A dispatching method for coal mill slag handling system

Abstract

The present invention discloses a scheduling method for a coal mill slag handling system, comprising the following steps: monitoring the real-time weight of the coal slag at the slag discharge valve port through a monitoring system, generating and sending a handling task to a central control system when the coal slag needs to be discharged; then prioritizing the received multiple tasks; selecting the optimal AGV handling vehicle object in turn according to the obtained task sequence; performing path planning based on the task initiation point position, the current position of the selected AGV handling vehicle, and the slag collection point position, generating motion control instructions and sending them to the corresponding AGV handling vehicle; the AGV handling vehicle performs the handling task according to the control instructions, and during the process, the central control system updates the motion control instructions according to the real-time status feedback of each AGV handling vehicle, thereby realizing traffic control of multiple AGV handling vehicles. The present invention calls a handling vehicle to perform autonomous slag handling according to the actual slag discharge situation, maintains the orderliness and continuity of autonomous slag handling operations, and improves slag discharge efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of industrial control, in particular to a scheduling method for a coal mill slag discharge and transportation system. Background Art

[0002] The coal mill unit has limited capacity to store waste slag, which requires regular transportation and cleaning. Due to the non-stationary nature of slag discharge, it is necessary to conduct inspections to determine whether it needs to be unloaded. Even so, it cannot ensure that the material can be dumped as soon as the bucket is full. Due to the complex operating environment, most processes are completed manually, and the slag discharge efficiency is low.

[0003] Common automated handling systems cannot ensure the reliability of the process of transferring waste slag to the transport vehicle. If waste slag is accumulated at the transfer location, subsequent autonomous operations will be impossible, affecting the continuity of autonomous slag removal and handling operations. Also, since it is impossible to ensure the reasonable allocation and scheduling of multiple tasks, when the number of tasks is large, it is easy to cause queues of multi-task execution vehicles, and also cause multiple transport vehicles to be idle, affecting the efficiency of slag removal. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a scheduling method for a coal mill slag handling system, which calls a transport vehicle to perform autonomous slag handling according to the actual slag handling situation, maintains the orderliness and continuity of the autonomous slag handling operation, and improves the slag handling efficiency.

[0005] Technical solution: To achieve the above-mentioned purpose, a dispatching method of a coal mill slag handling system of the present invention comprises a slag handling system, wherein the slag handling system is provided with a plurality of slag valve ports, a handling dispatching system, a standby point, a slag collecting point and a charging point;

[0006] The slag discharge valve port is provided with a weighing device, and the charging point is provided with a charging device; the transport scheduling system is provided with a monitoring system, a central control system, a transport management system and an intelligent charging system; the central control system includes a business layer, a core layer and a device layer;

[0007] The scheduling method of the slag discharge and handling system comprises the following steps:

[0008] S1. The real-time weight of the coal slag at the multiple slag discharge valve ports is monitored by the monitoring system, and the monitoring feedback value is compared with the set slag discharge threshold value. When it is determined that the coal slag needs to be discharged, a handling task is generated and sent to the central control system;

[0009] S2, receiving the transport tasks sent in step S1 through the business layer, and prioritizing the received multiple tasks;

[0010] S3. Select the optimal AGV transport vehicle object in turn according to the task sequence obtained in step S2, and make a comprehensive selection based on the current position, current remaining power, and number of executed tasks of multiple AGV transport vehicles;

[0011] S4, performing task path planning through the kernel layer, performing path planning based on the task initiation point position, the current position of the selected AGV transport vehicle, and the slag collection point position, generating motion control instructions, and the device layer sends the motion control instructions to the corresponding AGV transport vehicle;

[0012] S5. The AGV transport vehicle that receives the task executes the transport task according to the issued control instructions. During the process, the transport management system updates the motion control instructions based on the real-time status feedback of each AGV transport vehicle to achieve traffic control and power management for multiple AGV transport vehicles.

[0013] Furthermore, in step S2, after the slag discharge valve port sends the task, the monitoring system continuously feeds back the real-time weight of the coal slag to the central control system, which is used as a data reference for task priority sorting; the temporary storage coal slag amount of each slag discharge valve port is set with an upper limit value, and the weight interval between the slag discharge threshold value and the temporary storage upper limit value is divided into a plurality of small intervals with a fixed range, and each small interval range corresponds to a priority, and the small interval with a higher end value corresponds to a higher priority;

[0014] In step S3, tasks with higher priorities are selected with the AGV transport vehicle first, and tasks with the same priority are selected in order of their generation time.

[0015] Furthermore, when selecting AGV transport vehicles, the following scheduling strategies are used:

[0016] A1. Calculate the task execution path based on the task starting point and multiple available AGV transport vehicle positions, and give priority to selecting the AGV transport vehicle with the shortest task execution path;

[0017] A2. Choose according to the current remaining power, and give priority to the AGV transport vehicle with high remaining power value;

[0018] A3. Choose according to the number of tasks that have been executed, and give priority to AGV transport vehicles with fewer tasks executed;

[0019] Based on the above scheduling strategies, the central control system adjusts the weights of multiple scheduling strategies according to actual on-site needs and selects the optimal AGV transport vehicle object.

[0020] Furthermore, in step S4, the kernel layer performs task path planning including the following steps:

[0021] B1. Read the information of task execution scene nodes, coordinates, workstations, road sections, and edge weights from the map file, and create data objects in sequence to construct a path matrix;

[0022] B2. Based on the coordinates of the task start and end points, a greedy algorithm is used to calculate the shortest path along the path matrix, and additional information of each node on the obtained shortest path is saved synchronously based on the map data;

[0023] B3. Compare the angle information, navigation information, direction information, speed information and coordinate information between adjacent nodes in turn, retain the nodes where any information has changed, delete the remaining nodes, and reconstruct the simplified path with the retained key nodes, and generate control instructions according to the simplified path and send them to the corresponding AGV transport vehicle.

[0024] Furthermore, in step S5, the steps of the transport management system performing traffic control on any AGV transport vehicle are as follows:

[0025] C1. Read the setting values ​​of traffic control related parameters from the configuration file, including control distance, vehicle size, and deceleration;

[0026] C2, periodically query the coordinates, speed, target position, and whether the AGV is loaded, and calculate the control distance based on the speed;

[0027] C3. Decompose the current task execution path into nodes one by one, expand it from the current position along the path, and calculate the set of areas that the vehicle will occupy in advance based on the actual speed and direction;

[0028] C4, taking road sections and nodes as resources as the preemption targets of multiple transport vehicles, and marking the resources as locked or unlocked according to the preemption status;

[0029] Among them, the node and section where the AGV transport vehicle is currently located belong to the current vehicle and do not need to be preempted, and are marked as locked; otherwise, they need to be preempted in advance, and the preemption follows the first-come-first-served principle. After the preemption is successful, the resources are locked immediately, and the preempted vehicle is allowed to travel on the corresponding nodes and sections. After leaving the range of the locked resources, the occupation is automatically released to allow other transport vehicles to preempt; if the resources to be preempted have been locked, the preempting vehicle will immediately slow down and stop, and wait for the locking vehicle to unlock the resources before preempting again.

[0030] Furthermore, when the AGV transport vehicle fails to seize resources, the traffic control mark is set, otherwise the mark is reset; when the control mark is set, the central control system immediately sends a task pause command to the AGV transport vehicle; when the control mark is reset and the AGV transport vehicle is currently in a paused state, the central control system sends a task continue execution command.

[0031] Furthermore, when the transport management system manages the power of multiple AGV transport vehicles, the current power of each vehicle is detected after each vehicle completes its task;

[0032] A feeding threshold is set. When the real-time power level fed back to the handling management system by the intelligent charging system is lower than the feeding threshold, the vehicle will go directly to the charging point for charging. The feeding threshold is set according to the power level that allows the vehicle to travel from the slag collection point to the farthest slag discharge valve port to complete the task and then travel to the charging point.

[0033] A low-battery threshold is set. If the detected battery level is lower than the low-battery threshold, it is determined to be in a low-battery state. After completing a task, if no new task is received, the vehicle in a low-battery state is mobilized to the charging point. If a task is received again on the way to the charging point or during the charging process, it continues to go to the charging point or maintains the charging state. After completing a task, if a new task is received immediately, the vehicle in a low-battery state will execute the new task.

[0034] Furthermore, multiple slag discharge valve ports are arranged equidistantly and connected by a road parallel to the arrangement direction. A vertical road is extended vertically from the center of the horizontal connecting road to connect the standby point, the slag collection point and the charging point; on the vertical road, a standby point is set at a position relatively close to the slag discharge valve port, a charging point is set at a position relatively far from the slag discharge valve port, and a branch road connecting the slag collection point is set on the road section from the charging point to the standby point.

[0035] Beneficial effects: The scheduling method of the coal mill slag handling system of the present invention triggers the handling task by the coal slag weight of each inspection valve port exceeding the set threshold, and has a fast response speed, ensuring the real-time nature of the task and the high efficiency of slag handling. The autonomous navigation of the handling vehicle, the autonomous completion of receiving, releasing and charging actions after reaching the corresponding point, without human intervention, ensures the safety of operation; according to multiple factors such as path, power, load balance, etc., the reasonable allocation of tasks, planning of paths, traffic control and power management maintains the orderliness and continuity of autonomous slag handling operations, improves slag efficiency, and extends the service life of the handling system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is an interactive flow chart of a scheduling method of a coal mill slag handling system according to the present invention;

[0037] Figure 2 It is a system structure block diagram of the slag removal and handling system of the present invention;

[0038] Figure 3 This is a schematic diagram of the operation route of an AGV transport vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] As attached Figure 1-3 The scheduling method of a coal mill slag handling system comprises a slag handling system, wherein the slag handling system is provided with a plurality of slag valve ports 1, a standby point 2, a slag collection point 3, a charging point 4 and a handling scheduling system 5.

[0041] The slag discharge valve port 1 is provided with a weighing device, such as a weighing hopper, and a controllable opening and closing valve port is provided below the hopper. When the transport vehicle runs below the valve port, the valve port can be opened to discharge the coal slag in the hopper.

[0042] The charging point 4 is provided with a charging device, including a plurality of arranged charging positions.

[0043] The transport scheduling system 5 is provided with a monitoring system, a central control system, a transport management system and an intelligent charging system; the monitoring system is used to receive the actual weight signal of the weighing device of each valve port and control the opening and closing of the valve port; the monitoring system is composed of a number of weighing sensors and PLC, and the sensors and PLC are connected by signal lines.

[0044] The central control system is used to receive tasks, process data, plan paths, and generate and issue instructions; the central control system includes a business layer, a kernel layer, and a device layer.

[0045] The transport management system is used to dispatch several AGV transport vehicles 6 according to instruction distribution, vehicle condition feedback and charging status; the AGV transport vehicle 6 is mainly composed of a vehicle body, an AGV module, a navigation system, a safety protection system and a transfer device. After receiving the motion instruction from the central control system, the transport management system first parses the instruction data, and then obtains the coordinate information of the target vehicle through feedback from the navigation system. It controls the AGV transport vehicle to a certain target position through calculation, and uses the transfer device to take / put the hopper or perform coal slag transport and dumping actions. The safety protection system can detect whether there are obstacles on the path in real time during the operation of the vehicle, and if there are obstacles, it will be fed back to the AGV module, so that the AGV module controls the vehicle body to stop.

[0046] The intelligent charging system is used to monitor the real-time power level of each AGV transport vehicle 6; and thus feed back to the transport management system, which dispatches the powered vehicle to drive to the charging point and dock at an empty charging position. The charging position is provided with a brush block connected to a telescopic mechanism. After the vehicle is in place, the brush block extends out and docks with the charging brush plate of the AGV. The charging action of the charging device is controlled by detecting the closing state of the AGV charging brush plate. After the brush plate is closed, the charging device is controlled to start charging. If the brush plate is disconnected in the middle, the charging action stops immediately and the motor output of the charging device is turned off.

[0047] The scheduling method of the slag discharge and handling system comprises the following steps:

[0048] S1. The real-time weight of the coal slag at the plurality of slag discharge valve ports 1 is monitored by the monitoring system, and the monitoring feedback value is compared with the set slag discharge threshold value. When it is determined that the coal slag needs to be discharged, a transport task is generated and sent to the central control system.

[0049] S2. Receive the handling tasks sent in step S1 through the business layer, and prioritize the received multiple tasks; after the slag discharge valve sends the task, the monitoring system continuously feeds back the real-time weight of the coal slag to the central control system, which is used as a data reference for task priority sorting; the temporary storage of coal slag at each slag discharge valve is set with an upper limit, and the weight interval between the slag discharge threshold and the temporary storage upper limit is divided into multiple small intervals with a fixed range, each small interval range corresponds to a priority, and the small interval with a higher end value corresponds to a higher priority. Sort the tasks according to the priority.

[0050] S3. According to the task sequence obtained in step S2, the optimal AGV transport vehicle object is selected in sequence. The AGV transport vehicle is selected first for the task with a high priority. The tasks with the same priority are selected in sequence according to the order of task generation time.

[0051] When selecting the optimal AGV transport vehicle for each task, the current position, current remaining power and number of tasks executed of the multiple AGV transport vehicles 6 are comprehensively considered and selected. The specific scheduling strategy is as follows:

[0052] A1. Calculate the task execution path according to the location of the task initiation point and the locations of multiple available AGV transport vehicles, and give priority to selecting the AGV transport vehicle with the shortest task execution path.

[0053] A2. Choose according to the current remaining power, and give priority to AGV transport vehicles with high remaining power values.

[0054] A3. Choose based on the number of tasks that have been executed, and give priority to AGV transport vehicles with fewer tasks that have been executed.

[0055] Based on the above scheduling strategies, the central control system adjusts the weights of multiple scheduling strategies according to actual on-site needs and selects the optimal AGV transport vehicle object.

[0056] S4. Perform task path planning through the kernel layer, use the task initiation point location, the current location of the selected AGV transport vehicle, and the location of slag collection point 3 to perform path planning, generate motion control instructions, and the device layer sends the motion control instructions to the corresponding AGV transport vehicle.

[0057] The kernel layer performs task path planning including the following steps:

[0058] B1. Read the nodes, coordinates, workstations, road sections, edge weights and other information of the task execution scene from the map file, and create data objects in sequence to construct a three-dimensional map and path matrix of the entire work scene. The path matrix is ​​composed of a number of mutually orthogonal grid lines, which are mainly arranged along the center line of the road connecting multiple workstations in the three-dimensional map. In order to facilitate the operation and management of the vehicle, the roads are set to a mutually orthogonal position relationship, so that when the vehicle performs turning, steering, U-turning and other actions, the corresponding angle is any one of 0° / 90° / 180° / 270°. Nodes are formed at the intersection of the grid lines, and the nodes are constructed as circular areas with the turning point of the center line of the road as the center and the turning radius of the vehicle as the radius. Sections are formed between adjacent nodes, and the sections are constructed with the lane width direction boundary and the node area diameter as the boundary line to construct a rectangular area.

[0059] B2. According to the coordinates of the task starting point and end point, a greedy algorithm is used to calculate the shortest path along the path matrix, and based on the map data, additional information of each node on the obtained shortest path is synchronously saved.

[0060] B3. Compare the additional information between adjacent nodes in turn, and simplify the path by filtering the nodes. This includes angle information, navigation information, direction information, speed information, and coordinate information. Nodes with any information changes are retained, and the remaining nodes are deleted. The simplified path is rebuilt with the retained key nodes, and control instructions are generated according to the simplified path and sent to the corresponding AGV transport vehicle. When the AGV transport vehicle performs tasks according to the path, when it is running on the section between any two nodes, there will be no changes in angle, direction, speed, and navigation method.

[0061] S5. The AGV transport vehicle that receives the task executes the transport task according to the issued control instructions. During the process, the transport management system updates the motion control instructions based on the real-time status feedback of each AGV transport vehicle to achieve traffic control and power management for multiple AGV transport vehicles.

[0062] The steps of the transport management system to perform traffic control on any AGV transport vehicle are as follows:

[0063] C1. Read the setting values ​​of traffic control related parameters from the configuration file, including control distance, vehicle size, and deceleration;

[0064] C2, periodically query the coordinates, speed, target position, and whether the AGV is loaded, and calculate the control distance based on the speed;

[0065] C3. Decompose the current task execution path into nodes one by one, expand it from the current position along the path, and calculate the set of areas that the vehicle will occupy in advance based on the actual speed and direction;

[0066] C4, taking road sections and nodes as resources as the preemption targets of multiple transport vehicles, and marking the resources as locked or unlocked according to the preemption status;

[0067] Among them, the node and section where the AGV transport vehicle is currently located belong to the current vehicle and do not need to be preempted, and are marked as locked; otherwise, they need to be preempted in advance, and the preemption follows the first-come-first-served principle. After the preemption is successful, the resources are locked immediately, and the preempted vehicle is allowed to travel on the corresponding nodes and sections. After leaving the range of the locked resources, the occupation is automatically released to allow other transport vehicles to preempt; if the resources to be preempted have been locked, the preempting vehicle will immediately slow down and stop, and wait for the locking vehicle to unlock the resources before preempting again.

[0068] When the AGV transport vehicle fails to seize resources, the traffic control mark is set, otherwise the mark is reset; when the control mark is set, the central control system immediately sends a task pause command to the AGV transport vehicle; when the control mark is reset and the AGV transport vehicle is currently in a paused state, the central control system sends a task continue execution command.

[0069] When the transport management system manages the power of multiple AGV transport vehicles, a power feeding threshold is set. When the real-time power level fed back to the transport management system by the intelligent charging system is lower than the power feeding threshold, the vehicle must go to the charging point for charging. The transport management system will sort the multiple vehicles by power level based on the power feedback of the multiple AGV transport vehicles from the intelligent charging system. When the vehicle is in an idle state, the vehicle with low power will be given priority.

[0070] Among them, the power feeding threshold is set according to the power level that allows the vehicle to travel from the slag collection point to the farthest slag discharge valve port to complete the task and then travel to the charging point. The current power level of the vehicle is detected after each vehicle completes the task. If the power level is lower than the power feeding threshold, it goes directly to the charging point.

[0071] A low-power threshold is set. If the detected power is lower than the low-power threshold, it is determined to be in a low-power state. After completing a task, if no new task is received, the vehicle in a low-power state is moved to the charging point.

[0072] If another task is received while on the way to the charging point or during charging, the vehicle will continue to go to the charging point or maintain charging status;

[0073] After completing a mission, if a new mission is received immediately, the vehicle in a low-power state will execute the new mission.

[0074] A safety threshold is set. If the detected power is between the low power threshold and the safety threshold, it is judged to be in a safe state. The AGV transport vehicle in the safe state will choose to execute a new task when it receives a new task in any state other than the task execution state, including during the charging process and on the way back to the standby point.

[0075] When the AGV power reaches the safety threshold after charging, the vehicle is moved from the charging point to the standby point.

[0076] The specific management steps are as follows:

[0077] First, read the power-related parameter settings from the configuration file, including the power-feeding threshold, low-power threshold, and safety threshold. Then query the vehicle's actual remaining power and compare it with the parameter settings to determine the vehicle's power status. Then make a logical judgment based on the power status and task reception status to select the correct destination.

[0078] In the layout of each workstation and connecting roads, as shown in the attached Figure 3 As shown in , multiple slag discharge valve ports are arranged at equal distances, and multiple slag discharge ports are connected by a road parallel to the arrangement direction. A vertical road is vertically extended from the center of the horizontal connecting road to connect the standby point, the slag collection point and the charging point, so as to shorten the difference in the length of the path from any workstation to any slag discharge port as much as possible. Among them, on the vertical road, the standby point is set at a position relatively close to the slag discharge valve port, the charging point is set at a position relatively far from the slag discharge valve port, and a branch road connecting the slag collection point is set on the road section from the charging point to the standby point.

[0079] Its advantage is that after completing a transport task, the transport vehicle can choose to go to the charging point, standby point or directly execute a new task through power management. This makes most of the vehicles with sufficient power close to the slag discharge valve port, while the vehicles with reduced power are relatively far away from the slag discharge valve port. When the central control system selects the optimal AGV transport vehicle for the task, there is no need to screen all idle vehicles. It only needs to establish a dynamic sorting table for the vehicles and screen them from top to bottom.

[0080] Among them, when sorting, vehicles in the task execution state are divided into execution groups and arranged at the bottom, where all vehicles cannot be selected; vehicles on the way or in charging state are divided into charging groups and arranged above the execution group. The charging group is sorted according to the power level, and vehicles below the low power threshold cannot be selected; vehicles on the way or in standby state are divided into standby groups and arranged above the charging group. The standby group is sorted according to the distance from the task starting point, with those with closer distances being sorted at the top and those with farther distances being sorted at the bottom.

[0081] The above description is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the above principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for dispatching a coal mill slag handling system, characterized in that: It comprises a slag discharge and handling system, wherein the slag discharge and handling system is provided with a plurality of slag discharge valve ports (1), a standby point (2), a slag collection point (3), a charging point (4) and a handling and dispatching system (5); The slag discharge valve port (1) is provided with a weighing device, and the charging point (4) is provided with a charging device; the transport scheduling system (5) is provided with a monitoring system, a central control system, a transport management system and an intelligent charging system; The central control system includes a business layer, a kernel layer and a device layer; The scheduling method of the slag discharge and handling system comprises the following steps: S1. The real-time weight of the coal slag at the plurality of slag discharge valve ports (1) is monitored by the monitoring system, and the monitoring feedback value is compared with the set slag discharge threshold value. When it is determined that the coal slag needs to be discharged, a handling task is generated and sent to the central control system; S2, receiving the transport tasks sent in step S1 through the business layer, and prioritizing the received multiple tasks; S3, according to the task sequence obtained in step S2, select the optimal AGV transport vehicle object in turn, and make a comprehensive selection based on the current position, current remaining power and number of executed tasks of the multiple AGV transport vehicles (6); S4, performing task path planning through the kernel layer, performing path planning based on the task initiation point position, the current position of the selected AGV transport vehicle, and the position of the slag collection point (3), generating motion control instructions, and the device layer sending the motion control instructions to the corresponding AGV transport vehicle; S5. The AGV transport vehicle that receives the task executes the transport task according to the issued control instructions. During the process, the transport management system updates the motion control instructions based on the real-time status feedback of each AGV transport vehicle to achieve traffic control and power management for multiple AGV transport vehicles.

2. The method for dispatching a coal mill slag handling system according to claim 1, characterized in that: In step S2, after the slag discharge valve port sends the task, the monitoring system continuously feeds back the real-time weight of the coal slag to the central control system, which is used as a data reference for task priority sorting; the temporary storage coal slag amount of each slag discharge valve port is set with an upper limit value, and the weight interval between the slag discharge threshold value and the temporary storage upper limit value is divided into multiple small intervals with a fixed range, and each small interval range corresponds to a priority, and the small interval with a higher end value corresponds to a higher priority; In step S3, tasks with higher priorities are selected with the AGV transport vehicle first, and tasks with the same priority are selected in order of their generation time.

3. The method for dispatching a coal mill slag handling system according to claim 2, characterized in that: When selecting an AGV transport vehicle, follow the following scheduling strategies: A1. Calculate the task execution path based on the task starting point and multiple available AGV transport vehicle positions, and give priority to selecting the AGV transport vehicle with the shortest task execution path; A2. Choose according to the current remaining power, and give priority to the AGV transport vehicle with high remaining power value; A3. Choose according to the number of tasks that have been executed, and give priority to AGV transport vehicles with fewer tasks executed; Based on the above scheduling strategies, the central control system adjusts the weights of multiple scheduling strategies according to actual on-site needs and selects the optimal AGV transport vehicle object.

4. The method for dispatching a coal mill slag handling system according to claim 3, characterized in that: In step S4, the kernel layer performs task path planning including the following steps: B1. Read the information of task execution scene nodes, coordinates, workstations, road sections, and edge weights from the map file, and create data objects in sequence to construct a path matrix; B2. Based on the coordinates of the task start and end points, a greedy algorithm is used to calculate the shortest path along the path matrix, and additional information of each node on the obtained shortest path is saved synchronously based on the map data; B3. Compare the angle information, navigation information, direction information, speed information and coordinate information between adjacent nodes in turn, retain the nodes where any information has changed, delete the remaining nodes, and reconstruct the simplified path with the retained key nodes, and generate control instructions according to the simplified path and send them to the corresponding AGV transport vehicle.

5. The method for dispatching a coal mill slag handling system according to claim 4, characterized in that: In step S5, the transport management system performs traffic control on any AGV transport vehicle as follows: C1. Read the setting values ​​of traffic control related parameters from the configuration file, including control distance, vehicle size, and deceleration; C2, periodically query the coordinates, speed, target position, and whether the AGV is loaded, and calculate the control distance based on the speed; C3. Decompose the current task execution path into nodes one by one, expand it from the current position along the path, and calculate the set of areas that the vehicle will occupy in advance based on the actual speed and direction; C4, taking road sections and nodes as resources as the preemption targets of multiple transport vehicles, and marking the resources as locked or unlocked according to the preemption status; Among them, the node and section where the AGV transport vehicle is currently located belong to the current vehicle and do not need to be preempted, and are marked as locked; Otherwise, it is necessary to preempt in advance, and the preemption follows the first-come, first-served principle. After the preemption is successful, the resources are locked immediately, and the preempted vehicle is allowed to travel on the corresponding nodes and road sections. After leaving the range of the locked resources, the occupation is automatically released to allow other transport vehicles to preempt; if the resources to be preempted have been locked, the preempting vehicle will immediately slow down and stop, and wait for the locking vehicle to unlock the resources before preempting again.

6. The method for dispatching a coal mill slag handling system according to claim 5, characterized in that: When the AGV transport vehicle fails to seize resources, the traffic control mark is set, otherwise the mark is reset; when the control mark is set, the central control system immediately sends a task pause command to the AGV transport vehicle; when the control mark is reset and the AGV transport vehicle is currently in a paused state, the central control system sends a task continue execution command.

7. The method for dispatching a coal mill slag handling system according to claim 6, characterized in that: When the transport management system manages the power of multiple AGV transport vehicles, the current power of each vehicle is detected after each vehicle completes the task; A feeding threshold is set. When the real-time power level fed back to the handling management system by the intelligent charging system is lower than the feeding threshold, the vehicle will go directly to the charging point for charging. The feeding threshold is set according to the power level that allows the vehicle to travel from the slag collection point to the farthest slag discharge valve port to complete the task and then travel to the charging point. A low-battery threshold is set. If the detected battery level is lower than the low-battery threshold, it is determined to be in a low-battery state. After completing a task, if no new task is received, the vehicle in a low-battery state is mobilized to the charging point. If a task is received again on the way to the charging point or during the charging process, it continues to go to the charging point or maintains the charging state. After completing a task, if a new task is received immediately, the vehicle in a low-battery state will execute the new task.

8. The method for dispatching a coal mill slag handling system according to claim 7, characterized in that: A plurality of slag discharge valve ports are arranged equidistantly and connected by a road parallel to the arrangement direction. A vertical road is vertically extended from the center of the horizontal connecting road to connect the standby point, the slag collection point and the charging point. On the vertical road, a standby point is set relatively close to the slag discharge valve port, a charging point is set relatively far from the slag discharge valve port, and a branch road connecting the slag collection point is set on the road section from the charging point to the standby point.

Images