Molten iron transportation system based on automatic driving

Abstract

The invention discloses a molten iron transportation system based on automatic driving and relates to the technical field of rail transit. The system comprises an automatic train monitoring subsystem used for generating a control plan and performing equipment control; the vehicle-mounted control subsystem is used for executing train protection and driving functions; the ground control subsystem is used for realizing train control and interlocking functions; the train autonomous sensing subsystem is used for detecting operation environment information; wherein the train automatic monitoring subsystem carries out data interaction with the ironmaking system and the steelmaking system and automatically generates a control plan based on a blast furnace tapping plan and a converter production plan, and the control plan is used for controlling automatic driving of the train. By implementing the technical scheme provided by the invention, the problem of transportation plan lag caused by lack of real-time data interaction of a molten iron transportation scheduling and production system in the prior art is solved, accurate connection of molten iron transportation and production rhythm is realized, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of rail transportation technology, and in particular to a molten iron transportation system based on automatic driving. Background Art

[0002] In the steel smelting production process, molten iron transportation is an important link connecting the ironmaking and steelmaking processes. Molten iron transportation involves the transportation of high-temperature liquid metal, which has extremely high requirements for transportation safety and timeliness. Molten iron will continue to lose temperature during transportation. If it cannot be transported to the converter in time, it will lead to a decrease in converter production efficiency and increase energy consumption. Therefore, how to improve the efficiency of molten iron transportation and ensure that molten iron is delivered in time is an urgent problem that steel companies need to solve.

[0003] At present, steel enterprises generally use manually driven special vehicles for molten iron transportation. In order to improve transportation efficiency, some enterprises use signal control systems to guide drivers and arrange transportation tasks according to production plans through dispatchers. Some enterprises have also introduced vehicle positioning systems to obtain real-time location information of molten iron transportation vehicles and assist in scheduling decisions.

[0004] However, in the prior art, due to the lack of a real-time data interaction mechanism between the molten iron transportation scheduling and the production system, the scheduling personnel cannot timely learn about the changes in the blast furnace iron production plan and the converter production plan. This results in the formulation of the transportation plan often lagging behind the adjustment of the production plan, and it is impossible to achieve the precise connection between the molten iron transportation and the production rhythm, which affects the production efficiency. Summary of the invention

[0005] The present invention provides a molten iron transportation system based on automatic driving, which solves the problem in the prior art that the molten iron transportation scheduling and production system lack real-time data interaction resulting in delayed transportation plans, achieves accurate connection between molten iron transportation and production rhythm, and improves production efficiency.

[0006] In a first aspect of the present invention, a molten iron transportation system based on automatic driving is provided, comprising: Automatic train monitoring subsystem, used to generate control plans and perform equipment control; Onboard control subsystem, used to perform train protection and driving functions; Ground control subsystem, used to realize train control and interlocking functions; Train autonomous sensing subsystem, used to detect operating environment information; Among them, the train automatic monitoring subsystem exchanges data with the ironmaking system and the steelmaking system, and automatically generates a control plan based on the blast furnace iron production plan and the converter production plan. The control plan is used to control the automatic driving of the train.

[0007] In summary, one or more technical solutions provided in the present invention have at least the following technical effects or advantages: Through data exchange between the train automatic monitoring subsystem and the ironmaking system and steelmaking system, the blast furnace iron-making plan and the converter production plan can be obtained in real time, and a control plan can be automatically generated based on this, so that the molten iron transportation plan can adapt to changes in the production plan in a timely manner. At the same time, based on the control plan, the on-board control subsystem executes the train protection and driving functions, the ground control subsystem realizes the train control and interlocking functions, and the train autonomous perception subsystem detects the operating environment information, thus realizing safe automatic driving of molten iron transportation. The above-mentioned method of automatically generating and executing the transportation control plan based on the production plan solves the problem of the lack of real-time data interaction between the molten iron transportation scheduling and the production system in the prior art, which leads to the delay of the transportation plan, realizes the precise connection between molten iron transportation and the production rhythm, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0009] Figure 1 It is a schematic diagram of the architecture of a molten iron transportation system based on automatic driving provided in an embodiment of the present invention.

[0010] Figure 2 It is a flow chart of molten iron transportation scenarios of a fully automatic molten iron transportation system provided by an embodiment of the present invention.

[0011] Figure 3 It is a flow chart of molten iron transportation scenarios of a fully automatic molten iron transportation system provided by an embodiment of the present invention.

[0012] Figure 4 It is a charging scenario flow chart of a fully automatic molten iron transportation system provided by an embodiment of the present invention.

[0013] Figure 5 It is a flow chart of a crossing scenario of a fully automatic molten iron transportation system provided by an embodiment of the present invention.

[0014] Figure 6 It is a flow chart of a crossing scenario of a fully automatic molten iron transportation system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of an architecture of a molten iron transportation system based on automatic driving provided by an embodiment of the present invention. The molten iron transportation system based on automatic driving includes: The train automatic monitoring subsystem is used to generate control plans and perform equipment control. The train automatic monitoring subsystem exchanges data with the ironmaking system and the steelmaking system, and automatically generates control plans based on the blast furnace iron production plan and the converter production plan. The control plans are used to control the automatic driving of the train. Onboard control subsystem, used to perform train protection and driving functions; Ground control subsystem, used to realize train control and interlocking functions; The train's autonomous sensing subsystem is used to detect operating environment information.

[0017] Among them, the train automatic monitoring subsystem refers to a distributed computer monitoring system installed in the dispatching center. In the embodiment of the present invention, it can be understood as a comprehensive control system constructed by communication front-end machines, display workstations, interface units and other equipment through networks and transmission equipment. It is used to generate control plans based on production plans and realize automatic control of trains.

[0018] In actual applications, the train automatic monitoring subsystem establishes real-time data communication connections with the ironmaking system and steelmaking system through the interface unit, and continuously receives the blast furnace iron-making plan and the converter production plan. Since the control of molten iron temperature is crucial in the steel production process, and the blast furnace iron-making and converter production need to be accurately connected, the train automatic monitoring subsystem will automatically generate the optimal control plan after receiving the production plan, combining the current line resource status, molten iron ladle status and other information. The control plan includes specific parameters of the train operation, such as the running path, arrival and departure times, and parking positions. The communication front-end sends the control plan to the on-board control subsystem through the data communication subsystem to realize automatic driving control of the train.

[0019] Furthermore, to ensure the reliable operation of the system, the train automatic monitoring subsystem adopts a dual-machine hot standby architecture design, and the data transmission channel adopts a redundant network structure. When the system detects changes in the production plan, such as the temporary adjustment of the blast furnace's iron-making time or the change in the converter's production rhythm, the train automatic monitoring subsystem can update the control plan in real time to ensure that the train operation is synchronized with the production plan. In this way, the system realizes intelligent scheduling and precise control of the molten iron transportation process, effectively shortens the molten iron transportation time, reduces the molten iron temperature loss, and improves production efficiency.

[0020] Based on the above embodiment, as an optional embodiment, the train automatic monitoring subsystem adopts a distributed architecture, including: Communication front-end, display workstation and interface unit.

[0021] The communication front-end processor and display workstation adopt dual-machine hot standby mode.

[0022] The data transmission of the train automatic monitoring subsystem adopts a redundant network architecture.

[0023] To ensure the safety and reliability of the molten iron transportation process, the train automatic monitoring subsystem adopts a distributed architecture design, including a communication front-end, a display workstation and an interface unit. The communication front-end is responsible for processing the core control logic and data communication of the system, the display workstation provides a human-computer interaction interface and operation status display, and the interface unit is responsible for data interaction with the ironmaking system and steelmaking system.

[0024] Considering the strict requirements of timeliness and continuity in molten iron transportation, both the communication front-end processor and the display workstation adopt dual-machine hot standby mode. Specifically, the system is configured with two communication front-end processors and display workstations with the same functions, one of which runs as the main device and the other is in hot standby as the backup device. When the main device fails, the system can automatically switch to the backup device to ensure that the control function is not interrupted. For example, when the main communication front-end processor has a hardware failure or software anomaly, the backup communication front-end processor can take over in milliseconds and continue to generate and issue the control plan, avoiding the interruption of molten iron transportation due to equipment failure.

[0025] At the same time, in order to prevent network communication failures from affecting the system, the data transmission of the train automatic monitoring subsystem adopts a redundant network architecture. The system deploys two independent network transmission channels, one as the main network and the other as the backup network. Under normal circumstances, the system transmits data through the main network; when the main network fails, the system automatically switches to the backup network to ensure the continuity of data communication. This redundant network architecture is particularly suitable for the complex electromagnetic environment of steel plants and can effectively deal with network communication interruptions caused by external interference.

[0026] By adopting a distributed architecture, dual-machine hot standby and network redundancy design, the train automatic monitoring subsystem achieves high reliability of control functions and high stability of data transmission. Even in the event of equipment failure or network anomalies, the system can still maintain normal operation, effectively avoiding the loss of molten iron temperature and reduced production efficiency due to system interruption.

[0027] Among them, the on-board control subsystem refers to the integrated control device installed on the molten iron transport train. The subsystem includes a main control unit, an IO unit, a vehicle control unit, a speed measurement unit, a peripheral communication unit, an operation management unit and a power supply unit. It is used to execute the train's automatic protection function and automatic driving function to ensure the safety and reliability of the molten iron transportation process.

[0028] Specifically, the main control unit of the vehicle control subsystem serves as the core processor and is responsible for coordinating the work of each functional unit. The IO unit is responsible for collecting vehicle status information and executing control instructions, the vehicle control unit is responsible for realizing the traction and braking control of the train, the speed measurement unit monitors the train speed in real time, the peripheral communication unit exchanges data with the data communication subsystem, the operation management unit executes the operation strategy, and the power supply unit provides a stable power supply for the entire system.

[0029] The train automatic protection function of the on-board control subsystem is the key to ensuring transportation safety. This function is designed based on the fail-safe principle and has perfect self-checking and self-diagnostic capabilities. The system automatically performs safety controls such as overspeed protection, preventing over-running signals, and preventing slipping by monitoring the train running status, track status, and surrounding environment in real time. When potential safety risks are detected, the system will immediately take corresponding protective measures, such as automatic speed reduction or emergency braking, to avoid accidents.

[0030] On the basis of automatic train protection, the onboard control subsystem also performs the automatic driving function. This function automatically controls the start, operation, and parking of the train according to the control plan issued by the train automatic monitoring subsystem. During the automatic driving process, the system will adopt optimized traction and braking control strategies according to the special requirements of molten iron transportation to ensure smooth operation and avoid sloshing of molten iron caused by drastic acceleration and deceleration. For example, when approaching the blast furnace or converter area, the system will perform precise speed control and positioning parking to ensure that the molten iron ladle is accurately parked at the designated location.

[0031] Based on the above embodiment, as an optional embodiment, the vehicle-mounted control subsystem includes: The main control unit is used for system control. As the core of the onboard control subsystem, the main control unit is responsible for coordinating the work of other functional units. It integrates a high-performance processor and a real-time operating system, which can quickly respond to system instructions and perform real-time calculations. The main control unit receives the control plan from the train automatic monitoring subsystem and decomposes it into specific execution instructions to ensure the coordinated operation of each functional unit.

[0032] The train control unit is used to execute driving instructions. The train control unit is directly connected to the train's power system and braking system and is responsible for executing specific driving instructions. The unit can accurately control the train's traction and braking force to achieve smooth starting, uniform speed operation and precise parking. Especially when loading molten iron, the train control unit uses precise torque control to avoid shaking of the molten iron caused by drastic acceleration and deceleration, ensuring transportation safety.

[0033] The speed measuring unit is used for speed detection. The speed measuring unit monitors the train running speed in real time through multiple speed detection devices and provides accurate speed information for the system. The unit adopts a redundant design and uses multiple speed measurement methods at the same time, such as wheel speed sensors, speed radar, etc. It provides reliable speed data through data fusion algorithms to ensure that the train can obtain accurate speed information under any working conditions.

[0034] IO unit, used for signal access. The IO unit is responsible for collecting various sensor signals and executing control output. The unit is connected to vehicle equipment through a standardized interface, collecting information including ladle status, vehicle location, equipment operating conditions, etc., and executing various control instructions issued by the system to ensure timely and accurate transmission of information.

[0035] Peripheral communication unit, used for external communication. The peripheral communication unit uses reliable wireless communication technology and is responsible for data exchange between the vehicle control subsystem and the data communication subsystem. The unit supports multiple communication protocols and uses an encrypted transmission mechanism to ensure the secure transmission of control instructions and status information.

[0036] The operation management unit is used for operation control. The operation management unit performs operation control based on system policies, including operation mode management, fault handling strategies, etc. The unit can automatically switch the operation mode according to different scenarios, and start the emergency handling process when an abnormal situation occurs to ensure the safe operation of the system.

[0037] The power supply unit is used for power supply management. The power supply unit adopts an intelligent power supply management solution to provide a stable and reliable power supply for the entire vehicle control subsystem. The unit has functions such as power status monitoring and overload protection, and is equipped with a backup power supply switching mechanism to ensure that the system can continue to work normally when the power supply fluctuates or fails.

[0038] Through the above modular system design, the vehicle control subsystem achieves functional independence and system reliability. Each functional unit is connected through a standardized interface, which not only ensures the overall coordination of the system, but also facilitates the maintenance and upgrade of a single module.

[0039] Among them, the ground control subsystem refers to a comprehensive control system that integrates train control functions and interlocking functions. The subsystem is composed of host software, a safety platform, a full electronic module, a control and display machine and other equipment. It is used to realize the safety interlocking control and train operation protection of the molten iron transportation line, and ensure the correctness and consistency of the status of equipment such as switches and signals during train operation.

[0040] The ground control subsystem uses a high-performance computing platform to perform interlocking logic operations and train protection functions through the host software. The system is designed based on the fail-safe principle and has complete self-test and self-diagnosis capabilities. During the molten iron transportation process, the system monitors all turnout positions, signal machine status, track section occupancy and other information on the line in real time to ensure that the equipment status in the operating section meets the safety interlocking conditions. For example, when a train requests to enter a certain section, the system will automatically check the occupancy status, turnout position and signal display of the section, and will only allow the train to enter when all safety conditions are met.

[0041] Based on the above embodiment, as an optional embodiment, the ground control subsystem includes: Host software is used for system control. The host software is the core control unit of the ground control subsystem and is responsible for executing the basic control logic of the system. The software is developed based on a real-time operating system and adopts a modular software architecture, including functional modules such as interlocking logic processing, route control, and equipment status management. The host software processes the signal data from the all-electronic module in real time through a preset control algorithm and generates corresponding control instructions. For example, when it is necessary to establish a route for a molten iron transport train, the host software will automatically calculate the optimal path according to the operation plan and generate corresponding turnout and signal control commands.

[0042] Safety platform for safety protection. As the safety protection layer of the system, the safety platform adopts redundant design to ensure the fail-safe characteristics of the system. The platform runs independently of the host software, monitors the operating status of the system in real time, and performs secondary verification on the control instructions generated by the host software. When potential safety risks are detected, the safety platform can automatically trigger protection mechanisms, such as forcing traffic lights to display restricted signals, locking dangerous sections, etc. In addition, the safety platform also has a complete self-diagnosis function, which can detect system failures in time and take corresponding protection measures.

[0043] Fully electronic module for signal processing. The fully electronic module is responsible for signal conversion and processing between the system and field equipment. The module adopts a standardized interface design and supports connection with various field equipment such as turnouts, signal machines, track circuits, etc. The fully electronic module obtains equipment status information in real time through high-speed data acquisition and converts control instructions into a signal format that the equipment can recognize. The module has a built-in signal processing algorithm that can effectively filter out interference signals and ensure data accuracy. At the same time, the fully electronic module also has a data cache function that can temporarily store important data when communication is interrupted.

[0044] The control and display machine is used for status display. The control and display machine provides an intuitive operation interface for system operation and maintenance personnel, and displays key data such as line equipment status, train location, and route information in real time. The control and display machine adopts a humanized interface design, presenting complex system information in a graphical way, which makes it easy for operation and maintenance personnel to quickly understand the system operation status. At the same time, the control and display machine also has an alarm prompt function, which can promptly notify relevant personnel to handle when the system is abnormal.

[0045] Among them, the train autonomous perception subsystem refers to an environmental perception system independent of traditional signal equipment. This subsystem consists of hardware equipment such as computing platforms, lidars, cameras, millimeter-wave radars, and corresponding perception algorithm software. It is used to detect obstacles, track status and other key information in the train operating environment in real time, and provide environmental perception guarantees for the safe operation of iron-water transport trains.

[0046] The train's autonomous perception subsystem adopts a multi-sensor fusion technology solution, which complements the advantages of different types of sensors to achieve all-weather, all-round environmental perception capabilities. The laser radar, with its high-precision ranging capability, is responsible for detecting static obstacles and track space structures in front of the train; the camera uses image recognition technology to capture dynamic targets and visual features in the operating environment in real time; the millimeter-wave radar has the ability to penetrate fog, rain, snow and other adverse weather conditions, ensuring that reliable perception data can be obtained under various environmental conditions.

[0047] In actual applications, the train's autonomous perception subsystem works closely with the onboard control subsystem. When the perception system detects potential danger ahead, such as unexpected obstacles or track anomalies, it will immediately transmit warning information to the onboard control subsystem to trigger corresponding safety protection measures. At the same time, the system has an adaptive function that can automatically adjust the perception strategy according to the characteristics of different areas, such as strengthening the monitoring of high-temperature equipment in the blast furnace area and focusing on the intrusion of people in the crossing area.

[0048] Based on the above embodiment, as an optional embodiment, the train autonomous perception subsystem includes: The computing platform is used for data processing. The computing platform runs software with obstacle perception, track line perception, and train speed measurement and positioning functions. The computing platform uses high-performance industrial-grade processors and real-time operating systems to handle the fusion processing of multi-source sensor data. The platform has powerful parallel computing capabilities and can simultaneously process large amounts of data streams from different sensors and run complex perception algorithms. The platform adopts a modular software architecture and integrates core functional modules such as obstacle perception, track line perception, and train speed measurement and positioning. These functional modules achieve comprehensive perception of the operating environment through data sharing and collaborative computing.

[0049] LiDAR is used for environmental scanning. The LiDAR is installed at the front of the train and can scan the environment in front in three dimensions by emitting laser beams and receiving reflected signals. The device has high ranging accuracy and angular resolution, and can quickly generate a point cloud data model of the operating environment. The system uses these point cloud data to identify the position of the track line, detect obstacles, and perform accurate distance measurements. Especially in scenarios where iron and water transport trains need to stop accurately, the high-precision characteristics of LiDAR can provide a reliable position reference.

[0050] Cameras are used for image acquisition. The camera system includes multiple industrial-grade cameras, which are responsible for collecting image information of the operating environment. Through the rational arrangement of multiple cameras, the system obtains complete visual information covering the front and sides of the train. The computing platform runs a special image processing algorithm to extract key features from the image, identify the status of equipment such as turnouts and signal machines ahead, and track and predict moving targets.

[0051] Millimeter wave radar is used for obstacle detection. As a supplementary means of environmental perception, millimeter wave radar has the characteristics of strong penetration and good anti-interference ability. This device is particularly suitable for working in dusty steel mill environments. It can reliably detect obstacles ahead and provide distance and speed information of targets. In low visibility conditions, millimeter wave radar becomes an important sensor to ensure safety.

[0052] Through the above multi-sensor collaborative system design, the train autonomous perception subsystem achieves comprehensive perception and accurate understanding of the operating environment. The system can not only detect potential dangers in a timely manner, but also provide reliable environmental information for the precise parking of trains, significantly improving the safety and efficiency of molten iron transportation.

[0053] Based on the above embodiment, as an optional embodiment, the molten iron transportation system based on automatic driving further includes a data communication subsystem, and the data communication subsystem includes: Wired network unit, used for fixed equipment communication; A wireless network unit for mobile device communications; Access switching equipment for network interconnection; The wired network unit and the wireless network unit are connected through access switching equipment to form a communication network for transmitting control data and status information between subsystems.

[0054] Among them, the wired network unit mainly serves the communication needs of fixed scenarios. It uses industrial-grade Ethernet technology to connect fixed equipment such as the train automatic monitoring subsystem and the ground control subsystem through transmission media such as optical fiber and network cables. The unit adopts redundant networking and deploys dual independent communication links to ensure the reliability of core business data transmission. For example, in key production areas such as blast furnaces and converters, the wired network unit realizes real-time transmission of production data through a high-bandwidth optical fiber network, ensuring the timely issuance of control instructions and accurate collection of status information.

[0055] Correspondingly, the wireless network unit is designed for mobile scenarios and is responsible for communicating with the running molten iron transport trains. The unit uses industrial-grade wireless communication technology to deploy multiple wireless access points along the transportation route to form a continuous wireless coverage area. The system uses a wireless communication protocol with strong anti-interference capabilities and adopts technologies such as multi-channel frequency hopping to effectively cope with interference from the complex electromagnetic environment of the steel plant. Through the wireless network unit, the on-board control subsystem and the train autonomous perception subsystem can upload the operating status and perception data to the control center in real time, and receive the latest control instructions at the same time.

[0056] As the core node of network interconnection, the access switching device uses industrial-grade switches to exchange data between wired network units and wireless network units. The device has intelligent routing functions and can automatically select the optimal data transmission path according to the business type and network conditions. At the same time, the access switching device also realizes network security isolation and access control to ensure the safe transmission of different business data.

[0057] Through the unified scheduling of access switching equipment, the wired network unit and the wireless network unit form a complete communication network, realizing end-to-end transmission of control data and status information. For example, when the train automatic monitoring subsystem needs to issue a new control plan to a running train, the data is first transmitted to the nearest access switching device through the wired network unit, and then reliably transmitted to the on-board equipment via the wireless network unit. Similarly, the running status and environmental perception data collected by the train are also transmitted back to the control center in real time through this network link.

[0058] Based on the above embodiment, as an optional embodiment, the molten iron transportation system based on automatic driving further includes an intelligent operation and maintenance subsystem, and the intelligent operation and maintenance subsystem includes: Maintenance monitoring equipment for equipment status monitoring; Centralized signal monitoring equipment, used for communication status monitoring; Turnout gap monitoring equipment, used for track condition monitoring; The intelligent operation and maintenance subsystem is used to collect and process the subsystem's equipment status, communication interface status, operation logs, and fault alarm information, and provide remote centralized monitoring functions.

[0059] Among them, the maintenance monitoring equipment is responsible for monitoring the status of the core equipment of each subsystem of the system, and collects the operating parameters of the equipment in real time by deploying various sensors. For example, the temperature, vibration, current and other parameters of the key components of the vehicle control subsystem are monitored, and the working status of the electronic modules of the ground control subsystem is detected. The maintenance monitoring equipment adopts intelligent diagnostic algorithms to analyze the changing trends of the equipment operating parameters and promptly discover potential fault hazards. When an abnormality is detected, the system will automatically generate early warning information and give corresponding maintenance suggestions.

[0060] The centralized signal monitoring equipment is specially used to monitor the working status of various communication interfaces in the system to ensure the reliability of data communication. The equipment evaluates the quality of the communication link by collecting network traffic, signal strength, bit error rate and other indicators in real time. For the wireless communication part, the system also monitors the signal coverage and interference level to ensure that the train always maintains a stable communication connection during operation. When the communication quality is found to be degraded, the system will automatically adjust the communication parameters or switch to the backup channel to maintain the normal operation of the business.

[0061] The turnout gap monitoring equipment uses professional track detection technology to monitor the turnout status on the transportation line in real time. The system continuously monitors the turnout opening status, gap size, wear status and other parameters through sensors installed at key turnouts. By establishing a turnout status database, the system can track the deterioration trend of turnout performance and provide a basis for preventive maintenance. When the turnout parameters exceed the safety threshold, the system will immediately issue an alarm message to ensure timely maintenance.

[0062] The intelligent operation and maintenance subsystem realizes centralized monitoring of the operation status of the entire system through a unified data collection and processing platform. The system uses big data analysis technology to conduct in-depth analysis of the collected equipment status data, communication interface data, operation logs and fault alarm information, and establish an equipment health assessment model. Maintenance personnel can view the operation status and performance indicators of various types of equipment in real time through the remote monitoring interface, quickly locate the fault location, and formulate a scientific maintenance strategy.

[0063] Based on the above embodiment, as an optional embodiment, when the operation scenario of the train is molten iron transportation, the control plan includes: Control the train to drive to the preset stop point of the blast furnace and stop automatically; Control the opening and closing of the ladle cover; Control the train to switch running direction; Control the train to the preset stopping point for steelmaking.

[0064] Specifically, molten iron transportation is divided into two states, namely, empty ladle marshaling and non-empty ladle marshaling. For example, for the non-empty ladle marshaling state, please refer to Figure 2 , Figure 2 A flow chart of a molten iron transportation scenario of a fully automatic molten iron transportation system provided by an embodiment of the present invention. The above process may specifically include the following steps: S101, automatically generate a molten iron transportation plan according to the molten iron dispatching plan, and execute the transportation plan; S102, the train drives to the preset stop point under the blast furnace according to the transportation plan; S103, the train stops automatically and accurately at the preset stop point, and the train stop information is sent to the blast furnace molten iron dispatcher; S104, receiving a command from the blast furnace dispatcher allowing the ladle cover to be opened, and forwarding the command to the vehicle; S105. If a vehicle charging request is collected, a charging operation scenario is executed. For details, see Charging Operation; S106, receiving a command from the blast furnace dispatcher to allow closing of the ladle cover, and forwarding the command to the vehicle; S107, the vehicle sends the molten iron ladle cover locking information to the blast furnace dispatcher, and waits for the subsequent marshaling vehicle filling / departure command. If a command to continue filling molten iron is received, it goes to S103; if a departure order is received, the vehicle is towed to the return track according to the transportation plan; S108, the train automatically switches the running direction and moves to the preset stop point at the steelmaking destination according to the signal instructions; S109, automatically and accurately park the vehicle, and send the collected vehicle parking information to the steelmaking dispatcher; S110, receiving information from the steelmaking dispatcher allowing the ladle cover to be opened and forwarding it to the vehicle; S111, according to the steel-making dispatching instruction, wait for the ladle to be reset and forward the information of closing the ladle cover to the vehicle, send the information of closing the ladle cover to the steel-making dispatching, and wait for permission to depart; if all the ladles are not reset, receive the instruction of departure permission from the steel-making dispatching and drive to the destination according to the transportation plan; if some ladles are not reset, receive the instruction of the steel-making dispatching and forward the information of closing the ladle cover of the reset ladles to the vehicle, collect the locking information of all the reset ladle covers of the vehicle and send it to the steel-making dispatching, and wait for permission to depart.

[0065] Specifically, in order to achieve precise control and automated operation of the molten iron transportation process, the system has designed a complete transportation control process without empty package marshaling. This process is based on the unified dispatch of the train automatic monitoring subsystem, and through the coordination with blast furnace dispatching and steelmaking dispatching, it realizes the automated control of the entire process from molten iron filling to unloading.

[0066] The system first generates a molten iron transportation plan based on the blast furnace tapping plan, with the train automatic monitoring subsystem automatically generating the molten iron transportation plan. The plan includes detailed operating times, route arrangements and operation instructions to ensure that the transportation process accurately matches the production rhythm. After receiving the transportation plan, the train automatically drives to the preset parking point under the blast furnace through the pre-planned path under the guidance of the on-board control subsystem.

[0067] In the blast furnace operation area, the system uses the train's autonomous sensing subsystem to achieve precise parking positioning. When the train arrives at the preset parking point, the system automatically completes the precise parking operation and transmits the parking information to the blast furnace molten iron dispatcher in real time through the data communication subsystem. Subsequently, the system automatically controls the opening and closing of the molten iron ladle cover according to the instructions of the blast furnace dispatcher. During this process, if the system detects that the vehicle needs to replenish power, it will automatically execute the charging operation process to ensure the smooth completion of subsequent transportation tasks.

[0068] After the molten iron filling is completed, the system confirms the locking status of the molten iron ladle cover and feeds back the status information to the blast furnace dispatcher. According to the dispatching instructions, the system can choose to continue to fill the subsequent marshaling vehicles with molten iron, or start the departure procedure. When receiving the departure order, the train follows the preset path to the reentry track, completes the automatic switching of the running direction, and then advances to the preset parking point in the steelmaking area.

[0069] In the steelmaking operation area, the system performs precise parking operations again and exchanges information with the steelmaking scheduling system. According to the steelmaking production needs, the system controls the opening of the ladle cover to complete the unloading of molten iron. Especially in the ladle reset link, the system can handle it flexibly according to the actual situation: when all ladles have completed the reset, the system automatically closes all the covers; when some ladles have not been reset, the system can selectively close only the covers of the reset ladles to ensure the continuity of the production process.

[0070] For example, if no empty packet is received, please refer to Figure 3 , Figure 3 Another fully automatic molten iron transportation system molten iron transportation scenario flow chart provided by an embodiment of the present invention. The above process may specifically include the following steps: S201, automatically generate a transportation plan according to the ladle management plan of the steelmaking department, and execute the transportation plan; S202, the train drives to the preset stop point under the blast furnace according to the transportation plan; S203, the train stops accurately at the preset stop point, and the train stop information is sent to the blast furnace molten iron dispatcher; S204, receiving a command from the blast furnace dispatcher allowing the ladle cover to be opened, and forwarding the command to the vehicle; S205. If a vehicle charging request is collected, a charging operation scenario is executed, see Charging Operation for details; S206, receiving a command from the blast furnace dispatcher to allow closing of the ladle cover, and forwarding the command to the vehicle; S207, the vehicle sends the molten iron ladle cover locking information to the blast furnace dispatcher, and waits for the subsequent marshaling vehicle filling / departure command. If a command to continue filling molten iron is received, it goes to S203; if a departure order is received, the vehicle is towed to the return track according to the transportation plan; S208, the train automatically switches the running direction and moves to the preset parking point at the steelmaking destination according to the signal instructions; S209, automatically and accurately park the vehicle, and send the collected vehicle parking information to the steelmaking dispatcher; S210, receiving information from the steelmaking dispatcher allowing the ladle cover to be opened and forwarding it to the vehicle; S211, according to the steel-making dispatching instruction, wait for the ladle to be reset and forward the information of closing the ladle cover to the vehicle, send the information of closing the ladle cover to the steel-making dispatching, and wait for permission to depart; if all the ladles are not reset, receive the instruction of departure permission from the steel-making dispatching and drive to the destination according to the transportation plan; if some ladles are not reset, receive the instruction of the steel-making dispatching and forward the information of closing the ladle cover of the reset ladles to the vehicle, collect the locking information of all the reset ladle covers of the vehicle and send it to the steel-making dispatching, and wait for permission to depart.

[0071] Based on the above embodiment, as an optional embodiment, when the operation scenario of the column is automatic charging, the control plan includes: Detect charging needs and generate charging plans; Control the train to stop at the preset charging position; Controlling the charging device to perform charging operations; Monitors charging completion status.

[0072] For example, please refer to Figure 4 , Figure 4 A flow chart of a charging scenario of a fully automatic molten iron transportation system provided by an embodiment of the present invention. The above process may specifically include the following steps: S301, the vehicle collects charging information and sends it to ATS, which automatically generates a corresponding operation charging plan; S302. According to the operation charging plan, the system controls the train to automatically and accurately stop at the preset charging location, and forwards the vehicle charging permission command to the ground charging station; S303: Automatically collect information that charging at the ground charging station is complete and wait for the dispatching permission to start the vehicle.

[0073] Specifically, the system first monitors the power status of the train in real time through the on-board control subsystem. When it is detected that the power is lower than the preset threshold or the estimated remaining power cannot support the next transportation task, the on-board equipment will automatically collect the current charging demand information, including the remaining power, expected mileage and other data, and transmit this information to the train automatic monitoring subsystem through the data communication subsystem. After receiving the charging request, the train automatic monitoring subsystem will automatically generate the optimal charging plan based on the current transportation task status and line resource conditions. The plan not only includes the scheduling of charging operations, but also optimizes the selection of charging stations to minimize the impact of charging on transportation efficiency.

[0074] According to the generated charging plan, the system controls the train to the preset charging position through the on-board control subsystem. In this process, the train autonomous perception subsystem plays an important role, accurately identifying the location of the charging equipment through multi-sensor fusion to ensure that the train can stop accurately. When the train completes the precise parking, the system automatically sends a charging request to the ground charging station and conducts a safety confirmation of the charging conditions, including checking the docking status of the charging interface and verifying the charging parameters.

[0075] During the charging process, the system monitors the charging status in real time through the intelligent operation and maintenance subsystem, including key parameters such as charging current, voltage, and temperature. The system adopts an intelligent charging strategy to automatically adjust the charging power according to the battery status, which not only ensures charging efficiency but also prolongs battery life. When it detects that charging is complete or reaches the preset power, the system automatically controls the charging equipment to disconnect, confirms that the charging pantograph is retracted into place, and reports the charging completion status to the train automatic monitoring subsystem.

[0076] Based on the above embodiment, as an optional embodiment, when the operation scenario of the train is crossing, the control plan includes: Enter the crossing to trigger the signal display and barrier control; Monitor the status of crossing equipment; Leave the crossing and restore the signal and guardrail status.

[0077] For example, please refer to Figure 5 , Figure 5 A flow chart of a crossing scenario of a fully automatic molten iron transportation system provided by an embodiment of the present invention. The above process may specifically include the following steps: S401, the train runs to the crossing, the crossing monitoring triggers the train position and changes the crossing signal, the blocking signal display, and the railing is lowered; S402, interlocking to collect crossing equipment status information; S403: The train leaves the crossing, and the crossing monitors the train's position and modifies the signal display and raises the barrier.

[0078] Specifically, when a molten iron transport train approaches the crossing area, the system first accurately detects the train position through the crossing monitoring trigger. The trigger uses highly reliable track circuit technology, which can accurately identify the train occupancy status. Once the train is detected to enter the trigger area, the system immediately starts the crossing protection program: first, the display status of the crossing signal and the blocking signal is automatically changed through the ground control subsystem, clearly notifying the road traffic that the train is about to pass; at the same time, the system controls the crossing barrier device to smoothly drop the barrier at a predetermined rate to ensure that road vehicles and pedestrians stop passing in time.

[0079] When the train passes through the crossing, the interlocking module of the ground control subsystem continuously collects status information of various equipment at the crossing, including key information such as the display status of the signal, the position of the barriers, and the occupancy of the crossing section. The system ensures that the crossing protection equipment is in the correct working state through real-time status monitoring. If any abnormal situation is detected, such as the barriers not completely falling or the signal display is abnormal, the system will immediately issue a speed limit or stop command to the approaching train through the train automatic monitoring subsystem to ensure driving safety.

[0080] When the train has completely left the crossing area, the system uses the crossing monitoring equipment to accurately determine the train's position and confirm that the train has passed safely. Subsequently, the system automatically executes the crossing recovery procedure: first, the normal display of the crossing signal and the blocking signal is restored, and at the same time, the barrier device is controlled to rise smoothly to restore road traffic. The entire process is strictly executed by the ground control subsystem in accordance with the safety interlocking logic to ensure the timing correctness of the state transition.

[0081] For example, please refer to Figure 6 , Figure 6 A flowchart of a maintenance scenario of a fully automatic molten iron transportation system provided by an embodiment of the present invention. The above process may specifically include the following steps: S501, the vehicle collects equipment status information and train operation parameters and sends them to ATS, which automatically generates a corresponding operation and maintenance plan; S502. According to the operation and maintenance plan, the system controls the train to automatically and accurately stop at the preset maintenance location; S503, after the inspection is completed, wait for the dispatching permission to start the vehicle.

[0082] The system monitors the train's operating status and key equipment parameters in real time through the on-board control subsystem. When an abnormality in the equipment's operating parameters is detected or the preset maintenance cycle is reached, the on-board equipment will automatically collect relevant maintenance information, including key information such as equipment status data, fault codes, and operating hours, and transmit this information to the train automatic monitoring subsystem in real time through the data communication subsystem. After receiving the maintenance requirements, the train automatic monitoring subsystem will automatically generate the optimal maintenance plan based on the current transportation task status, maintenance resource availability, and production plan. The plan not only includes the time arrangement of maintenance operations, but also optimizes the selection of maintenance sites to minimize the impact of maintenance on overall transportation efficiency.

[0083] According to the generated maintenance plan, the system controls the train to the preset maintenance location through the on-board control subsystem. In this process, the train autonomous perception subsystem uses multi-sensor fusion technology to accurately identify the location of the maintenance facilities to ensure that the train can accurately stop at the maintenance station. The system uses intelligent positioning algorithms to achieve centimeter-level parking accuracy, which facilitates the docking of maintenance equipment and the implementation of maintenance work. When the train completes precise parking, the system automatically sends a maintenance request to the maintenance station and conducts safety confirmation of the maintenance conditions.

[0084] During the maintenance process, the intelligent operation and maintenance subsystem plays an important role, monitoring the maintenance progress and equipment status in real time through maintenance monitoring equipment. The system uses intelligent diagnosis technology to assist maintenance personnel in quickly locating fault points and improving maintenance efficiency. At the same time, the system will automatically record key data during the maintenance process, establish equipment health files, and provide data support for predictive maintenance. After the maintenance is completed, the system automatically performs equipment function tests to confirm that the maintenance effect meets the requirements, and reports the maintenance results to the train automatic monitoring subsystem.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A molten iron transportation system based on automatic driving, characterized in that: include: Automatic train monitoring subsystem, used to generate control plans and perform equipment control; Onboard control subsystem, used to perform train protection and driving functions; Ground control subsystem, used to realize train control and interlocking functions; Train autonomous sensing subsystem, used to detect operating environment information; Among them, the train automatic monitoring subsystem exchanges data with the ironmaking system and the steelmaking system, and automatically generates a control plan based on the blast furnace iron production plan and the converter production plan. The control plan is used to control the automatic driving of the train.

2. The molten iron transportation system based on automatic driving according to claim 1 is characterized in that: The molten iron transportation system based on automatic driving also includes a data communication subsystem, and the data communication subsystem includes: Wired network unit, used for fixed equipment communication; A wireless network unit for mobile device communications; Access switching equipment for network interconnection; The wired network unit and the wireless network unit are connected via the access switching device to form a communication network for transmitting control data and status information between subsystems.

3. The molten iron transportation system based on automatic driving according to claim 1 is characterized in that: The molten iron transportation system based on autonomous driving also includes an intelligent operation and maintenance subsystem, and the intelligent operation and maintenance subsystem includes: Maintenance monitoring equipment for equipment status monitoring; Centralized signal monitoring equipment, used for communication status monitoring; Turnout gap monitoring equipment, used for track condition monitoring; The intelligent operation and maintenance subsystem is used to collect and process the equipment status, communication interface status, operation log and fault alarm information of the subsystem, and provide remote centralized monitoring function.

4. The molten iron transportation system based on automatic driving according to claim 1, characterized in that: The train automatic monitoring subsystem adopts a distributed architecture, including: Communication front-end, display workstation and interface unit; The communication front-end processor and the display workstation adopt a dual-machine hot standby mode; The data transmission of the automatic train monitoring subsystem adopts a redundant network architecture.

5. The molten iron transportation system based on automatic driving according to claim 1 is characterized in that: The vehicle-mounted control subsystem comprises: Main control unit, used for system control; Vehicle control unit, used to execute driving instructions; Speed ​​measuring unit, used for speed detection; IO unit, used for signal access; A peripheral communication unit, used for external communication; Operation management unit, used for operation control; Power supply unit for power supply management.

6. The molten iron transportation system based on automatic driving according to claim 1, characterized in that: When the operation scenario of the train is molten iron transportation, the control plan includes: Control the train to drive to the preset stop point of the blast furnace and stop automatically; Control the opening and closing of the ladle cover; Control the train to switch running direction; Control the train to the preset stopping point for steelmaking.

7. The molten iron transportation system based on automatic driving according to claim 1, characterized in that: When the operation scenario of the column is automatic charging, the control plan includes: Detect charging needs and generate charging plans; Control the train to stop at the preset charging position; Controlling the charging device to perform charging operations; Monitors charging completion status.

8. The molten iron transportation system based on automatic driving according to claim 1, characterized in that: The train autonomous perception subsystem includes: Computing platform for data processing; LiDAR, for environment scanning; Camera, for image acquisition; Millimeter-wave radar for obstacle detection; The computing platform runs software with obstacle sensing function, track line sensing function, and train speed measurement and positioning function.

9. The molten iron transportation system based on automatic driving according to claim 1, characterized in that: When the train is operating at a crossing, the control plan includes: Enter the crossing to trigger the signal display and barrier control; Monitor the status of crossing equipment; Leave the crossing and restore the signal and guardrail status.

10. The molten iron transportation system based on automatic driving according to claim 1, characterized in that: The ground control subsystem includes: Host software, used for system control; Security platform for security protection; Fully electronic module for signal processing; Control and display machine, used for status display.

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