232 results about "Coal stockpile" patented technology

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.

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 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 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 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.

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 discloses a coal pile management method, device and equipment and a medium, and relates to the technical field of coal pile management. The coal pile management method comprises the steps that first information of a target coal pile is acquired, the first information comprises an initial three-dimensional point cloud and actual temperature distribution, and the actual temperature distribution comprises a plurality of actual temperature values; mapping the plurality of actual temperature values to the initial three-dimensional point cloud to obtain a fused point cloud; generating a target three-dimensional coal pile model of the target coal pile according to the fusion point cloud; and managing the target coal pile according to the target three-dimensional coal pile model. According to the embodiment of the invention, the method can monitor the actual temperature value of the target coal pile in real time through the target three-dimensional coal pile model, can achieve the real-time management of the target coal pile according to the target three-dimensional coal pile model, and can effectively prevent the spontaneous combustion of the coal pile.

The invention relates to the technical field of coal piling quantity measurement, in particular to a mining intrinsic safety type radar coal piling sensor with an echo processing module, which comprises a radar monitoring layer, a machine vision monitoring layer, a data processing and control layer, a network communication layer, a display layer, a sound-light alarm layer and a power supply layer. According to the invention, the radar monitoring layer effectively overcomes the interference of dust, water vapor and the like through the echo processing unit and accurately detects the coal piling condition, the machine vision monitoring layer processes the coal piling area image to make the image clearer, and the data processing and control layer performs normalization processing and data synchronization processing on the two kinds of data to make the data more clear. The coal piling condition and the coal piling height are comprehensively judged in combination with the preset threshold value, the coal piling condition can be comprehensively and accurately monitored and analyzed in real time, accurate monitoring and timely response to the coal piling condition are achieved, and reliable safety guarantee is provided for coal mine production.

The invention belongs to the technical field of unattended management of thermal power plants, and relates to an intelligent dust fall and combustion suppression unattended management and control method and system for a coal yard of a thermal power plant. The method comprises the following steps: acquiring coal dust concentration, a dust region, a plurality of coal pile weights and a plurality of coal pile position forms; obtaining the spraying amount according to the coal dust concentration, and obtaining the spraying area range according to the dust area. The coal pile temperature is obtained in real time, whether combustion suppression control needs to be carried out or not is judged according to the coal pile temperature, if yes, the component of combustion suppression medicine is obtained according to the weight of the multiple coal piles, the medicine concentration is obtained according to the component of the combustion suppression medicine and the coal pile temperature, and the spraying angle of the medicine spraying equipment is obtained according to the position forms of the multiple coal piles. The manual labor intensity and the occupational disease hazard probability are remarkably reduced through automatic spraying operation; and real-time temperature monitoring and precise spraying cooling are combined, so that spontaneous combustion of the coal pile is effectively prevented. According to the invention, intelligent safety control of the coal yard is realized, and the stability and reliability of safe operation of the coal yard are improved.

The invention discloses a coal pile stacking data management method and system for preventing spontaneous combustion, and relates to the technical field of coal supervision. The method comprises the following steps: monitoring the internal temperature, the surface temperature and the environment temperature of a coal pile in real time through a temperature measuring cable, a temperature sensor and an infrared thermal imager; data are transmitted in a centralized mode through an Internet of Things platform, a Prophet model is used for predicting the temperature change trend, and abnormal temperature is detected; performing real-time early warning and calculating a temperature difference value, a change rate and a comprehensive evaluation value; automatic control over spraying, mist spraying and ventilation systems is achieved through linkage control, and appropriate countermeasures such as spraying cooling, mist spraying oxidation reaction inhibition and ventilation temperature and inflammable gas concentration reduction are selected according to the temperature condition. Multiple systems can work cooperatively, the running state is monitored in real time and dynamically adjusted, and meanwhile manual intervention is supported. The method can improve the accuracy and reliability of coal pile temperature supervision, and effectively prevents safety problems caused by temperature abnormity.

The invention relates to a coal-based composite oxygen-barrier spraying material as well as a preparation method and application thereof, and belongs to the technical field of mine safety equipment. The coal mine by-product coal slime is used as a main body material, the water glass is combined as a binder, and the proportioning process is optimized, so that the composite spraying slurry with low cost and high oxygen resistance is formed, and the problems of serious material pollution, high cost and poor environmental compatibility in the existing coal pile spontaneous combustion prevention and control technology are solved. The material forms a compact coating layer on the surface of a coal pile, oxygen permeation is effectively isolated, the spontaneous combustion critical temperature of the coal pile is remarkably increased, the oxygen concentration in the coal pile is reduced to 6% or below, and meanwhile pollution of a traditional spraying agent to the coal quality and the working environment is avoided. In addition, the low-price coal slime is used for replacing a high-price flame-retardant material, value-added utilization of by-products in coal sales is achieved, and triple advantages of fireproof safety, environmental protection and economic efficiency improvement are achieved.

The invention discloses a coal pile spontaneous combustion monitoring system based on multispectral fusion, which adopts three non-contact monitoring schemes of a remote sensing water vapor measurement module, an infrared imaging temperature measurement module and a visible light water mist detection module to monitor a detected coal pile, and performs multisource data fusion according to monitoring results of the three modules. And finally, the internal temperature value of the measured coal pile is obtained through inversion. Finally, according to the change rate of the internal temperature along with time, the comparison result of the water vapor concentration and the water vapor concentration threshold value and the comparison result of the water mist pressure difference and the water mist pressure difference threshold value, a prompt signal is sent out when it is determined that the detected coal pile has the spontaneous combustion risk. Non-contact measurement improves the convenience of coal pile spontaneous combustion monitoring, installation, disassembly and position replacement are facilitated, whether the coal pile has the spontaneous combustion risk or not is judged through information obtained after three kinds of monitoring data are fused, and a more accurate monitoring result can be obtained.

The embodiment of the invention provides an intelligent coal bunker safety protection system and method. The device comprises the steps that sensing parameters are detected; wherein the sensing parameters comprise contact type temperature measurement data, infrared thermal imaging data and coal seam three-dimensional point cloud data; the contact type temperature measurement data and the infrared thermal imaging data are fused, and a three-dimensional temperature gradient model of the coal bunker is established; inverting a smoke traceability path based on a computational fluid mechanics algorithm; calculating a coal pile slippage risk coefficient according to the coal seam three-dimensional point cloud data; a multistage threshold triggering mechanism associated with a temperature gradient extreme value, an inversion smoke traceability path and a coal pile slippage risk coefficient is configured; if the multi-level threshold triggering mechanism is triggered, an emergency disposal scheme based on fault tree analysis is called, and a corresponding emergency device is controlled to operate; real-time and comprehensive monitoring of parameters of the coal bunker is realized, the prediction precision is high, potential safety hazards are found in time, and safe operation of a coal yard is guaranteed.

The invention relates to the technical field of moisture prediction, in particular to a 3D reconstruction and illumination adaptive coal surface moisture prediction method, which comprises the following steps of: planning an unmanned aerial vehicle route to collect an image, reconstructing coal pile surface space structure information, forming a local triangular grid, dividing an illumination continuous area, establishing a space corresponding relation between the illumination area and a hyperspectral pixel, and predicting the moisture content of a coal pile. And geometric registration and reflection transition correction are executed, depression points and shoulder positions of a reflection curve are detected in the identification interval, moisture absorption characteristics are constructed, a moisture migration link is established in the slope direction, and a coal surface moisture prediction result is obtained. According to the method, a spatial structure and illumination distribution are coupled, a dynamic correction relation is established to unify reflection information, image registration and spectrum reconstruction are combined to strengthen geometric consistency, a moisture migration trend is extracted by utilizing depression point and slope correlation, link and accumulation distribution is formed, and a corrected reflection characteristic represents a spectrum attenuation rule. The spatial continuity and numerical stability of moisture identification are ensured, and the water content grade division is coherent and comparable.

The invention discloses an open pit coal mine ground production system collaborative operation method based on an Agent simulation technology, and belongs to the technical field of coal storage and transportation. The method comprises the following steps: constructing a data acquisition and environment perception Agent, an anomaly detection and coordination management Agent, an optimization calculation Agent and a control execution Agent; the method comprises the following steps: collecting coal flow, coal type characteristics and equipment operation data of a conveying system in real time, and constructing a multi-objective optimization function taking energy consumption minimization, space utilization rate maximization and equipment load balance as objectives in combination with bin space capacity, coal pile three-dimensional form and environmental parameters of a storage system; an improved particle swarm optimization algorithm is adopted to solve optimal control parameters, and the belt conveyor speed, the coal type distribution priority and the emergency path are dynamically adjusted; through a closed-loop feedback mechanism, material blockage, shipping space overrun and equipment faults are monitored in real time, a self-healing strategy is triggered, and the model is updated. The hysteresis control defect of a traditional storage and transportation system is overcome, the operation efficiency is remarkably improved, and energy waste is reduced.

The invention relates to the technical field of coal pile compaction data processing, in particular to a coal pile compaction device and method, and the device comprises a data collection module, a federated learning aggregation module, a compaction decision module, a path planning module and an execution control module. A multi-source sensor is used for collecting coal pile humidity distribution, a three-dimensional contour and compaction feedback data in real time, and a coal pile three-dimensional dynamic model is constructed. And the federated learning aggregation module performs multi-target crossover variation on local parameters of multiple devices based on a genetic algorithm to generate a global compaction strategy model, and outputs, fuses and generates a vibration frequency and compaction force regulation and control instruction in combination with the coal hardening risk assessment model. And in combination with block chain encryption storage, compaction quality traceability is realized, the coal pile compaction uniformity and the oxidation reaction inhibition effect are improved, and the hardening risk and the operation energy consumption are reduced.

The application discloses a kind of dry coal shed in cargo abnormal operation monitoring method, the method gathers the image information of measured object, constructs operation vehicle dataset, adds attention mechanism module on the basis of depth neural network model, improves the global modeling ability of model, improves the accuracy of real-time detection;The edge recognition and contour extraction of coal pile in image are carried out using image processing method, and then different coal piles are divided and numbered.According to the release instruction of customs and the movement of coal conveying belt, the change of operation vehicle corresponding coal pile is judged, and then it is judged whether there is irregular operation behavior, and an alarm is given for abnormal behavior, to achieve the purpose of real-time monitoring of dry coal shed interior operation.

The utility model provides a bulk cargo storage yard fixed type coal stocktaking instrument device, which relates to the technical field of coal stocktaking equipment, and comprises a scanning mechanism used for scanning coal in a storage yard and obtaining the volume of the stacked coal, and a scanning device fixing mechanism arranged at the top of the scanning mechanism, the coding mechanism is used for converting and transferring transmission data, the coding mechanism is installed above the scanning device fixing mechanism, and the scanning mechanism and the scanning device fixing mechanism transmit data to each other. During use, the scanning mechanism is arranged above a bulk cargo storage yard to scan a coal pile, so that coordinate points and height occupied by the coal pile are obtained, and the obtained data are transmitted to the encoding mechanism and converted into signals for communication, transmission and storage; and finally, the data is transmitted to a computer in real time through a holder mechanism for three-dimensional modeling and mapping of the discharge pile volume, and the effect of obtaining coal pile information in real time is achieved.

This invention relates to the field of thermal power generation cost accounting technology, and proposes a dynamic modeling method and system for the cost per kilowatt-hour based on the forward and reverse balance method. The method includes: real-time acquisition of data on instantaneous flow rate of the coal feeder, coal pile volume, density, coal analysis upon entering the furnace, unit operation, and fuel price; calculation of dynamic coal quality data using a multimodal fusion algorithm; calculation of forward fuel cost based on flow rate, coal quality, and price data; calculation of reverse balance theoretical cost by inferring the theoretical standard coal quantity based on unit operation data; comparison and verification of forward and reverse costs to determine the final fuel cost; and calculation of dynamic cost per kilowatt-hour by combining variable cost and power generation data. This invention achieves a nonlinear dynamic mapping from multi-dimensional real-time data to accurate cost per kilowatt-hour, enabling high-precision, real-time, and automated dynamic modeling of the cost per kilowatt-hour for thermal power generation enterprises.

The invention discloses a coal drying method, which relates to the technical field of coal pretreatment, and comprises the following steps: step 1, blanking: feeding coal wetted by water into a device; step 2, stirring: stirring the coal which is put into the device and wetted by water, the device comprising a drying box body, a motor driving rod rotatably connected to the inside of the drying box body, an outer rod fixedly connected to the outer side wall of the motor driving rod, and a throwing shovel rotatably connected to one end, away from the motor driving rod, of the outer rod, coal accumulated at the bottom in the drying box body can be thrown up, so that the coal can be in full contact with hot air; step 3, crushing: selecting coal, and crushing the coal; the technical problems that when coal is dried, the coal can be accumulated in the device, hot air can be accumulated on the upper portion in the device, and the coal at the bottom of a coal pile is difficult to make contact with the hot air, so that the drying operation efficiency becomes low are solved.

The application discloses a kind of based on coal pile height field matching and space-time global optimization combined mapping method, it is related to the positioning technical field of ship unloader, to solve the problem that point cloud obtained when ship unloader scans in high altitude is relatively sparse, and the data of ship unloader is difficult to directly match;Method includes: S1, using the multiscale height field correlation matching algorithm of ship unloader and ship unloader coal pile point cloud, using coal pile as common feature body, by matching its overall height distribution structure to find common area by gridding;S2, point cloud registration is carried out to common area, and the initial transformation relationship of ship unloader and ship unloader is determined;S3, construct global constraint factor graph optimization model, input the key frame point cloud and map data of ship unloader and the point cloud data of ship unloader, output the combined map of ship unloader and ship unloader.The method of the application can significantly improve the robustness of initial registration, and realize cross-time and space error compensation, improve map global consistency.