CN116788789A - Coal flow control method and device and coal flow monitoring system - Google Patents

Abstract

The application provides a coal flow control method, a device and a coal flow monitoring system, wherein the method comprises the following steps: receiving three-dimensional coal stream point cloud data sent by a 3D camera, and processing the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technology to obtain coal stream space data; integrating the coal flow space data in a time domain to obtain coal flow in unit time, and processing the coal flow space data by adopting a large-lump coal identification model to obtain large-lump coal grades; determining the load level of the scraper conveyor according to the large-block coal level and the coal flow interval in which the coal flow in unit time is located; according to the load level, the transport speed of the scraper conveyor is adjusted to a speed corresponding to the load level. Thereby improving the accuracy of coal flow monitoring, and further solving the problem of lower accuracy of coal flow monitoring in the existing scheme.

Description

Coal flow control method and device and coal flow monitoring system

Technical Field

The application relates to the technical field of coal mine transportation, in particular to a coal flow control method, a coal flow control device, a computer readable storage medium and a coal flow monitoring system.

Background

At present, coal flow is often conveyed through a scraper conveyor, most of the existing schemes monitor coal quantity through manual observation or weighing, the manual observation can monitor coal quantity, massive coal and belt deviation, but the method is greatly affected by the main observation, the weighing method adopts an electronic scale, a coal quantity measuring result is easily interfered by vibration, belt speed and the like, in addition, the coal flow is identified by adopting images, the space volume of the coal flow is difficult to accurately reflect by the aid of the two-dimensional images, and only the coal flow is more or less from the sense, so that specific coal flow values cannot be obtained.

I.e. the accuracy of monitoring the coal flow in the existing solution is low.

Disclosure of Invention

The application mainly aims to provide a coal flow control method, a coal flow control device, a computer-readable storage medium and a coal flow monitoring system, so as to at least solve the problem that the accuracy of monitoring the coal flow is low in the existing scheme.

In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a coal flow, which is applied to a controller in a coal flow monitoring system, the coal flow monitoring system further including a plurality of 3D cameras and a scraper conveyor, the scraper conveyor and the plurality of 3D cameras being in communication with the controller, respectively, the plurality of 3D cameras being disposed above the scraper conveyor in a direction in which the scraper conveyor transports coal, the method comprising: receiving three-dimensional coal stream point cloud data sent by the 3D camera, and processing the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technology to obtain coal stream space data, wherein the three-dimensional coal stream point cloud data is three-dimensional point cloud data of coal streams acquired by the 3D camera at the current moment, and the coal stream space data is 3D three-dimensional data of the coal streams at the current moment; integrating the coal flow space data in a time domain to obtain a unit time coal flow, processing the coal flow space data by adopting a large-block coal recognition model to obtain large-block coal grades, wherein the unit time coal flow is the flow of the coal blocks in unit time, the large-block coal grades are one of a plurality of large-block coal preset grades, the large-block coal preset grades are used for representing the size degree of the large-block coal, the large-block coal recognition model is trained by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data; determining a load level of the scraper conveyor according to the bulk coal level and a coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset level is used for representing the load level of the scraper conveyor; and according to the load level, adjusting the transportation speed of the scraper conveyor to a speed corresponding to the load level.

Optionally, the plurality of lump coal preset levels are respectively a first lump coal preset level, a second lump coal preset level, a third lump coal preset level and a fourth lump coal preset level of which the size degree of the lump coal is sequentially increased, the plurality of load preset levels are respectively a first load preset level, a second load preset level, a third load preset level and a fourth load preset level of which the load degree of the scraper conveyor is sequentially increased, and determining the load level of the scraper conveyor according to the lump coal level and a coal flow interval of which the unit time coal flow is located, wherein the load level comprises at least one of the following: determining that the load level of the scraper conveyor is the first load preset level when the bulk coal level is the first bulk coal preset level and the unit time coal flow is smaller than a first coal flow threshold; determining that the load level of the scraper conveyor is the second load preset level when the bulk coal level is the second bulk coal preset level, the unit time coal flow is greater than or equal to the first coal flow threshold, and the unit time coal flow is less than a second coal flow threshold, the second coal flow threshold being greater than the first coal flow threshold; determining that the load level of the scraper conveyor is the third load preset level when the bulk coal level is the third bulk coal preset level, the unit time coal flow is greater than or equal to the second coal flow threshold, and the unit time coal flow is less than a third coal flow threshold, the third coal flow threshold being greater than the second coal flow threshold; and determining that the load level of the scraper conveyor is the fourth load preset level under the condition that the large lump coal level is the fourth large lump coal preset level and the unit time coal flow is greater than or equal to the third coal flow threshold.

Optionally, the plurality of load preset levels are a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, in which the load degrees of the scraper conveyor are sequentially increased, respectively, and according to the load levels, adjusting the transportation speed of the scraper conveyor to a speed corresponding to the load levels includes: adjusting the transport speed of the scraper conveyor to a first preset transport speed if the load level of the scraper conveyor is determined to be the first load preset level; adjusting the transport speed of the scraper conveyor to a second preset transport speed, which is greater than the first preset transport speed, if the load level of the scraper conveyor is determined to be the second preset load level; adjusting the transport speed of the scraper conveyor to a third preset transport speed, which is greater than the second preset transport speed, if it is determined that the load level of the scraper conveyor is the third preset load level; and under the condition that the load level of the scraper conveyor is the fourth load preset level, adjusting the conveying speed of the scraper conveyor to a fourth preset conveying speed, wherein the fourth preset conveying speed is larger than the third preset conveying speed.

Optionally, after determining that the load level of the scraper conveyor is the third preset load level, the method further comprises: generating first alarm information, wherein the first alarm information is used for reminding a worker of controlling the scraper conveyor to stop.

Optionally, the method further comprises: determining whether a coal block corresponding to the bulk coal grade passes through a 3D camera adjacent to the 3D camera transmitting the three-dimensional coal stream point cloud data within a preset time, under the condition that the bulk coal grade is the third bulk coal preset grade or the fourth bulk coal preset grade; determining that the coal flow state is a normal state when the coal blocks corresponding to the large coal grades pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time; and under the condition that the coal blocks corresponding to the large coal grades do not pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time, determining that the coal flow state is an abnormal state, wherein the abnormal state is used for representing that the coal blocks roll, fall or clamp.

Optionally, after determining that the coal flow state is an abnormal state, the method further comprises: generating second alarm information, wherein the second alarm information is used for reminding a worker that the coal blocks corresponding to the large coal grades are rolled, or fall off or are clamped.

Optionally, receiving three-dimensional coal stream point cloud data sent by the 3D camera includes: and receiving the three-dimensional coal stream point cloud data sent by the 3D camera through a 5G network.

According to another aspect of the application, a control device for coal flow is provided, the device comprises a receiving unit, a first processing unit, a determining unit and a second processing unit, wherein the receiving unit is used for receiving three-dimensional coal flow point cloud data sent by a 3D camera, processing the three-dimensional coal flow point cloud data based on a three-dimensional space reconstruction technology to obtain coal flow space data, the three-dimensional coal flow point cloud data is three-dimensional point cloud data of coal flow acquired by the 3D camera at the current moment, and the coal flow space data is 3D three-dimensional data of the coal flow at the current moment; the first processing unit is used for carrying out integral processing on the coal flow space data in a time domain to obtain coal flow rate in unit time, processing the coal flow space data by adopting a large-block coal identification model to obtain large-block coal grade, wherein the coal flow rate in unit time is the flow rate of coal blocks in unit time, the large-block coal grade is one of a plurality of large-block coal preset grades, the large-block coal preset grade is used for representing the size degree of the large-block coal, the large-block coal identification model is trained by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data; the determining unit is used for determining the load level of the scraper conveyor according to the bulk coal level and the coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset level is used for representing the load level of the scraper conveyor; the second processing unit is used for adjusting the transportation speed of the scraper conveyor to a speed corresponding to the load level according to the load level.

According to another aspect of the present application, there is provided a computer readable storage medium including a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform any one of the methods of controlling coal flow.

According to another aspect of the present application, there is provided a coal flow monitoring system comprising a controller, a plurality of 3D cameras and a scraper conveyor, the scraper conveyor and the plurality of 3D cameras being respectively electrically connected to the controller, the plurality of 3D cameras being sequentially equidistant and disposed above the scraper conveyor in a direction in which the scraper conveyor transports coal, the controller being configured to perform any one of the methods of controlling coal flow.

By applying the technical scheme of the application, the size grade of the bulk coal and the coal flow rate in unit time are respectively determined through the coal flow space data, so that the loading degree of the scraper conveyor is simultaneously determined according to the size grade of the bulk coal and the coal flow rate in unit time, and finally the transportation speed of the scraper conveyor is adjusted according to the loading degree, thereby improving the accuracy of coal flow monitoring and further solving the problem of lower accuracy of coal flow monitoring in the existing scheme.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

fig. 1 illustrates a hardware block diagram of a mobile terminal performing a control method of a coal stream according to an embodiment of the present application;

FIG. 2 shows a schematic flow chart of a method for controlling coal flow according to an embodiment of the application;

FIG. 3 shows a schematic flow diagram of another method of controlling coal flow;

fig. 4 shows a block diagram of a control device for coal flow according to an embodiment of the present application.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As introduced in the background art, coal flow is conveyed by a scraper conveyor at present, most of the existing schemes monitor coal quantity by manual observation or weighing, the manual observation can monitor coal quantity, bulk coal and belt deviation, but the method is influenced by the observation, and has larger human errors. That is, the accuracy of monitoring the coal flow in the existing scheme is low, and in order to solve the problem that the accuracy of monitoring the coal flow in the existing scheme is low, the embodiment of the application provides a coal flow control method, a coal flow control device, a computer-readable storage medium and a coal flow monitoring system.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of the mobile terminal according to a coal flow control method according to an embodiment of the present application. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method for controlling a coal flow in an embodiment of the present application, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, implement the above-mentioned method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In this embodiment, a method for controlling a coal flow operating on a mobile terminal, a computer terminal or a similar computing device is provided, which is applied to a controller in a coal flow monitoring system further including a plurality of 3D cameras and a scraper conveyor, which communicate with the controller, respectively, the plurality of 3D cameras being disposed above the scraper conveyor in a sequence equidistant and in a direction in which the scraper conveyor transports coal, it should be noted that the steps shown in the flowchart of the drawing may be performed in a computer system such as a set of computer executable instructions, and that although a logic sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a sequence different from that shown herein.

Fig. 2 is a schematic flow chart of a method for controlling coal flow according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

step S201, receiving three-dimensional coal stream point cloud data sent by the 3D camera, and processing the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technology to obtain coal stream space data, wherein the three-dimensional coal stream point cloud data is the three-dimensional point cloud data of coal streams acquired by the 3D camera at the current moment, and the coal stream space data is the 3D stereo data of the coal streams at the current moment;

Specifically, the three-dimensional coal flow point cloud data sent by the 3D camera is received through a 5G network, the signal data is transmitted to an edge calculation server through a 5G communication system, coal flow space data at any moment can be obtained by the edge calculation server through a three-dimensional space reconstruction technology, the three-dimensional coal flow point cloud data can be converted into 3D three-dimensional data through the three-dimensional space reconstruction technology, namely, the coal flow space data, and the state of coal flow can be conveniently and intuitively seen;

step S202, carrying out integral processing on the coal flow space data in a time domain to obtain a unit time coal flow, and adopting a large-block coal identification model to process the coal flow space data to obtain large-block coal grades, wherein the unit time coal flow is the flow of the coal blocks in unit time, the large-block coal grades are one of a plurality of large-block coal preset grades, the large-block coal preset grades are used for representing the size degree of the large-block coal, the large-block coal identification model is trained by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises the acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data;

Specifically, the coal flow in unit time can be obtained in real time through time integration, the state of the bulk coal can be judged in real time through the bulk coal identification model, the coal flow in unit time can be known about the transportation speed of the scraper conveyor at the current moment, the coal flow space data are used as the input of the bulk coal identification model, so that the bulk coal identification model outputs the grade of the bulk coal after processing the bulk coal identification model, the grade of the bulk coal can reflect the grade of the bulk coal in the current coal flow, the bulk coal is a coal block with the weight of more than 10 kg, and the scraper conveyor is damaged due to the fact that the bulk coal is located at the scraper conveyor for a long time, so that the bulk coal is required to be transported away as soon as possible;

step S203, determining a load level of the scraper conveyor according to the bulk coal level and a coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset levels are used for representing the load level of the scraper conveyor;

specifically, by setting different load levels, the load level of the scraper conveyor at the current moment can be intuitively seen, so that the transportation speed of the scraper conveyor can be conveniently and subsequently adjusted, the massive coal can be transported away as soon as possible, and the load level of the scraper conveyor is reduced;

Wherein the plurality of the large lump coal preset grades are respectively a first large lump coal preset grade, a second large lump coal preset grade, a third large lump coal preset grade and a fourth large lump coal preset grade which are sequentially increased in size degree of the large lump coal, the plurality of the load preset grades are respectively a first load preset grade, a second load preset grade, a third load preset grade and a fourth load preset grade which are sequentially increased in load degree of the scraper conveyor,

step S203, namely determining the load level of the scraper conveyor according to the bulk coal level and the coal flow interval where the unit time coal flow is located, wherein the load level comprises at least one of the following steps:

determining that the load level of the scraper conveyor is the first load preset level when the lump coal level is the first lump coal preset level and the unit-time coal flow is smaller than a first coal flow threshold;

determining that the loading level of the scraper conveyor is the second loading preset level when the large-lump coal level is the second large-lump coal preset level, the coal flow rate per unit time is greater than or equal to the first coal flow rate threshold value, and the coal flow rate per unit time is smaller than a second coal flow rate threshold value, wherein the second coal flow rate threshold value is greater than the first coal flow rate threshold value;

Determining that the load level of the scraper conveyor is the third load preset level when the lump coal level is the third lump coal preset level, the unit-time coal flow rate is greater than or equal to the second coal flow rate threshold value, and the unit-time coal flow rate is less than a third coal flow rate threshold value, wherein the third coal flow rate threshold value is greater than the second coal flow rate threshold value;

and determining that the load level of the scraper conveyor is the fourth load preset level when the large lump coal level is the fourth large lump coal preset level and the coal flow rate per unit time is greater than or equal to the third coal flow rate threshold value.

Specifically, when the bulk coal level is the first preset bulk coal level and the unit-time coal flow rate is smaller than the first coal flow rate threshold, it is indicated that the loading level of the scraper conveyor is near the empty level, when the bulk coal level is the second preset bulk coal level and the unit-time coal flow rate is greater than or equal to the first coal flow rate threshold, it is indicated that the loading level of the scraper conveyor is near the medium level, when the bulk coal level is the third preset bulk coal level and the unit-time coal flow rate is greater than or equal to the second coal flow rate threshold and the unit-time coal flow rate is smaller than the third coal flow rate threshold, it is indicated that the loading level of the scraper conveyor is greater than the medium level but far from the full level, and when the bulk coal level is the fourth preset bulk coal level and the unit-time coal flow rate is greater than or equal to the third coal flow rate threshold, it is known that the loading level of the scraper conveyor is near the medium level, so that the bulk coal is greater than the full-load level of the scraper conveyor is required to be transported at a high speed.

And step S204, adjusting the transportation speed of the scraper conveyor to a speed corresponding to the load level according to the load level.

Through the embodiment, the size grade of the bulk coal and the coal flow in unit time are respectively determined through the coal flow space data, so that the loading degree of the scraper conveyor is simultaneously determined according to the size grade of the bulk coal and the coal flow in unit time, and finally the transportation speed of the scraper conveyor is adjusted according to the loading degree, thereby improving the accuracy of coal flow monitoring, and further solving the problem that the accuracy of monitoring the coal flow in the existing scheme is lower.

The plurality of load preset levels are respectively a first load preset level, a second load preset level, a third load preset level and a fourth load preset level of the scraper conveyor, which are sequentially increased in the load degree,

step S204 of adjusting the transport speed of the scraper conveyor to a speed corresponding to the load level according to the load level, comprising:

when the load level of the scraper conveyor is determined to be the first load preset level, adjusting the transport speed of the scraper conveyor to a first preset transport speed;

When the load level of the scraper conveyor is determined to be the second load preset level, adjusting the transport speed of the scraper conveyor to a second preset transport speed, wherein the second preset transport speed is larger than the first preset transport speed;

when it is determined that the load level of the scraper conveyor is the third load preset level, adjusting the transport speed of the scraper conveyor to a third preset transport speed, the third preset transport speed being greater than the second preset transport speed;

when it is determined that the load level of the scraper conveyor is the fourth preset load level, the transport speed of the scraper conveyor is adjusted to a fourth preset transport speed, which is greater than the third preset transport speed.

Specifically, when the load level of the scraper conveyor is determined to be the first load preset level, it is assumed that the load level of the scraper conveyor is near the idle level, and the scraper conveyor is controlled to transport the coal flow according to the minimum value of the four preset transport speeds, when the load level of the scraper conveyor is determined to be the second load preset level, it is assumed that the load level of the scraper conveyor is near the moderate level, and in order to avoid the accumulation of the following coal, the transport speed of the scraper conveyor should be increased, and when the load level of the scraper conveyor is determined to be the third load preset level, it is assumed that the load level of the scraper conveyor is more than the moderate level, but is far less than the full load level, and it is necessary to increase the transport speed more than the second load preset level, and when the load level of the scraper conveyor is determined to be the fourth load preset level, it is assumed that the load level of the scraper conveyor is near the full load level, and it is necessary to leave the scraper conveyor with a large maximum value of the four preset transport speeds.

In some embodiments of the application, after determining that the load level of the scraper conveyor is the third load preset level, the method further comprises: generating first alarm information, wherein the first alarm information is used for reminding a worker of controlling the scraper conveyor to stop. The third load level indicates that the load level of the scraper conveyor can reach the full load level after the coal blocks on the scraper conveyor are long, so that the scraper conveyor needs to be stopped first to check whether the scraper conveyor is normal or not, and the subsequent large-block coal is prevented from collapsing the scraper conveyor.

In some embodiments of the application, the method further comprises: determining whether a coal block corresponding to the bulk coal grade passes through a 3D camera adjacent to the 3D camera transmitting the three-dimensional coal stream point cloud data within a preset time, in a case that the bulk coal grade is the third bulk coal preset grade or the fourth bulk coal preset grade; determining that the coal flow state is a normal state when the coal blocks corresponding to the large coal grades pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time; and determining that the coal flow state is an abnormal state when the coal blocks corresponding to the large coal grades do not pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time, wherein the abnormal state is used for representing that the coal blocks roll, fall or clamp.

Specifically, for example, the 3D camera a and the 3D camera B are adjacent 3D cameras, and the transportation direction is from the 3D camera a to the 3D camera B, if the bulk coal has arrived below the 3D camera B from the 3D camera a within a preset time, it is indicated that the bulk coal has not rolled, dropped, or stuck, the coal flow state is determined to be a normal state, and if the bulk coal has not arrived below the 3D camera B from the 3D camera a within a preset time, it is indicated that the bulk coal has rolled, dropped, or stuck, the coal flow state is determined to be an abnormal state, so that it is possible to quickly determine whether the coal flow state is normal, and it is avoided that excessive bulk coal damages the scraper conveyor.

In some embodiments of the application, after determining that the coal flow state is an abnormal state, the method further comprises: generating second alarm information, wherein the second alarm information is used for reminding a worker that the coal blocks corresponding to the large coal grades are rolled, or fall off or a clamping belt. For example, the 3D camera a and the 3D camera B are adjacent 3D cameras, and the transportation direction is from the 3D camera a to the 3D camera B, in order to be able to find that the lump coal has rolled, dropped, or stuck in the transportation direction as early as possible, it is necessary to determine whether the lump coal has arrived under the 3D camera B from the 3D camera a within a preset time, if the lump coal has arrived under the 3D camera B from the 3D camera a within the preset time, it is necessary to control the scraper conveyor to stop the scraper conveyor, if the lump coal has not rolled, dropped, or stuck in the transportation direction from the 3D camera a to the 3D camera B, and if the lump coal has not rolled, dropped, or stuck in the transportation direction from the 3D camera a to the 3D camera B within the preset time, it is necessary to generate second alarm information to remind the worker that the lump coal corresponding to the lump coal level has rolled, dropped, or stuck in the coal is necessary to generate second alarm information.

In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the coal flow control method of the present application will be described in detail with reference to specific embodiments.

The embodiment relates to a specific coal flow control method, as shown in fig. 3, comprising the following steps:

step S1: receiving three-dimensional coal stream point cloud data sent by the 3D camera through a 5G network, and processing the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technology to obtain coal stream space data, wherein the three-dimensional coal stream point cloud data is the three-dimensional point cloud data of coal streams acquired by the 3D camera at the current moment, and the coal stream space data is 3D three-dimensional data of the coal streams at the current moment;

step S2: integrating the coal flow space data in a time domain to obtain a unit time coal flow, processing the coal flow space data by adopting a large-block coal recognition model to obtain large-block coal grades, wherein the unit time coal flow is the flow of the coal blocks in unit time, the large-block coal grades are one of a plurality of large-block coal preset grades, the large-block coal preset grades are used for representing the size degree of the large-block coal, the large-block coal recognition model is trained by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises the acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data;

Step S3: determining a load level of the scraper conveyor according to the bulk coal level and a coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset level is used for representing the load level of the scraper conveyor;

wherein the plurality of the large lump coal preset grades are respectively a first large lump coal preset grade, a second large lump coal preset grade, a third large lump coal preset grade and a fourth large lump coal preset grade which are sequentially increased in size degree of the large lump coal, the plurality of the load preset grades are respectively a first load preset grade, a second load preset grade, a third load preset grade and a fourth load preset grade which are sequentially increased in load degree of the scraper conveyor,

determining that the load level of the scraper conveyor is the first load preset level when the lump coal level is the first lump coal preset level and the unit-time coal flow is smaller than a first coal flow threshold;

determining that the loading level of the scraper conveyor is the second loading preset level when the large-lump coal level is the second large-lump coal preset level, the coal flow rate per unit time is greater than or equal to the first coal flow rate threshold value, and the coal flow rate per unit time is smaller than a second coal flow rate threshold value, wherein the second coal flow rate threshold value is greater than the first coal flow rate threshold value;

Determining that the load level of the scraper conveyor is the third load preset level when the lump coal level is the third lump coal preset level, the unit-time coal flow rate is greater than or equal to the second coal flow rate threshold value, and the unit-time coal flow rate is less than a third coal flow rate threshold value, wherein the third coal flow rate threshold value is greater than the second coal flow rate threshold value;

determining that the load level of the scraper conveyor is the fourth load preset level when the large-lump coal level is the fourth large-lump coal preset level and the coal flow per unit time is greater than or equal to the third coal flow threshold;

the plurality of load preset levels are respectively a first load preset level, a second load preset level, a third load preset level and a fourth load preset level of the scraper conveyor, which are sequentially increased in the load degree,

step S4: when the load level of the scraper conveyor is determined to be the first load preset level, adjusting the transport speed of the scraper conveyor to a first preset transport speed; when the load level of the scraper conveyor is determined to be the second load preset level, adjusting the transport speed of the scraper conveyor to a second preset transport speed, wherein the second preset transport speed is larger than the first preset transport speed; when it is determined that the load level of the scraper conveyor is the third load preset level, adjusting the transport speed of the scraper conveyor to a third preset transport speed, the third preset transport speed being greater than the second preset transport speed; when it is determined that the load level of the scraper conveyor is the fourth preset load level, the transport speed of the scraper conveyor is adjusted to a fourth preset transport speed, which is greater than the third preset transport speed.

Step S5: determining whether a coal block corresponding to the bulk coal grade passes through a 3D camera adjacent to the 3D camera transmitting the three-dimensional coal stream point cloud data within a preset time, in a case that the bulk coal grade is the third bulk coal preset grade or the fourth bulk coal preset grade; determining that the coal flow state is a normal state when the coal blocks corresponding to the large coal grades pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time; and determining that the coal flow state is an abnormal state when the coal blocks corresponding to the large coal grades do not pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time, wherein the abnormal state is used for representing that the coal blocks roll, fall or clamp.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a coal flow control device, and the coal flow control device can be used for executing the coal flow control method provided by the embodiment of the application. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The following describes a coal flow control device provided by an embodiment of the present application.

Fig. 4 is a block diagram of a control device for coal flow according to an embodiment of the present application. As shown in fig. 4, the device includes a receiving unit 41, a first processing unit 42, a determining unit 43, and a second processing unit 44, where the receiving unit 41 is configured to receive three-dimensional coal stream point cloud data sent by a 3D camera, and process the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technique to obtain coal stream space data, where the three-dimensional coal stream point cloud data is three-dimensional point cloud data of a coal stream collected by the 3D camera at a current moment, and the coal stream space data is 3D stereo data of the coal stream at the current moment; the first processing unit 42 is configured to integrate the coal flow space data over a time domain to obtain a unit time coal flow, and process the coal flow space data by using a bulk coal recognition model to obtain a bulk coal grade, where the unit time coal flow is a flow of coal blocks in a unit time, the bulk coal grade is one of a plurality of bulk coal preset grades, the bulk coal preset grade is used to characterize a size degree of the bulk coal, the bulk coal recognition model is trained by using a plurality of sets of training data, and each set of training data in the plurality of sets of training data includes a plurality of sets of training data acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data; the determining unit 43 is configured to determine a load level of the scraper conveyor according to the bulk coal level and a coal flow interval in which the coal flow per unit time is located, where the load level is one of a plurality of load preset levels, and the load preset level is used for representing a load level of the scraper conveyor; the second processing unit 44 is configured to adjust the transport speed of the scraper conveyor to a speed corresponding to the load level according to the load level.

Among the above-mentioned device, confirm the size grade and the unit time coal flow of lump coal respectively through coal flow space data to confirm the heavy burden degree of scraper conveyor simultaneously according to the size grade and the unit time coal flow of lump coal, adjust scraper conveyor's transportation speed according to the heavy burden degree at last, thereby improved the accuracy that the coal flow monitored, and then solved the lower problem of accuracy of current scheme monitoring coal flow.

In some embodiments of the present application, the plurality of the lump coal preset levels are a first lump coal preset level, a second lump coal preset level, a third lump coal preset level, and a fourth lump coal preset level, respectively, in which the magnitude of the lump coal is sequentially increased, and the plurality of the load preset levels are a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, respectively, in which the magnitude of the load of the scraper conveyor is sequentially increased, and the determining unit includes at least one of: the first determining module is used for determining that the loading level of the scraper conveyor is the first loading preset level when the large-lump coal level is the first large-lump coal preset level and the unit-time coal flow is smaller than a first coal flow threshold; the second determining module is configured to determine that the load level of the scraper conveyor is the second load preset level when the bulk coal level is the second preset level, and the unit-time coal flow is greater than or equal to the first coal flow threshold, and the unit-time coal flow is less than a second coal flow threshold, where the second coal flow threshold is greater than the first coal flow threshold; the third determining module is configured to determine that the load level of the scraper conveyor is the third load preset level when the bulk coal level is the third preset level, the unit-time coal flow is greater than or equal to the second coal flow threshold, and the unit-time coal flow is less than a third coal flow threshold, and the third coal flow threshold is greater than the second coal flow threshold; the fourth determining module is configured to determine that the load level of the scraper conveyor is the fourth load preset level when the large-lump coal level is the fourth large-lump coal preset level and the unit-time coal flow rate is greater than or equal to the third coal flow rate threshold.

In some embodiments of the present application, the plurality of load preset levels are respectively a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, in which the load levels of the scraper conveyor are sequentially increased, and the second processing unit includes a first processing module, a second processing module, a third processing module, and a fourth processing module, where the first processing module is configured to adjust the transport speed of the scraper conveyor to a first preset transport speed if it is determined that the load level of the scraper conveyor is the first load preset level; the second processing module is used for adjusting the conveying speed of the scraper conveyor to a second preset conveying speed when the loading level of the scraper conveyor is determined to be the second loading preset level, and the second preset conveying speed is larger than the first preset conveying speed; the third processing module is configured to adjust the transport speed of the scraper conveyor to a third preset transport speed when it is determined that the load level of the scraper conveyor is the third preset load level, where the third preset transport speed is greater than the second preset transport speed; the fourth processing module is configured to adjust the transport speed of the scraper conveyor to a fourth preset transport speed when it is determined that the load level of the scraper conveyor is the fourth preset load level, where the fourth preset transport speed is greater than the third preset transport speed.

In some embodiments of the present application, the apparatus further includes a first generating unit configured to generate first alarm information for reminding a worker of controlling the shutdown of the scraper conveyor after determining that the load level of the scraper conveyor is the third preset load level.

In some embodiments of the present application, the apparatus further includes a third processing unit, a fourth processing unit, and a fifth processing unit, where the third processing unit is configured to determine whether a coal block corresponding to the bulk coal level passes through a 3D camera adjacent to the 3D camera transmitting the three-dimensional coal stream point cloud data within a preset time if the bulk coal level is the third bulk coal preset level or the fourth bulk coal preset level; the fourth processing unit is used for determining that the coal flow state is a normal state when the coal blocks corresponding to the large coal grades pass through the 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within the preset time; and the fifth processing unit is used for determining that the coal flow state is an abnormal state when the coal blocks corresponding to the large-block coal grade do not pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time, wherein the abnormal state is used for representing that the coal blocks roll, fall or clamp.

In some embodiments of the present application, the apparatus further includes a second generating unit, where after determining that the coal flow state is an abnormal state, the second generating unit is configured to generate second alarm information, where the second alarm information is used to remind a worker that a coal block corresponding to the bulk coal grade has rolled, dropped, or clamped.

In some embodiments of the present application, the receiving unit includes a receiving module, where the receiving module is configured to receive the three-dimensional coal stream point cloud data sent by the 3D camera through a 5G network.

The control device of the coal flow comprises a processor and a memory, wherein the receiving unit, the first processing unit, the determining unit, the second processing unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one kernel, and the problem that the accuracy of monitoring coal flow is low in the existing scheme is solved by adjusting kernel parameters.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is positioned to execute the coal flow control method.

The embodiment of the invention provides a processor which is used for running a program, wherein the control method of the coal flow is executed when the program runs.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program: receiving three-dimensional coal stream point cloud data sent by the 3D camera, and processing the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technology to obtain coal stream space data, wherein the three-dimensional coal stream point cloud data is the three-dimensional point cloud data of coal streams collected by the 3D camera at the current moment, and the coal stream space data is the 3D three-dimensional data of the coal streams at the current moment; integrating the coal flow space data in a time domain to obtain a unit time coal flow, processing the coal flow space data by adopting a large-block coal recognition model to obtain large-block coal grades, wherein the unit time coal flow is the flow of the coal blocks in unit time, the large-block coal grades are one of a plurality of large-block coal preset grades, the large-block coal preset grades are used for representing the size degree of the large-block coal, the large-block coal recognition model is trained by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises the acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data; determining a load level of the scraper conveyor according to the bulk coal level and a coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset level is used for representing the load level of the scraper conveyor; and adjusting the transport speed of the scraper conveyor to a speed corresponding to the load level according to the load level. The device herein may be a server, PC, PAD, cell phone, etc.

The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with at least the following method steps: receiving three-dimensional coal stream point cloud data sent by the 3D camera, and processing the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technology to obtain coal stream space data, wherein the three-dimensional coal stream point cloud data is the three-dimensional point cloud data of coal streams collected by the 3D camera at the current moment, and the coal stream space data is the 3D three-dimensional data of the coal streams at the current moment; integrating the coal flow space data in a time domain to obtain a unit time coal flow, processing the coal flow space data by adopting a large-block coal recognition model to obtain large-block coal grades, wherein the unit time coal flow is the flow of the coal blocks in unit time, the large-block coal grades are one of a plurality of large-block coal preset grades, the large-block coal preset grades are used for representing the size degree of the large-block coal, the large-block coal recognition model is trained by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises the acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data; determining a load level of the scraper conveyor according to the bulk coal level and a coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset level is used for representing the load level of the scraper conveyor; and adjusting the transport speed of the scraper conveyor to a speed corresponding to the load level according to the load level.

The application also provides a coal flow monitoring system, which comprises a controller, a plurality of 3D cameras and a scraper conveyor, wherein the scraper conveyor and the 3D cameras are respectively and electrically connected with the controller, the 3D cameras are sequentially equidistant and are arranged above the scraper conveyor along the direction of coal block transportation by the scraper conveyor, and the controller is used for executing any one of the coal flow control methods. The size grade and the unit time coal flow rate of the bulk coal are respectively determined through the coal flow space data, so that the loading degree of the scraper conveyor is simultaneously determined according to the size grade and the unit time coal flow rate of the bulk coal, and finally the transportation speed of the scraper conveyor is adjusted according to the loading degree, thereby improving the accuracy of coal flow monitoring, and further solving the problem of lower accuracy of coal flow monitoring in the existing scheme.

It will be appreciated by those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) According to the coal flow control method, the size grade of the bulk coal and the coal flow rate in unit time are respectively determined through the coal flow space data, so that the loading degree of the scraper conveyor is determined simultaneously according to the size grade of the bulk coal and the coal flow rate in unit time, and finally the transportation speed of the scraper conveyor is adjusted according to the loading degree, so that the accuracy of coal flow monitoring is improved, and the problem that the accuracy of coal flow monitoring in the existing scheme is lower is solved.

2) According to the coal flow control device, the size grade of the bulk coal and the coal flow rate in unit time are respectively determined through the coal flow space data, so that the loading degree of the scraper conveyor is determined simultaneously according to the size grade of the bulk coal and the coal flow rate in unit time, and finally the transportation speed of the scraper conveyor is adjusted according to the loading degree, so that the accuracy of coal flow monitoring is improved, and the problem that the accuracy of coal flow monitoring in the existing scheme is lower is solved.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. The utility model provides a control method of coal flow, is applied to the controller in the coal flow monitoring system, the coal flow monitoring system still includes a plurality of 3D cameras and a scraper conveyor, scraper conveyor and a plurality of 3D camera respectively with communicate between the controller, a plurality of 3D cameras are equidistant in proper order and along the direction that scraper conveyor transported the coal cinder set up in scraper conveyor top, characterized in that includes:

receiving three-dimensional coal stream point cloud data sent by the 3D camera, and processing the three-dimensional coal stream point cloud data based on a three-dimensional space reconstruction technology to obtain coal stream space data, wherein the three-dimensional coal stream point cloud data is three-dimensional point cloud data of coal streams acquired by the 3D camera at the current moment, and the coal stream space data is 3D three-dimensional data of the coal streams at the current moment;

integrating the coal flow space data in a time domain to obtain a unit time coal flow, processing the coal flow space data by adopting a large-block coal recognition model to obtain large-block coal grades, wherein the unit time coal flow is the flow of the coal blocks in unit time, the large-block coal grades are one of a plurality of large-block coal preset grades, the large-block coal preset grades are used for representing the size degree of the large-block coal, the large-block coal recognition model is trained by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data;

Determining a load level of the scraper conveyor according to the bulk coal level and a coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset level is used for representing the load level of the scraper conveyor;

and according to the load level, adjusting the transportation speed of the scraper conveyor to a speed corresponding to the load level.

2. The method according to claim 1, wherein the plurality of lump coal preset levels are a first lump coal preset level, a second lump coal preset level, a third lump coal preset level, and a fourth lump coal preset level, respectively, in which the magnitude of lump coal is sequentially increased, the plurality of load preset levels are a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, respectively, in which the magnitude of load of the scraper conveyor is sequentially increased, and determining the load level of the scraper conveyor according to a coal flow interval in which the lump coal level and the unit time coal flow are located, comprises at least one of:

determining that the load level of the scraper conveyor is the first load preset level when the bulk coal level is the first bulk coal preset level and the unit time coal flow is smaller than a first coal flow threshold;

Determining that the load level of the scraper conveyor is the second load preset level when the bulk coal level is the second bulk coal preset level, the unit time coal flow is greater than or equal to the first coal flow threshold, and the unit time coal flow is less than a second coal flow threshold, the second coal flow threshold being greater than the first coal flow threshold;

determining that the load level of the scraper conveyor is the third load preset level when the bulk coal level is the third bulk coal preset level, the unit time coal flow is greater than or equal to the second coal flow threshold, and the unit time coal flow is less than a third coal flow threshold, the third coal flow threshold being greater than the second coal flow threshold;

and determining that the load level of the scraper conveyor is the fourth load preset level under the condition that the large lump coal level is the fourth large lump coal preset level and the unit time coal flow is greater than or equal to the third coal flow threshold.

3. The method according to claim 1, wherein the plurality of load preset levels are a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, respectively, in which the load levels of the blade conveyor are sequentially increased, and adjusting the transport speed of the blade conveyor to a speed corresponding to the load levels according to the load levels comprises:

Adjusting the transport speed of the scraper conveyor to a first preset transport speed if the load level of the scraper conveyor is determined to be the first load preset level;

adjusting the transport speed of the scraper conveyor to a second preset transport speed, which is greater than the first preset transport speed, if the load level of the scraper conveyor is determined to be the second preset load level;

adjusting the transport speed of the scraper conveyor to a third preset transport speed, which is greater than the second preset transport speed, if it is determined that the load level of the scraper conveyor is the third preset load level;

and under the condition that the load level of the scraper conveyor is the fourth load preset level, adjusting the conveying speed of the scraper conveyor to a fourth preset conveying speed, wherein the fourth preset conveying speed is larger than the third preset conveying speed.

4. The method of claim 3, wherein after determining that the load level of the scraper conveyor is the third load preset level, the method further comprises:

Generating first alarm information, wherein the first alarm information is used for reminding a worker of controlling the scraper conveyor to stop.

5. The method according to claim 2, wherein the method further comprises:

determining whether a coal block corresponding to the bulk coal grade passes through a 3D camera adjacent to the 3D camera transmitting the three-dimensional coal stream point cloud data within a preset time, under the condition that the bulk coal grade is the third bulk coal preset grade or the fourth bulk coal preset grade;

determining that the coal flow state is a normal state when the coal blocks corresponding to the large coal grades pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time;

and under the condition that the coal blocks corresponding to the large coal grades do not pass through a 3D camera adjacent to the 3D camera for transmitting the three-dimensional coal flow point cloud data within a preset time, determining that the coal flow state is an abnormal state, wherein the abnormal state is used for representing that the coal blocks roll, fall or clamp.

6. The method of claim 5, wherein after determining that the coal flow condition is an abnormal condition, the method further comprises:

Generating second alarm information, wherein the second alarm information is used for reminding a worker that the coal blocks corresponding to the large coal grades are rolled, or fall off or are clamped.

7. The method of any one of claims 1 to 6, wherein receiving three-dimensional coal stream point cloud data transmitted by the 3D camera comprises:

and receiving the three-dimensional coal stream point cloud data sent by the 3D camera through a 5G network.

8. A coal flow control device, comprising:

the receiving unit is used for receiving three-dimensional coal flow point cloud data sent by the 3D camera, processing the three-dimensional coal flow point cloud data based on a three-dimensional space reconstruction technology to obtain coal flow space data, wherein the three-dimensional coal flow point cloud data is the three-dimensional point cloud data of coal flow acquired by the 3D camera at the current moment, and the coal flow space data is 3D stereo data of the coal flow at the current moment;

the first processing unit is used for carrying out integral processing on the coal flow space data in a time domain to obtain coal flow in unit time, processing the coal flow space data by adopting a large-block coal identification model to obtain large-block coal grade, wherein the coal flow in unit time is the flow of coal blocks in unit time, the large-block coal grade is one of a plurality of large-block coal preset grades, the large-block coal preset grade is used for representing the size degree of the large-block coal, the large-block coal identification model is obtained by training by using a plurality of groups of training data, and each group of training data in the plurality of groups of training data comprises acquired in a historical time period: the coal flow space data and the massive coal preset grade corresponding to the coal flow space data;

The determining unit is used for determining the load level of the scraper conveyor according to the large coal level and the coal flow interval in which the coal flow in unit time is located, wherein the load level is one of a plurality of load preset levels, and the load preset level is used for representing the load level of the scraper conveyor;

and the second processing unit is used for adjusting the transportation speed of the scraper conveyor to a speed corresponding to the load level according to the load level.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer-readable storage medium is located to perform the method of controlling a coal flow according to any one of claims 1 to 7.

10. A coal flow monitoring system, comprising: a controller, a plurality of 3D cameras and a scraper conveyor, the scraper conveyor and the plurality of 3D cameras being respectively electrically connected to the controller, the plurality of 3D cameras being sequentially equidistant and being disposed above the scraper conveyor along a direction in which the scraper conveyor transports coal pieces, the controller being configured to execute the method of controlling coal flow according to any one of claims 1 to 7.