A driving control system for a garbage incineration plant

Abstract

The present invention discloses a driving control system for a waste incineration plant, which overcomes the problems of low feeding efficiency, uneven feeding and low automation of the driving control system in the prior art of the finished waste storage. The control system includes an onboard system and a ground system. The onboard system includes a control system, a positioning system, an industrial-grade laser radar video recognition system, an automatic material level judgment system and a safety protection system. The ground system includes an automatic driving task scheduling system. The automatic material level judgment system includes a material distribution collection system, a feeding port material level recognition system and a driving task priority judgment system. The positioning system, the industrial-grade laser radar video recognition system, the automatic driving task scheduling system, the safety protection system, the material distribution collection system, the feeding port material level recognition system and the driving task priority judgment system are all connected to the control system. The control system has a high degree of automation and is easy to operate. The driving operation can be automatically controlled according to the capacity of the waste storage and the feeding port material level.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial process automatic control, and in particular to a driving control system for a garbage incineration plant. Background Art

[0002] The storage and fermentation of waste materials have always been a crucial component of waste-to-energy incineration. This involves numerous process design optimizations, including ensuring the smooth discharge of leachate during the fermentation process and optimally controlling the fermentation time. The goal is to provide high-quality, high-calorific-value fuel for subsequent combustion. Currently, the overall fermentation process in waste-to-energy fermentation storage facilities is entirely controlled by manually operated vehicles. This process presents challenges in the planning of incoming material storage points and the selection of feeding and unloading areas, including unclear boundaries and excessive subjective decision-making. Furthermore, the operating room windows are easily dirty and difficult to clean. Furthermore, during the significant temperature difference between summer and winter, condensation easily forms on the floor-to-ceiling windows in front of the driver's seat. Since the operator can only observe and control the vehicle inside the waste-to-energy fermentation storage facility through the floor-to-ceiling windows, this fogging can hinder normal operation.

[0003] On June 15, 2016, the Chinese Patent Office disclosed a utility model entitled "An Automatic Feeding System for a Large-Scale Waste Incinerator," with publication number CN205316338U. The utility model is arranged above the incinerator, and a plurality of incinerator door openings are arranged in a straight line on the incinerator top plate above the incinerator, on which an incinerator door system is provided, and a driving track is provided above the incinerator door system, and a vehicle body for dumping garbage is provided above the driving track. The purpose of the utility model is to provide an automatic feeding system for a large-scale waste incinerator, which facilitates the feeding of the waste incinerator, prevents garbage from leaking out, facilitates flexible control, and reduces the risk to operators. However, the degree of automation of the utility model is not high, and it lacks early judgment feedback and real-time monitoring of faults. Summary of the Invention

[0004] The purpose of the present invention is to overcome the problems of low feeding efficiency, uneven feeding, low automation level of the crane control system in the prior art, and inability to automatically adjust according to the operating conditions of the boiler in the finished garbage warehouse. A crane control system for a garbage incineration plant is provided. The garbage warehouse is 3D modeled by point cloud data scanned by an industrial-grade laser radar, and the automatic material level judgment system guides the crane to perform task priority judgment. The task scheduling system realizes the crane to perform tasks such as feeding, discharging, and chopping. It has a high degree of automation and is easy to operate. The crane operation can be automatically controlled according to the capacity of the garbage warehouse and the material level of the feeding port.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme, including an onboard system for collecting and analyzing data and a ground system responsible for task allocation, the onboard system includes a control system, a positioning system, an industrial-grade laser radar video recognition system, an automatic material level judgment system and a safety protection system, the ground system includes an automatic driving task scheduling system, the automatic material level judgment system includes a material distribution collection system, a feeding port material level recognition system and a driving task priority judgment system, the positioning system, the industrial-grade laser radar video recognition system, the automatic driving task scheduling system, the safety protection system, the material distribution collection system, the feeding port material level recognition system and the driving task priority judgment system are all connected to the control system.

[0006] The crane consists of a large, vertically movable trolley and a small, horizontally movable trolley, with a grab bucket suspended beneath it. The onboard system collects and analyzes data, while the ground system coordinates tasks and reversely controls the crane through the onboard system. Point cloud data scanned by an industrial-grade LiDAR video recognition system is used to create 3D models of the garbage depot. An automatic material level determination system monitors material levels in real time and transmits this data to the onboard system, guiding the crane in determining task priorities. The crane's automatic task scheduling system enables the crane to perform tasks such as feeding, unloading, and chopping. The material distribution collection system enables 3D material modeling and inventory counting. Its core equipment consists of a laser scanner and a controller. The laser scanners are fixedly mounted on both sides of the crane's main beam, performing high-frequency scanning to obtain information about the material's profile in the storage area. A laser scanner mounted on the main beam near the operator's cab scans the material in the feed area below. The controller's primary function is to control the laser scanner, preprocess data, and transmit the data to the control system. By scanning the material distribution in the warehouse and identifying the material distribution outline in the warehouse, the control system can directly calculate the reference value of the material storage volume in the warehouse. Safety protection function is also an indispensable part. The main safety protection designs in this invention include anti-collision function and video surveillance function.

[0007] Preferably, the control system includes a remote control PLC substation and a warehouse area intelligent management and control system, the warehouse area intelligent management and control system includes a data analysis unit and an instruction control unit, the remote control PLC substation is connected to the instruction control unit, and the data analysis unit is connected to the instruction control unit.

[0008] Generally, the grab crane in the garbage storage already includes PLC program control and variable frequency drive motion control system after being delivered to the power plant. The present invention will add a remote control PLC substation while retaining the original operating equipment and operating methods, and also includes a storage area intelligent management and control system to realize unmanned automatic operation of the grab crane. The role of the PLC substation is to first receive the operating instructions of the instruction control unit in the storage area intelligent management and control system, parse them, and distribute them for execution. Secondly, during the operation of the crane, the operating data on the crane and the real-time monitoring data of each sensor will be sent to the storage area intelligent management and control system of the control center, and the two form a data closed loop. The data analysis unit in the storage area intelligent management and control system analyzes the collected data, calculates and processes it, and corrects the operation instructions in real time, completing the automatic operation control and data monitoring of the crane more accurately and efficiently, reducing the frequency of faults, and improving operational reliability, thereby intelligently controlling the operation of each mechanism, responding promptly to any faults that occur, and guiding maintenance personnel to perform rapid repairs.

[0009] Preferably, the positioning system includes a driving positioning system and a grab bucket hoisting positioning system, both of which are connected to a control system. Only when the driving and grab bucket parking positions of the lifting equipment are accurate can the stability of the automatic operation of the equipment be guaranteed.

[0010] Preferably, the vehicle positioning system includes a laser sensor and a radio frequency identification system, the radio frequency identification system includes an RFID electronic tag and an RFID electronic tag reader / writer, the RFID electronic tag is installed on each supporting column in the warehouse area, and the RFID electronic tag reader / writer is installed on the vehicle.

[0011] The vehicle positioning system uses laser sensors for detection and fixed-point calibration. The laser sensor utilizes the proven laser-time-of-flight principle and multiple-echo technology for non-contact detection. It features high-resolution, high-frequency laser pulses, ensuring exceptional measurement accuracy and real-time performance. Re-echo pulse estimation ensures reliable distance measurement, and its robust construction makes it suitable for harsh environmental conditions. The laser sensor is mounted on the end beam of the grab crane, measuring distance in the direction of the crane's travel, thereby determining the distance between the two vehicles while the crane is in motion. The laser signal is connected to the grab crane's PLC system. The laser range limiter detects other grab cranes within a specified distance and automatically slows down and stops when another grab crane is detected. The detection distance is adjustable. If the crane detects another grab crane within a safe range ahead, it immediately slows down and stops. An RFID tag reader is installed on the crane, and tags are attached to support columns within the warehouse. When the reader passes over the RFID tags, it obtains vehicle positioning verification information. Combined with the laser sensor, continuous and accurate positioning information is achieved.

[0012] Preferably, the grab bucket hoisting and positioning system includes an absolute encoder and a hoisting drum. The absolute encoder is mounted on one end of the hoisting drum output shaft. The hoisting drum comprises a drum and a wire rope secured to one end, with the other end of the wire rope connected to the grab bucket. The grab bucket hoisting and positioning system utilizes an absolute encoder as a positioning mechanism for the hoisting mechanism. The absolute encoder is mounted on one end of the hoisting drum output shaft. By recording the number of revolutions and angles of the hoisting drum, the corresponding pulse count is obtained. By converting the transmission ratio into the pulse count, the length of the wire rope lowered by the hoisting drum (i.e., the height to which the grab bucket is lowered) is determined.

[0013] Preferably, the system also includes a communication system connected to both the onboard and ground systems. The system includes both a network cable communication module and a fiber optic communication module. For short-range communications, network cables are used; for communications over 50 meters, fiber optics are used to extend transmission distance and enhance anti-interference capabilities.

[0014] Preferably, the safety protection system includes a driving anti-collision protection system, an electronic anti-sway system and a driver-hand automatic switching protection system, and the driving anti-collision protection system, the electronic anti-sway system and the driver-hand automatic switching protection system are all connected to the control system.

[0015] The vehicle collision avoidance system determines whether other grab vehicles are operating within a safe range on the grab vehicle track when the intelligent control system in the storage area is controlling the grab vehicle. This prevents direct collisions that could lead to downtime and other malfunctions. A laser sensor mounted on the grab vehicle's end beam measures distance in the direction of the trolley's travel, thereby determining the distance between the two vehicles during operation. The laser signal is connected to the grab vehicle's PLC system. The laser rangefinder determines whether other grab vehicles are operating within a specified distance. Automatically decelerates and stops the vehicle when another grab vehicle is detected. The detection distance is adjustable. When the trolley detects another grab vehicle within a safe range ahead, it immediately decelerates and stops. The electronic anti-sway system must meet the following requirements: In automatic operation, the grab bucket must stabilize within two swing cycles and return to a standstill, regardless of load or unloaded conditions, from full speed to a complete stop. The operator can automatically switch the protection system at any time during operation, switching the trolley's operating mode from manual to automatic or vice versa. When the driving mode is switched from manual to automatic, the anti-collision and anti-sway protection system of the driving will immediately switch to the starting state, ensure a reasonable and safe distance when the driving is running, and adjust the driving grab to a stationary state within three swing cycles.

[0016] Preferably, the safety protection system also includes a video surveillance system, comprising cameras mounted on both sides of the crane's end beam. These cameras are gun-shaped, with one mounted on each side of the grab crane's end beam. These cameras monitor the crane and surrounding conditions during operation and transmit footage back to the central control room for storage and video playback. The cameras are equipped with infrared sensors, allowing for nighttime monitoring.

[0017] Preferably, the feed port material level identification system includes an ultrasonic material level meter and a display device. The ultrasonic material level meter is installed at the garbage discharge port, the garbage crusher feed port, and the garbage crusher discharge port, and the display device is installed at the garbage feed port. The display device is preferably an LED display screen. Ultrasonic material level meters are installed at appropriate positions above the garbage discharge port, the garbage crusher feed port, and the garbage crusher discharge port to monitor the material level in real time and send it to the intelligent management and control system of the storage area; an LED display screen is installed above each garbage feed port outside the garbage storage tank to specify the type of garbage at the feed port. If the display screen shows domestic garbage, the driver transporting domestic garbage should pour the garbage into this garbage feed port; the type of garbage displayed on the LED display screen is set by the operator in the central control room on the operation interface of the intelligent management and control system of the storage area.

[0018] Preferably, the ground system further includes an auxiliary burner and a temperature detector, both of which are mounted on the boiler. The auxiliary burners are installed at both the top and bottom of the boiler, and a plurality of temperature detectors are installed sequentially from the top to the bottom of the boiler. Both the auxiliary burner and temperature detector are connected to a remote control PLC substation.

[0019] Therefore, the present invention has the following beneficial effects: 1. 3D modeling of the garbage storage is carried out by utilizing the point cloud data scanned by industrial-grade laser radar, the automatic material level judgment system guides the driving to perform task priority judgment, and the task scheduling system enables the driving to perform task operations such as feeding, discharging and chopping. It has a high degree of automation and is easy to operate. The driving operation can be automatically controlled according to the capacity of the garbage storage and the material level of the feeding port; 2. It has the functions of early judgment feedback and real-time monitoring of faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0021] Figure 2 1 is a schematic diagram of the system structure of the control system of the present invention;

[0022] Figure 3 This is a schematic diagram of the layout of the garbage storage tank of the present invention;

[0023] In the figure: 1. Industrial-grade laser radar video recognition system; 2. Automatic material level judgment system; 3. Automatic driving task scheduling system; 4. Driving anti-collision protection system; 5. Electronic anti-sway system; 6. Driver-operator automatic switching protection system; 7. Control system; 8. Driving positioning system; 9. Grab bucket lifting and positioning system; 10. PLC substation; 11. Intelligent management and control system of the storage area; 12. Data analysis unit; 13. Command control unit; 14. Material distribution acquisition system; 15. Feed port material level recognition system; 16. Driving task priority judgment system; 17. Video monitoring system. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0025] This embodiment is a vehicle control system for a waste incineration plant. Figure 1 As shown, it includes a ground system and an onboard system. The onboard system is used to collect and analyze data, and the ground system is responsible for task deployment and reverse control of the driving equipment through the onboard system. The ground system includes an automatic driving task scheduling system 3, the onboard system includes a control system 7, a positioning system, an industrial-grade laser radar video recognition system 1, an automatic material level judgment system 2 and a safety protection system, wherein the positioning system includes a driving positioning system 8 and a grab bucket lifting positioning system 9, the automatic material level judgment system includes a material distribution acquisition system 14, a feeding port material level recognition system 15 and a driving task priority judgment system 16, the safety protection system includes a driving anti-collision protection system 4, an electronic anti-sway system 5, an automatic driver switching protection system 6 and a video monitoring system 17; the industrial-grade laser radar video recognition system 1, the driving positioning system 8, the grab bucket lifting positioning system 9, the material distribution acquisition system 14, the feeding port material level recognition system 15, the driving task priority judgment system 16, the driving anti-collision protection system 4, the electronic anti-sway system 5, the automatic driver switching protection system 6 and the video monitoring system 17 are all connected to the control system.

[0026] During operation, the point cloud data scanned by the industrial-grade laser radar video recognition system is used to carry out 3D modeling of the garbage depot; the material level is monitored in real time by the automatic material level judgment system and sent to the on-board system to guide the crane to make task priority judgments; the crane is used to perform feeding, discharging, and chopping tasks through the automatic crane task scheduling system. The electronic anti-sway system needs to meet the following requirements: Under automatic working conditions, regardless of whether the trolley is empty or heavy, the grab bucket swings from full speed to complete stop within two cycles and tends to be stationary. The function of the crane anti-collision protection system is to determine whether there are other grab buckets within the safe range on the grab bucket driving track when the on-board system controls the grab bucket driving operation, so as to avoid the risk of direct collision and cause shutdown and other faults. At any time during the operation of the crane, the crane can automatically switch the protection system through the operator to switch the current driving state from manual to automatic or from automatic to manual. When the crane switches from manual to automatic operation, its anti-collision and anti-sway protection systems are immediately activated, ensuring a safe distance between the crane and the grab bucket during operation and resting the bucket bucket within three swing cycles. A gun-shaped camera is mounted on each side of the grab bucket's end beam to monitor the crane and surrounding conditions during operation, transmitting footage back to the central control room for storage and video playback. The cameras also include infrared sensors, allowing for nighttime monitoring.

[0027] The crane positioning system and the grab bucket hoist positioning system are the core of the onboard systems. Only accurate crane and grab bucket parking positions ensure the stability of the equipment's automated operation. The crane consists of a vertically movable trolley and a horizontally movable trolley, with the grab bucket suspended beneath it. The crane positioning system comprises both the trolley and trolley positioning systems. The trolley positioning system utilizes laser sensors and a radio frequency identification system for trolley positioning. The laser sensor utilizes the proven laser-time-of-flight principle and multiple-echo technology for non-contact detection. It features high-resolution, high-frequency laser pulses, ensuring exceptional measurement accuracy and real-time performance. Multiple-echo pulse estimation ensures reliable distance measurement, and its robust structure makes it suitable for harsh environmental conditions. The radio frequency identification system consists of an RFID tag reader / writer and RFID tags. The RFID tag reader is mounted on the trolley, while the tags are mounted on support columns within the warehouse. When the reader / writer passes over the RFID tags, it obtains trolley positioning verification information. Combined with the laser sensor, continuous and accurate positioning information is achieved. The trolley positioning system uses a laser ranging method, which is the same as the trolley positioning system and is characterized by high precision, high real-time performance, and high reliability. It can also be combined with a photoelectric travel switch to set a multi-level speed limit range within the travel range to ensure that the trolley can smoothly reach the target point even when moving quickly, avoiding impact and collision with the end beam. The lifting mechanism of the grab bucket lifting positioning system uses an absolute encoder as a positioning solution. The absolute encoder is installed at one end of the lifting drum output shaft. By recording the number of revolutions and angles of the drum, the corresponding number of pulses is obtained. By converting the transmission ratio and the number of pulses, the length of the wire rope lowered by the drum in real time (i.e., the height to which the grab bucket is lowered) is obtained.

[0028] The onboard system mainly includes the addition of control components on the grab crane, modification of the control program, and addition of sensors. First, the original electronic control system needs to be upgraded. Generally, the grab crane in the garbage storage already includes PLC program control and variable frequency drive motion control system after delivery to the power plant. The present invention will add a remote control PLC substation 10 while retaining the original operating equipment and operation mode to realize unmanned automatic operation of the grab crane, such as Figure 2As shown. The function of the added PLC substation is to first receive the operating instructions from the instruction control unit 13 in the warehouse area intelligent management and control system 11, parse them, and distribute them for execution. Secondly, during the operation of the crane, the operating data on the crane and the real-time monitoring data of each sensor will be sent to the warehouse area intelligent management and control system in the control center, forming a data closed loop. The data analysis unit 12 of the warehouse area intelligent management and control system analyzes the collected data, calculates and processes it, and corrects the operation instructions in real time, completing the automatic operation control and data monitoring of the crane more accurately and efficiently, reducing the frequency of failures and improving operational reliability, thereby intelligently controlling the operation of each mechanism and responding to any failures in a timely manner, guiding maintenance personnel to perform rapid maintenance. The electrical control cabinet for the above components can be placed in the empty space behind the electrical room where the crane electrical control cabinet is currently located. While achieving automatic control, the original on-board manual operation method of the crane is retained, so that personnel can perform crane operations on site during maintenance and repair stages.

[0029] As an auxiliary, auxiliary burners are installed at the upper and lower parts of the boiler, and several temperature detectors are installed in sequence from the upper part to the lower part of the boiler.

[0030] The material level automatic judgment system includes a material distribution collection system 14, a material level identification system 15 for the feeding port, and a driving task priority judgment system 16. The material distribution collection system 14, the material level identification system 15 for the feeding port, and the driving task priority judgment system 16 are all connected to the onboard system, such as Figure 2 As shown. The material distribution acquisition system can realize the functions of material 3D modeling and material inventory counting. The core equipment includes a laser scanner and a controller. The laser scanner is fixedly installed on both sides of the main beam of the crane and performs high-frequency scanning to obtain the contour information of the materials in the storage area. A laser scanner is installed on the main beam on the side of the crane close to the operating room to scan the materials in the feeding area below. The main function of the controller is to realize the control of the laser scanner and data preprocessing. By scanning the distribution of materials in the warehouse area and identifying the distribution contour of the materials in the warehouse area, the reference value of the storage volume of the materials in the warehouse area can be directly calculated in the control system.

[0031] The material level identification system of the feeding port includes an ultrasonic material level meter and a display device. The display device is preferably an LED display screen. The layout diagram of the garbage storage is as follows: Figure 3 As shown:

[0032] (1) Material level detection at the material port: ultrasonic level meters are installed at appropriate locations above the garbage discharge port, garbage crusher feed port, and garbage crusher discharge port to monitor the material level in real time and send it to the intelligent management and control system of the storage area for task execution decision-making.

[0033] (2) An LED display screen is installed above each garbage feed port outside the garbage storage tank to specify the type of garbage at the feed port. If the display screen shows domestic garbage, the driver transporting domestic garbage should pour the garbage into this feed port. The type of garbage displayed on the LED display screen is set by the operator in the central control room on the operation interface of the storage area intelligent management and control system.

[0034] In the implementation of the intelligent driving system, the connection between the onboard system and the ground system is achieved by the communication system.

[0035] The communication signals between the PLC system and the various detection equipment and sensors on the grab crane are divided into two data transmission channels: control signals and video signals, to avoid mutual interference between the control signals and the video signals.

[0036] The first set of control signals: data exchange between the remote control PLC substation installed on the crane and the warehouse intelligent management and control system in the central control room. These signals include equipment status signals collected by the crane's laser sensor, material distribution information collected by scanners within the warehouse, and crane operation instructions issued by the warehouse intelligent management and control system.

[0037] The second set of video signals: The video signals of the industrial-grade LiDAR video recognition system require bidirectional transmission. The images captured by the camera on site also need to be transmitted back to the control center via a data link. The video signal requires a relatively large bandwidth capacity to ensure the transmission of high-definition video.

[0038] The onboard transmission medium adopts a combination of optical fiber and network cable. Network cable is used for short-distance communication; optical fiber is used for communication over 50 meters to increase transmission distance and enhance anti-interference ability.

[0039] The embodiment described above is only a preferred solution of the present invention and does not limit the present invention in any form. Other variations and modifications are possible without exceeding the technical solution described in the claims.

Claims

1. A driving control system for a waste incineration plant, characterized in that: Automatically control the crane operation according to the garbage storage capacity and the material level of the feeding port, including: Onboard system: used to collect and analyze data; Ground system: responsible for task deployment; The onboard system includes: Control system (7): realizes data processing of each system and sends control instructions to each system; including remote control PLC substation and warehouse intelligent management and control system, the PLC substation receives the operation instructions of the warehouse intelligent management and control system, analyzes them and distributes them for execution, and sends the operation data of the driving vehicle and the real-time monitoring data of each sensor to the warehouse intelligent management and control system during the operation of the vehicle, forming a data closed loop; the control signal and video signal are transmitted in two ways; Positioning system: realizes the positioning of the crane and grab bucket; Industrial-grade LiDAR video recognition system (1): Scans garbage storage point cloud data and creates 3D models of the garbage storage; Automatic material level determination system (2): including a material distribution collection system (14), a material level identification system for the feeding port (15), and a vehicle task priority determination system (16). Ultrasonic material level meters are installed above the garbage discharge port, the garbage crusher feed port, and the garbage crusher discharge port to monitor the material level in real time and send the information to the onboard system to guide the vehicle to determine the task priority. Safety protection system: protects driving safety, prevents driving collisions, and reduces grab bucket shaking cycles; combined with photoelectric travel switches, multi-level speed limit intervals are set within the travel range; The ground system includes: a crane task automatic dispatching system (3): controlling the crane to perform task operations including feeding, discharging and chopping.

2. A waste incineration plant driving control system according to claim 1, characterized in that: The control system (7) comprises: Remote control PLC substation (10): collects the operation data of the crane and transmits it to the intelligent management and control system (11) of the storage area, and receives the operation instructions of the intelligent management and control system (11) of the storage area; The intelligent management and control system (11) of the storage area includes a data analysis unit (12) and an instruction control unit (13), which analyzes and processes the collected data and sends control instructions to the remote control PLC substation (10).

3. A waste incineration plant driving control system according to claim 1 or 2, characterized in that: The positioning system comprises: Vehicle positioning system: real-time positioning of vehicles; Grab bucket lifting and positioning system: real-time positioning of the grab bucket; The driving positioning system (8) and the grab bucket lifting positioning system (9) are both connected to the control system (7).

4. A waste incineration plant driving control system according to claim 3, characterized in that: The vehicle positioning system (8) includes a laser sensor and a radio frequency identification system. The radio frequency identification system includes an RFID electronic tag and an RFID electronic tag reader / writer. The RFID electronic tag is installed on each supporting column in the storage area, and the RFID electronic tag reader / writer is installed on the vehicle.

5. A waste incineration plant driving control system according to claim 3, characterized in that: The grab bucket lifting and positioning system (9) comprises an absolute value encoder and a lifting drum, wherein the absolute value encoder is installed at one end of the output shaft of the lifting drum.

6. A waste incineration plant driving control system according to claim 1 or 2, characterized in that: Also includes: Communication system: connected to the onboard system and ground system respectively, used for communication between the ground system and the onboard system; The communication system comprises: Network cable communication module: used for short-range communication; Fiber optic communication module: used for long-distance communication.

7. A waste incineration plant driving control system according to claim 1 or 2, characterized in that: The safety protection system includes: Driving anti-collision protection system (4): determines whether there are other grab vehicles running within the safe range on the grab vehicle track to avoid direct collision; Electronic anti-sway system: used to ensure that the grab bucket swing period is less than the limit value when the trolley is running and stopping; Driver-handle automatic switching protection system (6): used to switch the driving state from manual to automatic or from automatic to manual.

8. A waste incineration plant driving control system according to claim 7, characterized in that: The safety protection system further comprises a video monitoring system (17), wherein the video monitoring system (17) comprises cameras, and the cameras are installed on both sides of the vehicle end beam.

9. A waste incineration plant driving control system according to claim 1 or 2, characterized in that: The feed port material level identification system (15) comprises an ultrasonic material level meter and a display device, wherein the ultrasonic material level meter is installed at the garbage discharge port, the garbage crusher feed port, and the garbage crusher discharge port, and the display device is installed at the garbage feed port.

10. A waste incineration plant driving control system according to claim 1 or 2, characterized in that: The ground system further comprises an auxiliary burner and a temperature detector, both of which are installed on the boiler.

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