging and point cloud data fusion, and particularly relates to the technical field of safety analysis. According to the method, infrared imaging data and three-dimensional point cloud data are collected on the surface of a coal pile, an initial emissivity distribution diagram is constructed, a plurality of local grid areas are divided, and image texture features and surface structure information of each local grid area are extracted. And generating a corrected emissivity distribution diagram through local dynamic compensation on the initial emissivity. And identifying an abnormal region according to the corrected emissivity map, marking the abnormal region as a potential risk region, and evaluating the time dependency of heat diffusion by constructing a heat transfer diffusion model. And evaluating the balance degree of heat distribution in the potential risk area by adopting a fractal analysis method. Based on the time dependency and the spatial heterogeneity of heat diffusion, the safety risk level of the coal yard is evaluated, safety early warning information of the coal yard is generated, and emissivity correction and thermal risk accurate evaluation of the multi-state coal in the mixed coal pile are achieved.

The invention relates to the technical field of mineral sampling, in particular to a rail type sampling robot which comprises a mechanical arm and a sampler. The sampler comprises an inner cylinder, and an auger is inserted into the inner cylinder and used for conveying coal; the inner cylinder is rotationally sleeved with an outer cylinder, the rotating speed of the outer cylinder is smaller than that of the auger, an outer clamping part is fixedly arranged at the bottom of the outer cylinder, the outer clamping part is provided with a plurality of outer clamping teeth, and the outer clamping teeth are distributed in the circumferential direction; an inner clamping part is rotationally arranged on the inner side of the outer clamping part, the inner clamping part is provided with a plurality of inner clamping teeth, the inner clamping teeth are distributed in the circumferential direction, and a pinch-off space with the variable volume is formed between the inner clamping teeth and the outer clamping teeth; a plurality of first spiral blades are fixedly arranged on the inner side wall of the inner clamping part and distributed in the circumferential direction. The outer clamping teeth and the inner clamping teeth make direct contact with coal, vibration of a coal pile is reduced, meanwhile, large coal blocks are pinched off through the pinching-off space, then the coal is conveyed through the first spiral blade, and sampling integrity is guaranteed.

The invention discloses an image recognition system and method for coal mine ground sale automatic loading, and relates to the technical field of coal mine image processing, and the method comprises the steps: installing a high-resolution camera at a key position of a loading system, collecting an image of ore distribution in a carriage in real time, and installing a mass sensor at the bottom of the carriage, the coal mine quality in the carriage is monitored in real time; dividing a carriage loading area into N * N unit grids; setting a coal mine target identification strategy to identify the offset of the coal pile in the subarea; and setting a loading path dynamic planning algorithm, dynamically adjusting partition weights, and gradually finding an optimal loading path. According to the invention, the problem of low identification precision caused by dust and light change in automatic truck loading of coal mine ground sale is solved, and the influence of the center-of-gravity shift of the carriage on the loading safety is reduced.

The invention provides a coal supply system of a thermal power plant, which relates to the field of thermal power generation, and comprises a coal pile distribution module for dividing into a plurality of coal piles according to a fire coal source and a preliminary evaluation result; the coal quality detection module is used for extracting a sample for experiment and determining combustion influence parameters; the calorific value simulation module simulates the combustion process and determines the actual calorific value of the fire coal in each coal pile; the coal bunker matching module is used for matching each coal pile with superior, medium and inferior coal bunkers based on the actual heating value and conveying fire coal; the coal quantity distribution module distributes the coal supply quantity in a most economical manner based on a distribution optimization model, performs optimization distribution according to the storage quantity proportion of each coal bunker, and generates a distribution scheme; the control module is used for implementing coal supply action according to the generated distribution scheme; the invention aims to establish the calorific value simulation model to realize accurate coal bunker matching by optimizing sampling and analysis in the coal quality detection process, and adopts the coal supply quantity distribution model comprehensively considering various factors to improve the efficiency and economical efficiency of the coal supply system of the thermal power plant.

The invention relates to a coal yard safety monitoring method, device and equipment and a readable storage medium, and belongs to the technical field of safety monitoring. The monitoring information comprises infrared thermal image information of all coal piles, side wall temperature parameters of all coal retaining walls, infrared thermal image information of belt open fire coal and gas parameters, smoke body parameters and dust parameters of all positions in a coal yard; the coal storage information comprises storage time, type and stock of each coal pile; and based on the monitoring information and the coal storage information, whether abnormal information exists in the coal yard is judged, and if the abnormal information exists in the coal yard, corresponding alarm information is generated according to the abnormal information. The method has the effect of improving the safety of the coal yard.

A panoramic scanning coal fire detection and disaster early-warning, prevention and control apparatus for a mining area, the apparatus comprising a detection apparatus, a laser scanning apparatus, a satellite remote-sensing monitoring apparatus, a data processing and analysis system, and an early-warning, prevention and control apparatus. High-precision thermistor temperature sensors (1) are arranged inside, on the surface and in surrounding areas of coal piles, such that subtle changes in the temperature of the coal piles can be accurately captured, and early-stage potential coal fire hazards can be effectively detected; gas sensors (2) installed at vents of a mining area can simultaneously measure the concentrations of gases such as carbon monoxide, carbon dioxide, methane and sulfur dioxide, so as to promptly identify anomalies in gas composition that are caused by coal fire combustion; an infrared thermal imager (3), which is located at a high position to acquire a panoramic view of the mining area, can clearly display high-temperature regions; and cameras (4) provide high-definition, wide-angle and low-illumination visual monitoring, and various sensors comprehensively collect data from different dimensions, thereby greatly improving the accuracy and comprehensiveness of monitoring.

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

A dust suppression material with dual network reinforced structure and its preparation method is provided, which relates to the field of dust control technology. The material comprises by weight: 0.1-0.5 parts of sesbania gum, 0.1-0.9 parts of polyacrylamide, 0.1-0.5 parts of carboxymethyl cellulose, 0.06-0.14 parts of crosslinking agent, 0.11-0.19 parts of oxidant, 0.1-0.3 parts of water retaining agent, 0.2-1 parts of wetting agent, and the balance is distilled water. The dust suppressant with dual network reinforced structure produced by the present disclosure can effectively improve the hydrophilicity and adhesion of dust, form a dense protective film on the surface of dust, meet the requirements of dust suppressant adhesion and wettability for underground coal mining operations and outdoor coal storage filed, and will not cause secondary pollution to the environment.

The invention relates to the technical field of coal sampling devices, in particular to a coal pile sampling device, comprising: a sleeve part comprising an outer pipe barrel with a packaging cover mounted at the top end, and an inner barrel rotatably mounted in the outer pipe barrel; the anti-blocking part comprises a middle shaft seat detachably mounted at the axis of the inner cylinder, crushing rods are rotatably mounted around the middle shaft seat, an insertion cavity is formed in the axis of the middle shaft seat, and sample introduction openings are formed in the periphery of the middle shaft seat; a sampling cylinder is inserted into the insertion cavity; according to the coal pile sampling device, the inner cylinder rotationally arranged in the sleeve part is matched with the crushing rod in the anti-blocking part, so that hardened coal can be broken, blockage is avoided in the sampling process, deep sampling and sampling inspection are facilitated, and the sampling efficiency and quality are better; the arranged sampling cylinder is rotationally installed, the sampling time can be adjusted, sampling can be conducted after a proper depth is reached, sampling can be rapidly completed in the rotating process through the middle shaft seat structure, and the single-time sampling amount can be guaranteed.

The invention relates to a screw ship unloader cabin material collaborative perception and autonomous operation method based on a multi-source laser scanning array. The problems that in the prior art, a single laser scanning system is large in scanning blind area, high in positioning error and poor in hatch recognition stability are solved. The method comprises the following steps: S1, heterogeneous laser scanning array networking; s2, pose difference-IMU deep coupling of motion point cloud distortion suppression is carried out; s3, manually marking target spot binding; s4, point cloud data processing; and S5, multi-stage anti-collision control is carried out. The method has the advantages that the hatch recognition stability and the coal pile model construction precision are remarkably improved; the point cloud is not distorted in a dynamic environment, so that the manual intervention and the accident rate are effectively reduced; and the technical requirements of unattended ship unloading operation are met, and high industrial adaptability is achieved.

The invention relates to an automatic loading and unloading system, method and device for a main shaft, electronic equipment and a storage medium, and belongs to the technical field of coal loading and unloading. The method comprises the steps that the weight of coal loaded every time, the weight of conveyed materials in a skip, tension of a steel wire rope and skip image information after coal unloading are obtained; a judgment step is executed, and the judgment step comprises the steps of judging whether the weight of conveyed materials is consistent with the weight of loaded coal materials or not after skip bucket feeding; judging whether the conveying weight of the skip bucket after unloading is zero or not; judging whether the steel wire rope tension after skip unloading is consistent with the steel wire rope tension when the skip is unloaded or not; if at least one item is not judged in the judging step, analyzing skip image information by applying a neural network model, and determining the position and residual quantity of a residual coal pile in the skip; determining the impact path and the impact strength of the air cannon according to the position and the residual quantity of the residual coal pile; and the air cannon treats the residual coal pile according to the impact path and the impact strength. According to the invention, the possibility of secondary loading is reduced.

The invention relates to the technical field of identification, management and control of loaded vehicles, in particular to an intelligent identification, management and control system for loaded vehicles based on image identification. Comprising a server, a stock analysis module, a loading distribution module, an image recognition module and a loading accumulation module, by analyzing the coal stock state of each loading point and the conveying value of the loading vehicle in real time, loading tasks can be scientifically and reasonably distributed, and distribution of the loading tasks is dynamically adjusted according to the emergency degree of the loading tasks, the requirements of the loading points and the current position of the vehicle; by detecting the coal pile height and the point cloud density of the vehicle-mounted coal pile, the uniformity and the compactness of the coal pile can be accurately judged, and if it is found that the coal pile of the loading vehicle is in a non-uniform state, coal leveling operation is triggered so as to ensure that the coal loading quality of each loading vehicle meets the requirement; automation of the loading quality detection process is achieved, the requirement for manual inspection is greatly reduced, and the loading process is more accurate and reliable.