Automatic cooperative control system for torpedo ladle and material distributing machine

Abstract

The invention relates to the technical field of intelligent scheduling and optimization analysis, in particular to an automatic cooperative control system for a torpedo ladle and a material distributing machine, which comprises a positioning acquisition module, a butt joint control module, a monitoring analysis module, a scheduling optimization module and a sensor module. The method comprises the following steps: respectively obtaining real-time processing data and real-time input data, carrying out simultaneous data analysis on the real-time processing data and the real-time input data, determining a mapping structure chain of a material distributing machine and a torpedo ladle, carrying out scheduling optimization analysis on the material distributing machine and the torpedo ladle based on the mapping structure chain, and determining a torpedo ladle scheduling strategy. Precise vertical synchronous butt joint of the torpedo ladle and the material distributing machine is achieved, the torpedo ladle dispatching strategy is dynamically optimized, it is ensured that the transportation and pouring rhythm is matched, the waiting time and the molten iron overflow or solidification risk are reduced, and potential safety hazards and operation errors caused by manual intervention are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent scheduling and optimization analysis, and particularly relates to an automatic collaborative control system for a torpedo ladle and a distributing machine. Background Art

[0002] A torpedo ladle is a large, high-temperature resistant, airtight transportation container, usually long cylindrical in shape, which can be used to transport high-temperature liquids; a distributing machine is a device for evenly distributing liquid metal, commonly used in the continuous casting process. It distributes molten iron into a mold or die as needed through mechanical or automatic control to ensure the uniformity and quality of the cast slab; in the construction industry, a torpedo ladle is used to transport building pouring materials, and a distributing machine is used to evenly distribute the pouring materials.

[0003] Implementing automatic collaborative control of a torpedo ladle and a distributing machine can significantly improve the safety, accuracy and efficiency of the transfer and pouring of pouring materials. By using sensors to monitor the dumping speed, flow rate and position in real time, the risks of manual operation can be avoided; dynamically adjusting the equipment rhythm to prevent the overflow or solidification of pouring materials; integrating data to optimize process parameters, reducing waste and meeting the requirements of continuous production, ultimately ensuring stable quality, reducing energy consumption and accident rates; however, in the prior art, there are still operations such as manual matching of the torpedo ladle and the distributing machine and discharging. In this traditional control method for the torpedo ladle and the distributing machine, there are problems such as high risk of manual operation, low scheduling efficiency and insufficient accuracy, which urgently need to be solved. Summary of the Invention

[0004] The object of the present invention is to address the problems in the background art and propose an automatic collaborative control system for a torpedo ladle and a distributing machine.

[0005] The technical solution of the present invention: an automatic collaborative control system for a torpedo ladle and a distributing machine, comprising:

[0006] A positioning acquisition module, configured to acquire the real-time position of the torpedo ladle, and acquire the real-time position and the material receiving position of the distributing machine;

[0007] A docking control module, configured to perform data analysis on the real-time position of the torpedo ladle and the real-time position of the distributing machine, and perform discharging docking on the distributing machine and the torpedo ladle;

[0008] A monitoring and analysis module, configured to monitor the operation data of the distributing machine and the torpedo ladle in real time, respectively obtain real-time processing data and real-time input data, perform joint data analysis on the real-time processing data and the real-time input data, and determine the mapping structure chain of the distributing machine and the torpedo ladle;

[0009] A scheduling optimization module, configured to perform scheduling optimization analysis on the distributing machine and the torpedo ladle based on the mapping structure chain, determine the torpedo ladle scheduling strategy, and schedule the torpedo ladle based on the torpedo ladle scheduling strategy;

[0010] The sensor module includes a first anti-collision sensor provided on the batching machine and a second anti-collision sensor provided on the torpedo ladle.

[0011] Preferably, the method for analyzing the real-time positions of the torpedo ladle and the batching machine includes:

[0012] Mark the material receiving position of the batching machine as the target position, mark the real-time position of the batching machine as the first position, and mark the real-time position of the torpedo ladle as the second position;

[0013] Make a real-time determination based on the first position, the second position, and the target position to determine whether there is a state where the real-time position of the torpedo ladle and the target position are in a waiting vertical synchronization state;

[0014] If there is a state where the real-time position of the torpedo ladle and the target position are in a waiting vertical synchronization state, generate a start instruction; otherwise, generate a waiting instruction periodically;

[0015] Stop the transportation of the torpedo ladle according to the start instruction, mark the torpedo ladle as the target ladle, perform a vertical synchronization docking operation between the target ladle and the batching machine to make the target ladle and the batching machine reach a vertical synchronization state, and control the target ladle to perform the discharging operation;

[0016] Continue to transport the torpedo ladle according to the waiting instruction.

[0017] Preferably, the determination method for the waiting vertical synchronization state is as follows:

[0018] Calculate the horizontal distances between the first position and the second position and the target position respectively to obtain a first distance and a second distance, and regard both the first distance and the second distance as the target distance;

[0019] Compare the first distance and the second distance with a first horizontal threshold value simultaneously. If there is a target distance greater than the first horizontal threshold value, it is determined that the torpedo ladle and the batching machine are not in a waiting vertical synchronization state; if there is no target distance greater than the first horizontal threshold value, it is determined that the torpedo ladle and the batching machine are in a waiting vertical synchronization state;

[0020] The method for performing a vertical synchronization docking operation between the target ladle and the batching machine includes:

[0021] Horizontal calibration: Compare the target distance with a second horizontal threshold value. If the horizontal distance is greater than the second horizontal threshold value, calibrate the device corresponding to the target distance until the horizontal distance is less than the second horizontal threshold value, stop the calibration and generate a calibration success label;

[0022] Count the number of calibration success labels, and regard the calculated result as the calibration value;

[0023] Generate an operation instruction based on the current calibration value using an instruction processing model. The expression of the instruction processing model is as follows:

[0024]

[0025] In the formula, X is the operation instruction; Z is the calibration value;

[0026] Generate a start instruction according to X being 1; generate a wait instruction according to X being 0;

[0027] Control the cloth distributor to adjust the position of the discharge port of the cloth distributor according to the start instruction, and synchronously control the target tank body to perform the discharging operation.

[0028] Preferably, the real-time input data includes the real-time first distance of the tank body, the material quantity of the tank body, the moving speed of the tank body, and the tank discharging flow rate F1;

[0029] Sort the first distances in ascending order, and determine the corresponding torpedo tank sequence according to the ascending order of the first distances;

[0030] Traverse the torpedo tank sequence, mark the first torpedo tank in the torpedo tank sequence as the selected tank body, obtain the material quantity of the selected tank body and mark it as the selected material quantity W1, and determine whether the selected material quantity W1 is greater than the tank body material threshold W θ ;

[0031] If the selected material quantity W1 is less than the tank body material threshold W θ , then revoke the marking of the selected tank body;

[0032] If the selected material quantity W1 is not less than the tank body material threshold W θ , then continue to traverse the torpedo tank sequence, and mark the second torpedo tank in the torpedo tank sequence as the selected tank body, and so on until the torpedo tank sequence is traversed;

[0033] Generate a selected tank body sequence according to the selected tank body.

[0034] Preferably, obtain the construction path of the cloth distributor, stipulate that the direction away from the target position is the positive construction path, divide the construction path into nodes to obtain several construction nodes, and obtain the material demand of each construction node and mark it as the node demand D j ; j is the node number, and j is a positive integer;

[0035] The real-time processed data includes the node demand D j , the node distance L2 j and the body material quantity W2, the body discharging flow rate F2, the body moving speed v2, and the loading matching capacity C; the node distance L2 j is the moving distance required for the cloth distributor to reach the target position at each construction node;

[0036] Obtain the construction return times of the concrete distributor at each construction node and mark them as the node return times N2 j , and the completed construction nodes, count the number of completed construction nodes to obtain the total number of completed construction nodes and mark it as m;

[0037] Determine the body material quantity W2 of the concrete distributor during the pouring of the construction node through the following formula:

[0038]

[0039] Update the body material quantity W2 in real time.

[0040] Preferably, determine the feeding times N2 of the concrete distributor for completing the j-th construction node through the following expression j :

[0041]

[0042] In the formula, represents rounding up the result;

[0043] Calculate the construction return duration T2 of the concrete distributor after pouring the j-th construction node through the construction return time model j , and the construction return time model is expressed as follows:

[0044]

[0045] Based on the feeding times N2 of the j-th construction node j Mark the first N2 j quantity of torpedo ladles in the selected ladle sequence as waiting ladles;

[0046] According to the feeding times Z2 of the j-th construction node j and the waiting ladles in the selected ladle sequence, construct a mapping relationship, and for the feeding times Z2 j forming the mapping relationship and the waiting ladles, map and mark them as the mapping association structure Y h ; h is the number of the mapping association structure, h is a positive integer, h ∈ [1, S], and S is the total number of mapping association structures;

[0047] Based on the mapping association structures [Y1, Y2,..., Y h construct a mapping structure chain.

[0048] Preferably, the method for scheduling and optimizing the concrete distributor and torpedo ladles based on the mapping structure chain is as follows:

[0049] Mark the first distance corresponding to the waiting ladle and the ladle moving speed as the waiting distance L1 h and the waiting speed v1h ;

[0050] For the mapping association structure Y1, the waiting path duration TY1 for waiting for the torpedo can to reach the target position is calculated by the following formula:

[0051]

[0052] In the formula, L11 is the corresponding first distance in the mapping association structure Y1; v11 is the corresponding waiting speed in the mapping association structure Y1;

[0053] The waiting path duration TY1 should satisfy; TY1 satisfies TY1 ≤ t θ ; t θ is the time threshold;

[0054] For the mapping association structure Y2, the waiting path duration TY2 for waiting for the torpedo can to reach the target position is calculated by the following formula:

[0055]

[0056] In the formula, L12 is the corresponding first distance in the mapping association structure Y2; v12 is the corresponding waiting speed in the mapping association structure Y2;

[0057] The waiting path duration TY2 should satisfy: TY2 ≤ t θ .

[0058] Preferably, for the mapping association structure Y k , the waiting path duration TY for waiting for the torpedo can to reach the target position k is calculated by the following formula:

[0059] TY k satisfies TY k ≤ t θ ;

[0060] In the formula, L1 k is the corresponding first distance in the mapping association structure Y k ; v1 k is the corresponding waiting speed in the mapping association structure Y k ; k ≤ S;

[0061] The waiting path duration TY k should satisfy: TY k ≤ t θ ;

[0062] The torpedo can scheduling strategy is: based on the waiting path duration TY in the mapping structure chain k to schedule the torpedo can and control the time for the torpedo can to reach the target position.

[0063] Compared with the prior art, the above technical solution of the present invention has the following beneficial technical effects:

[0064] (1) The positioning acquisition module and the sensor module are used to monitor the equipment position and status in real time, and the docking conditions are determined by combining data analysis to achieve precise vertical synchronous docking of the torpedo tank and the concrete placing machine, thus avoiding safety hazards and operational errors caused by human intervention.

[0065] (2) The monitoring and analysis modules are used to jointly process real-time data, build a mapping structure chain, and dynamically optimize the torpedo tank scheduling strategy through an algorithm model to ensure that the transportation and pouring rhythms match, reduce waiting time and the risk of molten iron overflow or solidification.

[0066] (3) Based on the node demand, construction path and other parameters, the number of feeding times and the return time are quantified through formulas, and the torpedo tank sequence is accurately matched with the demand of the placing machine, thereby improving resource utilization. This solves the problems of low efficiency, many safety hazards, rigid scheduling and waste of resources caused by traditional reliance on manual coordination, and realizes efficient, safe and precise control of high-temperature molten iron transfer and pouring. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a module flow chart of the first embodiment of the present invention;

[0068] Figure 2 This is a structural diagram of a sensor module according to the second embodiment of the present invention.

[0069] The above drawings include the following reference numerals:

[0070] 1. First collision sensor; 2. Second collision sensor. DETAILED DESCRIPTION

[0071] Embodiment 1, as Figure 1 As shown, the present invention proposes an automatic coordinated control system for a torpedo tank and a material placing machine, comprising:

[0072] Positioning acquisition module, used to obtain the real-time position of the torpedo tank, the real-time position of the material placing machine and the material receiving position;

[0073] The docking control module is used to analyze the real-time position of the torpedo tank and the real-time position of the material placing machine, and to dock the material placing machine and the torpedo tank;

[0074] The method for performing data analysis on the real-time position of the torpedo tank and the real-time position of the material placing machine includes:

[0075] The material receiving position of the material placing machine is marked as the target position, the real-time position of the material placing machine is marked as the first position, and the real-time position of the torpedo tank is marked as the second position;

[0076] Based on the first position, the second position and the target position, perform real-time determination to determine whether there is a situation where the real-time position of the torpedo ladle is in a waiting vertical synchronization state with the target position;

[0077] If there is a situation where the real-time position of the torpedo ladle is in a waiting vertical synchronization state with the target position, generate a start instruction; otherwise, generate a waiting instruction periodically;

[0078] According to the start instruction, stop the transportation of the torpedo ladle, mark the torpedo ladle as the target ladle, perform a vertical synchronization docking operation on the target ladle and the skip hoist, make the target ladle and the skip hoist reach the vertical synchronization state, and control the target ladle to perform the discharging operation;

[0079] According to the waiting instruction, continuously transport the torpedo ladle;

[0080] The determination method for the waiting vertical synchronization state is as follows:

[0081] Calculate the horizontal distances between the first position and the second position and the target position respectively to obtain the first distance and the second distance, and regard both the first distance and the second distance as the target distance;

[0082] Compare the first distance and the second distance with the first horizontal threshold value simultaneously. If there is a target distance greater than the first horizontal threshold value, it is determined that the torpedo ladle and the skip hoist are not in the waiting vertical synchronization state; if there is no target distance greater than the first horizontal threshold value, it is determined that the torpedo ladle and the skip hoist are in the waiting vertical synchronization state;

[0083] The method for performing the vertical synchronization docking operation on the target ladle and the skip hoist includes:

[0084] Horizontal calibration: Compare the target distance with the second horizontal threshold value. If the horizontal distance is greater than the second horizontal threshold value, calibrate the equipment corresponding to the target distance until the horizontal distance is less than the second horizontal threshold value, stop calibration and generate a calibration success label;

[0085] Count the number of calibration success labels, and regard the calculated result as the calibration value;

[0086] Use the instruction processing model to output an operation instruction based on the current calibration value. The expression of the instruction processing model is as follows:

[0087]

[0088] In the formula, X is the operation instruction; Z is the calibration value;

[0089] Generate a start instruction according to X being 1; generate a waiting instruction according to X being 0;

[0090] Control the distributor to adjust the position of the discharge port of the distributor according to the start instruction, and synchronously control the target tank to perform the discharging operation;

[0091] A monitoring and analysis module for real-time monitoring of the operating data of the distributor and the torpedo tank, respectively obtaining real-time processing data and real-time input data, and performing joint data analysis on the real-time processing data and the real-time input data to determine the mapping structure chain of the distributor and the torpedo tank;

[0092] The real-time input data includes the real-time first distance of the tank body, the material quantity of the tank body, the moving speed of the tank body, and the tank discharging flow rate F1;

[0093] Sort the first distances in ascending order, and determine the corresponding torpedo tank sequence according to the ascending order of the first distances;

[0094] Traverse the torpedo tank sequence, mark the first torpedo tank in the torpedo tank sequence as the selected tank body, obtain the material quantity of the tank body corresponding to the selected tank body and mark it as the selected material quantity W1, and judge whether the selected material quantity W1 is greater than the tank body material threshold W θ ;

[0095] If the selected material quantity W1 is less than the tank body material threshold W θ , then revoke the marking of the selected tank body;

[0096] If the selected material quantity W1 is not less than the tank body material threshold W θ , then continue to traverse the torpedo tank sequence, and mark the second torpedo tank in the torpedo tank sequence as the selected tank body, and so on until the torpedo tank sequence is traversed;

[0097] Generate a selected tank body sequence according to the selected tank body;

[0098] Obtain the construction path of the distributor, stipulate that the direction away from the target position is the positive construction path, divide the construction path into nodes to obtain several construction nodes, and obtain the material demand of each construction node and mark it as the node demand D j ; j is the node number, and j is a positive integer;

[0099] The real-time processing data includes the node demand D j , the node distance L2 j and the body material quantity W2, the body discharging flow rate F2, the body moving speed v2, and the loading matching capacity C; the node distance L2 j is the moving distance required for the distributor to reach the target position at each construction node; it should be noted that it is defaulted that the capacities of the torpedo tank and the distributor are the same, that is, the full-load discharging capacity of the torpedo tank is the same as the loading capacity of the distributor, and this capacity is used as the loading matching capacity C;

[0100] Obtain the construction return times of the concrete distributor at each construction node and mark them as the node return times N2 j , and the completed construction nodes, count the number of completed construction nodes to obtain the total number of completed construction nodes and mark it as m;

[0101] Determine the body material quantity W2 of the concrete distributor during the pouring of the construction node through the following formula:

[0102]

[0103] Update the body material quantity W2 in real time;

[0104] Determine the feeding times N2 of the concrete distributor after pouring the jth construction node through the following expression j :

[0105]

[0106] In the formula, represents rounding up the result;

[0107] Calculate the construction return duration T2 of the concrete distributor after pouring the jth construction node through the construction return time model j , and the construction return time model is expressed as follows:

[0108]

[0109] Based on the feeding times N2 of the jth construction node j Mark the first N2 j quantity of torpedo ladles in the selected ladle sequence as waiting ladles;

[0110] According to the feeding times Z2 of the jth construction node j and the waiting ladles in the selected ladle sequence, construct a mapping relationship, and map and mark the feeding times Z2 j and the waiting ladles as the mapping association structure Y h ; h is the number of the mapping association structure, h is a positive integer, h ∈ [1, S], and S is the total number of mapping association structures;

[0111] Based on the mapping association structures [Y1, Y2,..., Y h construct a mapping structure chain;

[0112] The scheduling optimization module is used to perform scheduling optimization analysis on the concrete distributor and torpedo ladles based on the mapping structure chain, determine the torpedo ladle scheduling strategy, and schedule the torpedo ladles based on the torpedo ladle scheduling strategy;

[0113] The method for performing scheduling optimization analysis on the concrete distributor and torpedo ladles based on the mapping structure chain is as follows:

[0114] Mark the first distance corresponding to the waiting tank body and the moving speed of the tank body as the waiting distance L1 h and the waiting speed v1 h ;

[0115] For the mapping association structure Y1, the waiting path duration TY1 for the corresponding waiting tank body to reach the target position is calculated by the following formula:

[0116]

[0117] In the formula, L11 is the first distance corresponding to the mapping association structure Y1; v11 is the waiting speed corresponding to the mapping association structure Y1;

[0118] The waiting path duration TY1 should satisfy; TY1 satisfies TY1 ≤ t θ ; t θ is the time threshold;

[0119] For the mapping association structure Y2, the waiting path duration TY2 for the corresponding waiting tank body to reach the target position is calculated by the following formula:

[0120]

[0121] In the formula, L12 is the first distance corresponding to the mapping association structure Y2; v12 is the waiting speed corresponding to the mapping association structure Y2;

[0122] The waiting path duration TY2 should satisfy: TY2 ≤ t θ ;

[0123] For the mapping association structure Y k , the waiting path duration TY for the corresponding waiting tank body to reach the target position k is calculated by the following formula:

[0124] TY k satisfies TY k ≤ t θ ;

[0125] In the formula, L1 k is the first distance corresponding to the mapping association structure Y k ; v1 k is the waiting speed corresponding to the mapping association structure Y k ; k ≤ S;

[0126] The waiting path duration TY k should satisfy: TY k ≤ t θ ;

[0127] The torpedo ladle scheduling strategy is as follows: based on the waiting path duration TY in the mapping structure chain k schedule the torpedo ladle to control the time when the torpedo ladle arrives at the target position.

[0128] Embodiment 2, as Figure 2 shown, is applied to the sensor module proposed in Embodiment 1, and specifically includes a first anti-collision sensor arranged on the skip car and a second anti-collision sensor arranged on the torpedo ladle. The first collision sensor is arranged on both sides of the skip car and is used to trigger shutdown protection for the skip car in case of an emergency to avoid collision between the skip car and related equipment; the second collision sensor is arranged on one side of the torpedo ladle and is used to trigger shutdown protection in case of an emergency to avoid collision between torpedo ladles.

[0129] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those skilled in the art.

Claims

1. An automated collaborative control system for a torpedo ladle and a feeder, characterized in that include: Positioning acquisition module, used to obtain the real-time position of the torpedo tank, the real-time position of the material placing machine and the material receiving position; The docking control module is used to analyze the real-time position of the torpedo tank and the real-time position of the material placing machine, and to dock the material placing machine and the torpedo tank; The monitoring and analysis module is used to monitor the operation data of the concrete placing machine and the torpedo tank in real time, obtain the real-time processing data and the real-time input data respectively, perform joint data analysis on the real-time processing data and the real-time input data, and determine the mapping structure chain of the concrete placing machine and the torpedo tank; The scheduling optimization module is used to perform scheduling optimization analysis on the concrete placing machine and the torpedo tank based on the mapping structure chain, determine the torpedo tank scheduling strategy, and schedule the torpedo tank based on the torpedo tank scheduling strategy; The sensor module includes a first anti-collision sensor arranged on the material placing machine and a second anti-collision sensor arranged on the torpedo tank.

2. The automated collaborative control system for a torpedo ladle and a feeder, according to claim 1, is characterized in that, The method for performing data analysis on the real-time position of the torpedo tank and the real-time position of the material placing machine includes: The material receiving position of the material placing machine is marked as the target position, the real-time position of the material placing machine is marked as the first position, and the real-time position of the torpedo tank is marked as the second position; Performing a real-time determination based on the first position, the second position and the target position to determine whether the real-time position of the torpedo tank is in a waiting vertical synchronization state with the target position; If the real-time position of the torpedo tank is in a waiting vertical synchronization state with the target position, a start command is generated; otherwise, a waiting command is generated periodically; According to the start command, the transportation of the torpedo tank is stopped, and the torpedo tank is marked as the target tank body, and the target tank body and the material placing machine are vertically synchronized to achieve a vertical synchronization state, and the target tank body is controlled to perform the discharging operation; Continue to transport torpedo tanks while waiting for instructions.

3. An automatic collaborative control system for a torpedo ladle and a feeder, characterized in that, according to claim 2 The method for determining the waiting vertical synchronization state is as follows: Calculate the horizontal distances between the first position and the second position and the target position respectively, obtain the first distance and the second distance respectively, and use the first distance and the second distance as the target distance; The first distance and the second distance are compared with the first horizontal threshold at the same time. If there is a target distance greater than the first horizontal threshold, it is determined that the torpedo tank and the material placing machine are not in a waiting vertical synchronization state; if there is no target distance greater than the first horizontal threshold, it is determined that the torpedo tank and the material placing machine are in a waiting vertical synchronization state; The method for performing vertical synchronous docking operation on the target tank and the concrete placing machine includes: Horizontal calibration: compare the target distance with the second horizontal threshold. If the horizontal distance is greater than the second horizontal threshold, calibrate the device corresponding to the target distance until the horizontal distance is less than the second horizontal threshold. Then stop the calibration and generate a calibration success label. Count the number of successfully calibrated tags and use the calculated result as the calibration value; The instruction processing model is used to output the operation instruction based on the current calibration value. The expression of the instruction processing model is as follows: In the formula, X is the operation instruction; Z is the calibration value; Generate a start instruction when X is 1; generate a wait instruction when X is 0; According to the start-up command, the concrete placing machine is controlled to adjust the position of the concrete placing machine's discharge port, and the target tank is synchronously controlled to perform the discharge operation.

4. An automated collaborative control system for a torpedo ladle and a feeder, characterized in that, The real-time input data includes the real-time first distance of the ladle, the ladle material quantity, the ladle moving speed, and the ladle discharging flow rate F1; Sort the first distances in ascending order, and determine the corresponding torpedo ladle sequence according to the ascending order of the first distances; Traverse the torpedo ladle sequence, mark the first torpedo ladle in the torpedo ladle sequence as the selected ladle, obtain the ladle material quantity corresponding to the selected ladle and mark it as the selected material quantity W1, and determine whether the selected material quantity W1 is greater than the ladle material threshold W θ ; If the selected material quantity W1 is less than the material threshold W of the tank θ , then revoke the marking of the selected body; If the selected material quantity W1 is not less than the material threshold W of the tank body θ , continue to traverse the torpedo tank sequence, and mark the second torpedo tank in the torpedo tank sequence as the selected tank body, and so on until the torpedo tank sequence is traversed completely; Generate a selected ladle sequence based on the selected ladle.

5. An automatic collaborative control system for a torpedo ladle and a feeder, characterized in that, according to claim 4 Obtain the construction path of the cloth distributing machine. It is stipulated that the direction away from the target position is the positive construction path. Divide the construction path into nodes to obtain several construction nodes. Obtain the material demand of each construction node and mark it as the node demand D j ; j is the node number, and j is a positive integer; The real-time processed data includes the node demand D j , the node distance L2 j and the body material quantity W2, the body discharging flow rate F2, the body moving speed v2 and the loading matching capacity C; the node distance L2 j is the moving distance required for the cloth laying machine to reach the target position at each construction node; Obtain the construction return times of the concrete placing machine at each construction node and mark it as the node return times N2 j , and the completed construction nodes, count the number of completed construction nodes to obtain the total number of completed construction nodes and mark it as m; Determine the body material quantity W2 of the gantry crane at the pouring construction node through the following formula: Update the body material quantity W2 in real time.

6. The automated collaborative control system of a torpedo ladle and a feeder according to claim 5, characterized in that, The feeding times N2 for the placing boom to complete the pouring of the j-th construction node are determined by the following expression j :[[-END]] In the formula, represents rounding up the result; Calculate the construction return duration T2 of the concrete distributor after pouring the j-th construction node through the construction return time model j , and the representation of the construction return time model is as follows: The number of charging operations N2 based on the j-th construction node j For the first N2 j torpedo ladles in the selected ladle sequence are marked as waiting ladles; According to the number of material addition times Z2 at the jth construction node j and the waiting tank in the selected tank sequence to construct a mapping relationship, and for the number of material addition times Z2 that forms the mapping relationship j and the waiting tank mapping are marked as the mapping association structure Y h ; h is the number of the mapping association structure, h is a positive integer, h ∈ [1, S], and S is the total number of mapping association structures; Based on the mapping association structure [Y1, Y2, …, Y h , construct a mapping structure chain.

7. An automated collaborative control system for a torpedo ladle and a feeder, characterized in that, according to claim 6, The method for scheduling and optimizing the gantry crane and the torpedo ladle based on the mapping structure chain is as follows: Mark the first distance corresponding to the waiting tank body and the moving speed of the tank body as the waiting distance L1 h and the waiting speed v1 h ; For the mapping association structure Y1, the waiting path duration TY1 for the corresponding waiting ladle to reach the target position is calculated through the following formula: In the formula, L11 is the corresponding first distance in the mapping association structure Y1; v11 is the corresponding waiting speed in the mapping association structure Y1; The waiting path duration TY1 should satisfy; TY1 satisfies TY1 ≤ t θ ; t θ is the time threshold; For the mapping association structure Y2, the waiting path duration TY2 for the corresponding waiting ladle to reach the target position is calculated through the following formula: In the formula, L12 is the corresponding first distance in the mapping association structure Y2; v12 is the corresponding waiting speed in the mapping association structure Y2; The waiting path duration TY2 should satisfy: TY2 ≤ t θ .

8. An automated collaborative control system for a torpedo ladle and a feeder, characterized in that, according to claim 7, For the mapping association structure Y k , the corresponding waiting path duration TY for the waiting tank to reach the target position k is calculated by the following formula: TY k Meet TY k ≤t θ ; Where, L1 k is the first distance corresponding to in the mapping association structure Y k ; v1 k is the waiting speed corresponding to in the mapping association structure Y k ; k ≤ S; Waiting path duration TY k shall satisfy: TY k ≤ t θ ; The torpedo ladle scheduling strategy is as follows: based on the waiting path duration TY in the mapping structure chain k schedule the torpedo ladle to control the arrival time of the torpedo ladle at the target position.

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