Metallurgy crown block operation control method and device, electronic equipment and storage medium

Abstract

The invention discloses a metallurgy crown block operation control method and device, electronic equipment and a storage medium. The method comprises the steps that a crown block operation scheme is obtained; determining a crown block operation area according to the crown block operation scheme, controlling a crown block to move to the crown block operation area, and dynamically collecting a panoramic image of the crown block operation area; dynamically generating a corresponding virtual reality picture according to the panoramic image; and receiving a crown block operation instruction, and controlling the crown block to operate in the crown block operation area according to the crown block operation scheme according to the virtual reality picture. According to the application, the virtual reality technology can be adopted, so that operators can perceive the environment change of the crown block operation area in real time, accurate and real-time metallurgy crown block operation control is realized, the smelting operation efficiency is improved, and the method can be widely applied to the technical field of crown block control.

Description

Technical Field

[0001] The present application relates to the field of overhead crane control technology, and in particular to a method, device, electronic equipment and storage medium for controlling metallurgical overhead crane operations. Background Art

[0002] In the smelting industry, overhead cranes are usually used for smelting operations, including the transfer of production materials, etc. However, due to the harsh production environment (high temperature, dust, harmful gases) and poor operating conditions, there are many challenges. During the smelting process, the operation of the overhead crane requires human control. Since the operators cannot accurately and in real time perceive the environmental changes in the smelting operation area, they cannot accurately control the overhead crane, which is prone to operating errors, bringing certain safety hazards, and also resulting in low smelting efficiency. The smelting operation takes a long time to complete, and the smelting operation cannot be completed well. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to propose a metallurgical overhead crane operation control method, device, electronic equipment and storage medium, which can realize accurate and real-time metallurgical overhead crane operation control and improve smelting operation efficiency.

[0004] On the one hand, the embodiment of the present application provides a metallurgical overhead crane operation control method, the method comprising the following steps:

[0005] Obtain the crane operation plan;

[0006] According to the overhead crane operation plan, determine the overhead crane operation area, control the overhead crane to move to the overhead crane operation area, and dynamically collect a panoramic image of the overhead crane operation area;

[0007] Dynamically generate a corresponding virtual reality screen according to the panoramic image;

[0008] An overhead crane operation instruction is received, and based on the virtual reality screen, the overhead crane is controlled to perform an operation in the overhead crane operation area according to the overhead crane operation plan.

[0009] In some embodiments, obtaining the overhead crane operation plan specifically includes:

[0010] Obtain batching production scheduling tasks and warehousing and unloading tasks;

[0011] According to the batching production scheduling task, determine the metallurgical batching grabbing position in the material preparation warehouse area;

[0012] Determine the unloading location of the production warehouse area according to the unloading task;

[0013] Acquire the operating status of multiple overhead cranes, and determine the optimal execution overhead crane from the multiple overhead cranes according to the operating status corresponding to each of the overhead cranes, wherein the operating status includes the current position of the overhead crane and the current task execution status of the overhead crane;

[0014] Determine a planned overhead crane operation path, a plurality of overhead crane operation tasks and a task execution order according to the operating state of the optimal execution overhead crane, the metallurgical material grabbing position and the unloading position;

[0015] The overhead crane operation plan is determined according to the overhead crane operation planning path, each overhead crane operation task and the task execution order.

[0016] In some embodiments, determining the overhead crane operation area according to the overhead crane operation plan, controlling the overhead crane to move to the overhead crane operation area, and dynamically collecting a panoramic image of the overhead crane operation area specifically includes:

[0017] Control the optimal execution crane to move to the metallurgical material grabbing position, and dynamically collect a panoramic image of the first crane visible area in the material preparation warehouse area, wherein the first crane visible area is an area centered on the current position of the optimal execution crane and having a preset first radius as a range radius;

[0018] The optimal execution overhead crane is controlled to move to the unloading position, and a panoramic image of the visible area of ​​the second overhead crane in the production warehouse area is dynamically collected. The visible area of ​​the second overhead crane is an area centered on the current position of the optimal execution overhead crane and with a preset second radius as the range radius.

[0019] In some embodiments, the acquiring the operating status of the plurality of overhead cranes and determining the optimal executing overhead crane from the plurality of overhead cranes according to the operating status corresponding to each of the overhead cranes specifically includes:

[0020] According to the current task execution status of the overhead crane of each overhead crane, determining a plurality of target available overhead cranes whose current task execution status is an available status from the plurality of overhead cranes, wherein the available status indicates that the next task execution waiting time of the overhead crane is less than a given waiting time threshold;

[0021] Determining the material grabbing moving distance of each target available overhead crane according to the current position of each target available overhead crane and the metallurgical material grabbing position;

[0022] According to the batching grabbing moving distance of each of the target available overhead cranes, the optimal executing overhead crane is determined from multiple target available overhead cranes, and the batching grabbing moving distance corresponding to the optimal executing overhead crane is smaller than the batching grabbing moving distances corresponding to other target available overhead cranes.

[0023] In some embodiments, dynamically generating a corresponding virtual reality screen according to the panoramic image specifically includes:

[0024] generating a first virtual reality picture and performing dynamic rendering according to the first panoramic image, wherein the first panoramic image is a dynamically acquired panoramic image of the visible area of ​​the first overhead travelling vehicle;

[0025] A second virtual reality picture is generated and dynamically rendered according to the second panoramic image, wherein the second panoramic image is a dynamically captured panoramic image of the visible area of ​​the second vehicle.

[0026] In some embodiments, the receiving of the overhead crane operation instruction and, based on the virtual reality screen, controlling the overhead crane to perform the operation in the overhead crane operation area according to the overhead crane operation plan specifically includes:

[0027] In response to the batching control operation performed by the operator in the first virtual reality screen, a first linkage control instruction is generated, and according to the first linkage control instruction, dynamic linkage control corresponding to the batching control operation is performed on the optimal execution overhead crane to control the optimal execution overhead crane to execute the batching production scheduling task;

[0028] In response to the operator's unloading control operation in the second virtual reality screen, a second linkage control instruction is generated. According to the second linkage control instruction, the optimal execution overhead crane is dynamically linked to the unloading control operation to control the optimal execution overhead crane to perform the warehousing unloading task.

[0029] In some embodiments, the method further comprises:

[0030] Dynamically collect panoramic images of the first overhead traveling machine working area and the second overhead traveling machine working area, wherein the first overhead traveling machine working area is an area centered on the metallurgical material grabbing position and having a preset first operating radius as a range radius, and the second overhead traveling machine working area is an area centered on the unloading position and having a preset second operating radius as a range radius;

[0031] The optimal execution crane is monitored to operate in the crane operation area according to the panoramic image of the first crane operation area and the panoramic image of the second crane operation area.

[0032] On the other hand, an embodiment of the present application provides a metallurgical overhead crane operation control device, the device comprising:

[0033] The first module is used to obtain the overhead crane operation plan;

[0034] The second module is used to determine the overhead crane operation area according to the overhead crane operation plan, control the overhead crane to move to the overhead crane operation area, and dynamically collect a panoramic image of the overhead crane operation area;

[0035] The third module is used to dynamically generate a corresponding virtual reality screen according to the panoramic image;

[0036] The fourth module is used to receive the overhead crane operation instruction, and control the overhead crane to operate in the overhead crane operation area according to the overhead crane operation plan based on the virtual reality screen.

[0037] On the other hand, an embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the aforementioned method when executing the computer program.

[0038] On the other hand, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0039] The embodiments of the present application include at least the following beneficial effects: the present application provides a metallurgical crane operation control method, device, electronic device and storage medium, which obtains the crane operation plan, determines the crane operation area according to the crane operation plan, controls the crane to move to the crane operation area, dynamically collects panoramic images of the crane operation area, dynamically generates corresponding virtual reality images according to the panoramic images, receives crane operation instructions, and controls the crane to operate in the crane operation area according to the crane operation plan according to the virtual reality images. The present application can use virtual reality technology to enable operators to perceive environmental changes in the crane operation area in real time, realize accurate and real-time metallurgical crane operation control, and improve smelting operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of a metallurgical overhead crane operation control method provided in an embodiment of the present application;

[0041] Figure 2 It is a structural schematic diagram of a metallurgical overhead crane operation control device provided in an embodiment of the present application;

[0042] Figure 3 It is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0046] Reference Figure 1 , Figure 1 This is an optional flow chart of a metallurgical overhead crane operation control method provided in an embodiment of the present application. The method may include but is not limited to steps S101 to S104:

[0047] Step S101, obtaining an overhead crane operation plan;

[0048] Step S102, determining the crane operation area according to the crane operation plan, controlling the crane to move to the crane operation area, and dynamically collecting a panoramic image of the crane operation area;

[0049] Step S103, dynamically generating a corresponding virtual reality screen according to the panoramic image;

[0050] Step S104, receiving an overhead crane operation instruction, and controlling the overhead crane to operate in the overhead crane operation area according to the overhead crane operation plan based on the virtual reality screen.

[0051] In some embodiments, 5G network technology is used to build a 5G industrial private network, and the 5G industrial private network is used to achieve efficient interconnection between the control terminal and the overhead crane controller. Through the 5G industrial private network, the control terminal transmits the control signal to the overhead crane controller, and the overhead crane controller executes instructions to control the overhead crane to dynamically collect panoramic images and complete related operations. The overhead crane controller transmits the dynamically collected panoramic images back to the control terminal through the 5G industrial private network. Optionally, the control terminal uses virtual reality technology (VR, Virtual Reality) to convert the panoramic image into a virtual reality screen, so that the operator can control the overhead crane to perform related operations in the virtual reality screen and quickly generate control signals. The control signals are then transmitted instantly through the 5G industrial private network to synchronously control the overhead crane to perform operations.

[0052] Virtual reality (VR) is a computer simulation system that can create and experience a virtual world. It uses computers to generate a simulated environment, an interactive three-dimensional dynamic vision and a system simulation of entity behavior that integrates multi-source information, so that users can immerse themselves in the environment. Virtual reality is a combination of multiple technologies, including real-time three-dimensional computer graphics technology, wide-angle (wide field of view) stereo display technology, tracking technology for the observer's head, eyes and hands, as well as tactile / force feedback, stereo, network transmission, voice input and output technology, etc.

[0053] In some embodiments, the above-mentioned 5G industrial private network is deployed with a 5G lightweight edge all-in-one solution, which has network element-level disaster recovery security protection. By providing different degrees of network disaster recovery protection such as hardware backup, link disaster recovery and network element-level disaster recovery, it ensures business continuity in the event of a single point failure in the network. At the same time, it distinguishes between private networks and public networks, and physically isolates private networks from public networks to avoid internal data leakage.

[0054] In some embodiments, step S101 may include but is not limited to steps S201 to S206:

[0055] Step S201, obtaining batching scheduling tasks and warehousing and unloading tasks;

[0056] Step S202, determining the metallurgical ingredient grabbing position in the material preparation area according to the ingredient production scheduling task;

[0057] Step S203, determining the unloading location of the production warehouse area according to the warehouse unloading task;

[0058] Step S204, obtaining the operating status of multiple overhead cranes, and determining the optimal executing overhead crane from the multiple overhead cranes according to the corresponding operating status of each overhead crane, wherein the operating status includes the current position of the overhead crane and the current task execution status of the overhead crane;

[0059] Step S205, determining the overhead crane operation planning path, several overhead crane operation tasks and the order of task execution according to the optimal execution overhead crane operation status, metallurgical material grabbing position and unloading position;

[0060] Step S206, determining the overhead crane operation plan according to the overhead crane operation planning path, each overhead crane operation task and the task execution sequence.

[0061] In some embodiments, the batching and production scheduling tasks include a slag proportioning scheme. The calculation basis of the slag proportioning scheme comes from the dispatching personnel based on the remaining reserves of each ore bin and the requirements for various components of the charge. For example, the ore bin to be involved in the batching is first selected, and then the corresponding flow rate of each ore bin is given according to the calculated slag proportioning scheme. The slag and concentrate of each ore bin are mixed in a certain proportion, and then dried, ball milled, screened and other steps are performed to make the slag formed after mixing meet the smelting requirements. Subsequently, the slag is sent to the smelting furnace for smelting, and finally the final smelting product is extracted from the settled melt.

[0062] In some embodiments, by analyzing the operating status of multiple overhead cranes, combining path planning technology and task scheduling technology, the optimal executing overhead crane is determined from multiple overhead cranes to improve the efficiency of overhead crane operations.

[0063] In step S102 of some embodiments, specifically, the optimal execution overhead crane is controlled to move to the metallurgical ingredient grabbing position, and a panoramic image of the visible area of ​​the first overhead crane in the material preparation storage area is dynamically collected, and the visible area of ​​the first overhead crane is an area centered on the current position of the optimal execution overhead crane and with a preset first radius as the range radius; the optimal execution overhead crane is controlled to move to the unloading position, and a panoramic image of the visible area of ​​the second overhead crane in the production storage area is dynamically collected, and the visible area of ​​the second overhead crane is an area centered on the current position of the optimal execution overhead crane and with a preset second radius as the range radius.

[0064] In some embodiments, step S204 may include but is not limited to steps S301 to S303:

[0065] Step S301, according to the current task execution status of each overhead crane, determining from multiple overhead cranes a number of target available overhead cranes whose current task execution status is available, wherein the available status indicates that the next task execution waiting time of the overhead crane is less than a given waiting time threshold;

[0066] Step S302, determining the material grabbing moving distance of each target available overhead crane according to the current position of each target available overhead crane and the metallurgical material grabbing position;

[0067] Step S303, according to the batching grabbing moving distances of each target available overhead crane, determine the best executing overhead crane from multiple target available overhead cranes, the batching grabbing moving distance corresponding to the best executing overhead crane being smaller than the batching grabbing moving distances corresponding to other target available overhead cranes.

[0068] In some embodiments, based on the current task execution status of the overhead crane, it is determined whether the overhead crane can start executing the ingredient scheduling task within the waiting time threshold. For example, assuming that the waiting time threshold is 30 seconds, there are overhead cranes A to C, overhead crane A is executing the current task, which will be completed in 20 seconds, and then can immediately execute the next task, overhead crane B currently has no task to execute, and overhead crane C is executing the current task, which will be completed in 40 seconds, then both overhead crane A and overhead crane B can start executing the next task within 30 seconds, and both overhead crane A and overhead crane B are determined as target available overhead cranes.

[0069] In step S103 of some embodiments, a first virtual reality screen is generated and dynamically rendered based on the first panoramic image, and the first panoramic image is a panoramic image of the visible area of ​​the first locomotive dynamically captured; a second virtual reality screen is generated and dynamically rendered based on the second panoramic image, and the second panoramic image is a panoramic image of the visible area of ​​the second locomotive dynamically captured.

[0070] Optionally, 3D holographic imaging technology is used in combination with the high-performance processing and computing capabilities of the 5G network to perform 3D imaging on panoramic images, dynamically generate virtual reality images, and generate a VR overhead crane cockpit based on the 5G network and the virtual reality images. The VR overhead crane cockpit is used to remotely and synchronously control the overhead crane, providing a safe operation experience that is immersive, interactive, and cross-temporal, and enables panoramic visualization, real-time control, and full-process management of overhead crane remote operation and command.

[0071] In some embodiments, optionally, a VR camera device is installed on the overhead crane, which is used to dynamically capture panoramic image data of the visible area of ​​the overhead crane, and then the panoramic image data is compressed and transmitted, and the panoramic image data is transmitted to the control end through the 5G industrial private network.

[0072] Then, the control end processes the panoramic image data sent back by the VR camera device through virtual reality technology to generate a realistic virtual reality picture. In the VR overhead crane cockpit, the operator wears a VR headset to enter the virtual reality picture. In the virtual reality picture, the operator's observation perspective is located at the center of the field of view, that is, the first-person perspective of the overhead crane. By turning the body to view the browsing perspective, the overhead crane operation scene can be viewed left or right, up or down. When controlling the movement of the overhead crane, the real-time position coordinates of the overhead crane can be collected and updated, and the virtual reality picture can be displayed in real time through the VR display.

[0073] In some embodiments, step S104 may include but is not limited to steps S401 to S402:

[0074] Step S401, in response to the batching control operation of the operator in the first virtual reality screen, a first linkage control instruction is generated, and according to the first linkage control instruction, the optimal execution overhead crane is dynamically linked to the batching control operation to control the optimal execution overhead crane to execute the batching production scheduling task;

[0075] Step S402, in response to the operator's unloading control operation in the second virtual reality screen, a second linkage control instruction is generated, and according to the second linkage control instruction, the optimal execution overhead crane is dynamically linked to the unloading control operation to control the optimal execution overhead crane to perform the warehousing unloading task.

[0076] In some embodiments, the optimal execution crane is controlled to execute the batching scheduling task and the warehousing and unloading task. Specifically, the optimal execution crane moves to the metallurgical batching grabbing position, and the VR crane cockpit is used to control the optimal execution crane. According to the slag proportioning scheme, a variety of furnace ingredients are grabbed, and then a series of slag processing processes are performed on the furnace ingredients to obtain the final smelting slag. The optimal execution crane is controlled to move to the unloading position, and the VR crane cockpit is used to control the optimal execution crane to store the smelting slag at the unloading position.

[0077] In some embodiments, the above-mentioned metallurgical overhead crane operation control method may also include but is not limited to steps S501 to S502:

[0078] Step S501, dynamically collecting panoramic images of the first lathe working area and the second lathe working area, wherein the first lathe working area is an area centered on the metallurgical ingredient grabbing position and having a preset first operating radius as a range radius, and the second lathe working area is an area centered on the unloading position and having a preset second operating radius as a range radius;

[0079] Step S502, monitoring the optimal execution of the overhead crane in the overhead crane operation area based on the panoramic image of the first overhead crane operation area and the panoramic image of the second overhead crane operation area.

[0080] In some embodiments, for example, by integrating a 3D scanner, a rangefinder, a codec and multiple high-definition cameras, combined with laser 3D contour scanning technology, panoramic images of the first car working area and the second car working area are dynamically collected, and the panoramic images are transmitted to the control terminal in real time through the ultra-large bandwidth, ultra-high speed, and ultra-low latency 5G network. The control terminal processes the panoramic images and establishes three-dimensional models of the first car working area and the second car working area. The three-dimensional model and panoramic images are used to monitor the environmental changes in the overhead crane working area in real time to improve the accuracy of overhead crane control.

[0081] Reference Figure 2 , Figure 2 : is an optional structural diagram of a metallurgical overhead crane operation control device provided in an embodiment of the present application, the device is used to implement the above-mentioned metallurgical overhead crane operation control method, and the device may include:

[0082] The first module is used to obtain the overhead crane operation plan;

[0083] The second module is used to determine the overhead crane operation area according to the overhead crane operation plan, control the overhead crane to move to the overhead crane operation area, and dynamically collect panoramic images of the overhead crane operation area;

[0084] The third module is used to dynamically generate corresponding virtual reality images based on the panoramic image;

[0085] The fourth module is used to receive the overhead crane operation instruction and control the overhead crane to operate in the overhead crane operation area according to the overhead crane operation plan based on the virtual reality screen.

[0086] The specific implementation of the metallurgical overhead crane operation control device is basically the same as the specific implementation of the above-mentioned metallurgical overhead crane operation control method, and will not be repeated here.

[0087] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned metallurgical overhead crane operation control method when executing the computer program. The electronic device can be any smart terminal including a tablet computer.

[0088] See also Figure 3 , Figure 3 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0089] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0090] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the metallurgical overhead crane operation control method of the embodiment of this application;

[0091] Input / output interface 903, used to implement information input and output;

[0092] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0093] A bus 905 that transmits information between various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0094] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0095] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned metallurgical overhead crane operation control method is implemented.

[0096] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0097] The embodiments of the present application provide a method, device, electronic device and storage medium for controlling metallurgical crane operation, which obtains the crane operation plan, determines the crane operation area according to the crane operation plan, controls the crane to move to the crane operation area, dynamically collects panoramic images of the crane operation area, dynamically generates corresponding virtual reality images according to the panoramic images, receives crane operation instructions, and controls the crane to operate in the crane operation area according to the crane operation plan according to the virtual reality images. The embodiments of the present application can use virtual reality technology to enable operators to perceive environmental changes in the crane operation area in real time, realize accurate and real-time metallurgical crane operation control, and improve smelting operation efficiency.

[0098] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0099] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0100] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0101] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0102] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0103] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0104] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0105] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0107] It should be appreciated that embodiments of the present invention may be implemented or enforced by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The method may be implemented in a computer program using standard programming techniques including a non-transitory computer-readable storage medium configured with a computer program, wherein the storage medium so configured causes the computer to operate in a specific and predefined manner - according to the methods and drawings described in the specific embodiments. Each program may be implemented in a high-level procedural or object-oriented programming language to communicate with a computer system. However, if desired, the program may be implemented in an assembly or machine language. In any case, the language may be a compiled or interpreted language. In addition, the program may be run on a programmed ASIC for this purpose.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0109] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A metallurgical overhead crane operation control method, characterized in that: The method comprises the following steps: Obtain the crane operation plan; According to the overhead crane operation plan, determine the overhead crane operation area, control the overhead crane to move to the overhead crane operation area, and dynamically collect a panoramic image of the overhead crane operation area; Dynamically generate a corresponding virtual reality screen according to the panoramic image; An overhead crane operation instruction is received, and based on the virtual reality screen, the overhead crane is controlled to perform an operation in the overhead crane operation area according to the overhead crane operation plan.

2. The method according to claim 1, characterized in that The obtaining of the overhead crane operation plan specifically includes: Obtain batching production scheduling tasks and warehousing and unloading tasks; According to the batching production scheduling task, determine the metallurgical batching grabbing position in the material preparation warehouse area; Determine the unloading location of the production warehouse area according to the unloading task; Acquire the operating status of multiple overhead cranes, and determine the optimal execution overhead crane from the multiple overhead cranes according to the operating status corresponding to each of the overhead cranes, wherein the operating status includes the current position of the overhead crane and the current task execution status of the overhead crane; Determine a planned overhead crane operation path, a plurality of overhead crane operation tasks and a task execution order according to the operating state of the optimal execution overhead crane, the metallurgical material grabbing position and the unloading position; The overhead crane operation plan is determined according to the overhead crane operation planning path, each overhead crane operation task and the task execution order.

3. The method according to claim 2, characterized in that The method of determining the crane operation area according to the crane operation plan, controlling the crane to move to the crane operation area, and dynamically collecting a panoramic image of the crane operation area specifically includes: Control the optimal execution crane to move to the metallurgical material grabbing position, and dynamically collect a panoramic image of the first crane visible area in the material preparation warehouse area, wherein the first crane visible area is an area centered on the current position of the optimal execution crane and having a preset first radius as a range radius; The optimal execution overhead crane is controlled to move to the unloading position, and a panoramic image of the visible area of ​​the second overhead crane in the production warehouse area is dynamically collected. The visible area of ​​the second overhead crane is an area centered on the current position of the optimal execution overhead crane and with a preset second radius as the range radius.

4. The method according to claim 2, characterized in that: The obtaining of the operating states of the plurality of overhead cranes and determining the optimal executing overhead crane from the plurality of overhead cranes according to the operating states corresponding to the respective overhead cranes specifically includes: According to the current task execution status of the overhead crane of each overhead crane, determining a plurality of target available overhead cranes whose current task execution status is an available status from the plurality of overhead cranes, wherein the available status indicates that the next task execution waiting time of the overhead crane is less than a given waiting time threshold; Determining the material grabbing moving distance of each target available overhead crane according to the current position of each target available overhead crane and the metallurgical material grabbing position; According to the batching grabbing moving distance of each of the target available overhead cranes, the optimal executing overhead crane is determined from multiple target available overhead cranes, and the batching grabbing moving distance corresponding to the optimal executing overhead crane is smaller than the batching grabbing moving distances corresponding to other target available overhead cranes.

5. The method according to claim 3, characterized in that: The dynamically generating a corresponding virtual reality screen according to the panoramic image specifically includes: Generate a first virtual reality picture and perform dynamic rendering according to the first panoramic image, wherein the first panoramic image is a dynamically acquired panoramic image of the visible area of ​​the first overhead crane; A second virtual reality picture is generated and dynamically rendered according to the second panoramic image, wherein the second panoramic image is a dynamically captured panoramic image of the visible area of ​​the second vehicle.

6. The method according to claim 5, characterized in that The receiving of the overhead crane operation instruction and controlling the overhead crane to perform the operation in the overhead crane operation area according to the overhead crane operation plan according to the virtual reality screen specifically includes: In response to the batching control operation performed by the operator in the first virtual reality screen, a first linkage control instruction is generated, and according to the first linkage control instruction, dynamic linkage control corresponding to the batching control operation is performed on the optimal execution overhead crane to control the optimal execution overhead crane to execute the batching production scheduling task; In response to the operator's unloading control operation in the second virtual reality screen, a second linkage control instruction is generated. According to the second linkage control instruction, the optimal execution overhead crane is dynamically linked to the unloading control operation to control the optimal execution overhead crane to perform the warehousing unloading task.

7. The method according to claim 2, characterized in that The method further comprises: Dynamically collect panoramic images of the first overhead traveling machine working area and the second overhead traveling machine working area, wherein the first overhead traveling machine working area is an area centered on the metallurgical material grabbing position and having a preset first operating radius as a range radius, and the second overhead traveling machine working area is an area centered on the unloading position and having a preset second operating radius as a range radius; The optimal execution crane is monitored to operate in the crane operation area according to the panoramic image of the first crane operation area and the panoramic image of the second crane operation area.

8. A metallurgical overhead crane operation control device, characterized in that: The device comprises: The first module is used to obtain the overhead crane operation plan; The second module is used to determine the overhead crane operation area according to the overhead crane operation plan, control the overhead crane to move to the overhead crane operation area, and dynamically collect a panoramic image of the overhead crane operation area; The third module is used to dynamically generate a corresponding virtual reality screen according to the panoramic image; The fourth module is used to receive the overhead crane operation instruction, and control the overhead crane to operate in the overhead crane operation area according to the overhead crane operation plan based on the virtual reality screen.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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