Material conveying process control method, device, medium and equipment for raw material yard

Abstract

The present application provides a material conveying process control method, device, medium and equipment for a raw material yard, which belongs to the field of automatic control technology. The method includes: extracting multi-process collaborative scheduling parameters of the raw material yard; generating a planning strategy and equipment scheduling instruction set for the material pile based on the collaborative scheduling parameters, so that the operation duration predicted based on the planning strategy meets the turnaround time window constraint in the downstream production unit demand plan; driving the stacking and reclaiming equipment to perform material conveying operations; collecting the material distribution status data of the material pile where the stacking and reclaiming equipment is actually operating, and identifying the deviation between the actual operating material pile and the material pile in the planning strategy; dynamically adjusting the equipment scheduling instruction set according to the deviation, so that the material distribution formed by the material conveying operation performed by the stacking and reclaiming equipment based on the dynamically adjusted equipment scheduling instruction set meets the planning strategy; and feeding back the material distribution status data to the MES system. The present application can improve the stability and reliability of the material conveying process of the raw material yard.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a material conveying process control method, device, medium and equipment for a raw material yard. Background Art

[0002] As a logistics hub for steel companies, the material store yard (MSY) must coordinate core functions such as receiving external materials, feeding multiple internal processes (sintering / blast furnace), and optimizing inventory. Existing technical solutions for material transportation control in the MSY have many shortcomings:

[0003] 1. Lack of control flexibility: Existing methods (such as CN117434900A) rely on preset integer programming models and are unable to respond to dynamic disturbances (such as sudden equipment failures and emergency orders). This can easily lead to problems such as overload in some areas of the material yard while other areas are idle, delayed supply of high-priority materials due to path conflicts, and uneven equipment utilization leading to energy waste.

[0004] 2. Insufficient system coordination: During the material handling control process, the stacking, retrieving, and transportation links were controlled independently, failing to achieve holistic and coordinated control over the entire material lifecycle. For example, stacking strategies were not closely aligned with the real-time needs of downstream production units, inventory turnover and equipment maintenance plans lacked coordination, and information such as material properties (such as component stability) was not incorporated into control objectives, making it difficult to improve the operating efficiency of the entire material handling system.

[0005] 3. Imperfect closed-loop control: Existing technologies often only allow for post-process corrections when material handling operations deviate, lacking a real-time feedback mechanism. For example, when the stockpile morphology becomes abnormal, rescheduling cannot be triggered promptly, and task allocation cannot be dynamically adjusted when equipment performance decreases. Furthermore, it is difficult to ensure the continued operation of downstream production units in the event of a sudden material outage, failing to meet the high standards of material handling control required for flexible production in modern steel enterprises.

[0006] Therefore, there is an urgent need for a material transportation process control method for the raw material yard that can achieve real-time dynamic regulation and full-process coordination to optimize the material transportation process of the raw material yard. Summary of the Invention

[0007] The purpose of this application is to provide a material conveying process control method, device, medium and equipment for a raw material yard to solve at least one of the above technical problems.

[0008] In a first aspect, the present application provides a method for controlling a material conveying process in a raw material yard, wherein the material conveying process is controlled by an automatic control system, wherein the automatic control system is in communication with a manufacturing execution system (MES) of a steel enterprise, and the method comprises:

[0009] Extracting multi-process collaborative scheduling parameters of the raw material yard from the MES system, the collaborative scheduling parameters including the inventory status of the raw material yard, the demand plan of the downstream production unit, the equipment availability and capacity parameters, the available capacity of each material strip, and the material attribute set;

[0010] generating a stockpile planning strategy and an equipment scheduling instruction set based on the collaborative scheduling parameters, so that the operation duration predicted based on the planning strategy satisfies the turnaround time window constraint in the downstream production unit demand plan;

[0011] Sending the equipment scheduling instruction set to the PLC of the corresponding stacker and reclaimer to drive the stacker and reclaimer to perform material conveying operations;

[0012] Collecting material distribution status data of the material pile where the stacker and reclaimer is actually operating, and identifying the deviation between the material pile in actual operation and the material pile in the planned strategy;

[0013] Dynamically adjusting the equipment scheduling instruction set according to the deviation amount so that the material distribution formed by the material transportation operation performed by the stacking and reclaiming equipment based on the dynamically adjusted equipment scheduling instruction set meets the planning strategy;

[0014] After the material transportation operation is completed, the material distribution status data of the completed material pile is fed back to the MES system.

[0015] Optionally, collecting the material distribution status data of the material pile where the stacker and reclaimer is actually operating includes: calling a laser scanner to scan the contour of the current material pile in real time to form real-time contour information of the material pile; and obtaining the material distribution status data from the real-time contour information.

[0016] Optionally, the calling of a laser scanner to scan the contour of the current pile in real time to form real-time contour information of the pile includes:

[0017] Call multiple laser scanners to scan the current stockpile within a preset interval at a preset scanning frequency. Each laser scanner scans a corresponding interval to obtain an initial point cloud dataset with a timestamp.

[0018] Mapping the initial point cloud dataset of each laser scanner to a local coordinate system based on the target stockpile, removing dust noise from the 3D point cloud dataset in the local coordinate system using a stepping bounding box, and outputting an anti-interference stockpile point cloud dataset;

[0019] Based on each anti-interference stockpile point cloud data set, corresponding real-time contour local information is generated;

[0020] Each piece of real-time contour local information is spliced ​​together to obtain the real-time contour information.

[0021] Optionally, the material distribution status data includes the layer thickness of the current layer of the current material pile; the material distribution status data is obtained from the real-time contour information, including: identifying the first total height of each point of the current material pile from the real-time contour information; identifying the second total height of each point when the current material pile is in the previous layer of the current layer from the historical contour information; and calculating the layer thickness of the current layer based on the first total height and the second total height.

[0022] Optionally, generating a stockpile planning strategy and an equipment scheduling instruction set based on the collaborative scheduling parameters includes:

[0023] Generate a standard planning strategy for a stockpile and a standard equipment scheduling instruction set based on the collaborative scheduling parameters;

[0024] Calculating the theoretical time required to complete the material transportation operation based on the equipment scheduling standard instruction set and the planning standard strategy;

[0025] When the theoretical duration is less than or equal to the preset allowed duration, the device scheduling standard instruction set is used as the device scheduling instruction set, and the planning standard strategy is used as the planning strategy;

[0026] When the theoretical duration is greater than the preset allowed duration, the planning standard strategy and / or the equipment scheduling standard instruction set is adjusted so that the adjusted theoretical duration is less than or equal to the preset allowed duration, wherein the material pile standard formed by the adjusted planning standard strategy is lower than the material pile standard formed by the planning standard strategy before adjustment, and the operating efficiency formed by the adjusted equipment scheduling standard instruction set is higher than the operating efficiency formed by the equipment scheduling standard instruction set before adjustment.

[0027] Optionally, the material conveying operation includes a layered stacking operation, the material distribution status data includes the layer thickness of a current layer of the current material pile, the planning strategy includes a standard layer thickness of each layer of the target material pile, and the deviation includes a thickness deviation; collecting the material distribution status data of the material pile in which the stacking and reclaiming equipment is actually operating and identifying the deviation between the material pile in the actual operation and the material pile in the planning strategy includes: calculating the difference between the layer thickness of the current layer at each point in the current material pile and the standard layer thickness of the corresponding layer in the target material pile to obtain the thickness deviation;

[0028] The dynamically adjusting the equipment scheduling instruction set according to the deviation so that the material distribution formed by the material transportation operation performed by the stacking and reclaiming equipment based on the dynamically adjusted equipment scheduling instruction set satisfies the planning strategy includes:

[0029] When the thickness deviation is less than 0 and less than a first threshold, a first mark is made on the point where the thickness deviation less than the first threshold occurs, and the operating parameters of the stacker and reclaimer are adjusted so that the stacker and reclaimer compensates for the thickness of the material pile layer at the first mark;

[0030] When the thickness deviation is greater than 0, greater than the second threshold and less than the third threshold, a second mark is made for the point where the thickness deviation greater than the second threshold occurs, and the target stockpile is adjusted at the second marked point. The standard stockpile size of the N layers above the current layer is adjusted, and the operating parameters of the stacker and reclaimer at the second mark are adjusted according to the adjusted standard stockpile size, so that after the stacker and reclaimer completes the stockpile of the N layers above the current layer, the material compensation at the second mark is realized;

[0031] When the thickness deviation is greater than the third threshold, a third mark is made on the point where the thickness deviation greater than the third threshold occurs, and the stacking and reclaiming equipment is controlled to remove material matching the thickness deviation at the third marked point, and the third threshold is greater than the second threshold.

[0032] Optionally, the material conveying operation includes a reclaiming operation, the material distribution status data includes a real-time stacking angle at each point of the current stockpile, the planning strategy includes a standard stacking angle of a target stockpile, and the deviation includes an angle deviation; collecting the material distribution status data of the stockpile in which the stacker and reclaimer is actually operating and identifying the deviation between the stockpile in the actual operation and the stockpile in the planning strategy includes: calculating the difference between the real-time stacking angle at each point of the current stockpile and the standard stacking angle to obtain the angle deviation at each point;

[0033] Dynamically adjusting the equipment scheduling instruction set according to the deviation amount so that the material distribution formed by the material conveying operation executed by the stacking and reclaiming equipment based on the dynamically adjusted equipment scheduling instruction set satisfies the planning strategy, including: marking the points where the angle deviation exceeds the preset deviation angle as collapse points; calculating the entry point and the end point when performing a single material taking according to the equipment scheduling instruction set before adjustment, and when the distance between the end point and the point of the collapse mark is less than the preset distance, adjusting the entry point and the end point, and performing a single material taking according to the adjusted entry point and end point, so that the materials taken in the single material taking include all the materials within the collapse range, or do not include any materials within the collapse range at all.

[0034] In a second aspect of the present application, a material conveying process control device for a raw material yard is provided, which controls the material conveying process through an automatic control system, wherein the automatic control system is communicatively connected to the manufacturing execution system (MES system) of a steel enterprise, and the device includes:

[0035] A parameter acquisition module is used to extract multi-process collaborative scheduling parameters of the raw material yard from the MES system, wherein the collaborative scheduling parameters include the inventory status of the raw material yard, the demand plan of the downstream production unit, the equipment availability and capacity parameters, the available capacity of each material strip, and the material attribute set;

[0036] An operation planning module, configured to generate a planning strategy for a stockpile and an equipment scheduling instruction set based on the collaborative scheduling parameters, such that the operation duration predicted based on the planning strategy satisfies the turnaround time window constraint in the downstream production unit demand plan;

[0037] an operation adjustment module for issuing the equipment scheduling instruction set to the PLC of the corresponding stacker and reclaimer to drive the stacker and reclaimer to perform material conveying operations; collecting material distribution status data of the material pile actually being operated by the stacker and reclaimer to identify the deviation between the actual material pile and the material pile in the planning strategy; and dynamically adjusting the equipment scheduling instruction set based on the deviation so that the material distribution formed by the material conveying operations performed by the stacker and reclaimer based on the dynamically adjusted equipment scheduling instruction set satisfies the planning strategy;

[0038] The data feedback module is used to feed back the material distribution status data of the completed material pile to the MES system after the material transportation operation is completed.

[0039] In a third aspect of the present application, a computer-readable storage medium is provided, on which executable instructions are stored. When the executable instructions are executed by a processor, the processor executes the method described in any embodiment of the present application.

[0040] In a fourth aspect of the present application, an electronic device is provided, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the method as described in any one of the embodiments of the present application.

[0041] The material conveying process control method, device, medium and equipment of the raw material yard of the present application have the following beneficial effects:

[0042] 1. By integrating relevant data into the MES system, the multi-process collaborative scheduling parameters of the raw material yard can be extracted from the MES system. From a global perspective, based on these scheduling parameters, a planning strategy and equipment scheduling instruction set that can meet the turnaround time window constraints in the downstream production unit demand plan are generated. By sending the equipment scheduling instruction set to the PLC of the corresponding stacking and reclaiming equipment, the stacking and reclaiming equipment is driven to perform material transportation operations, making the resulting planning strategy more reasonable. In the event of a sudden equipment failure or an emergency order insertion, the automatic control system can quickly sense the parameter changes, regenerate the equipment scheduling instruction set, and dynamically adjust the tasks originally assigned to the faulty equipment to other available equipment, avoiding overload in local areas of the material yard while leaving other areas idle, ensuring timely supply of high-priority materials, and balancing equipment utilization and reducing energy waste.

[0043] 2. When generating planning strategies and equipment scheduling instruction sets, material attribute sets are integrated into scheduling objectives. For example, based on the stability of the material's composition, the stacking location and sequence are reasonably arranged to avoid mixing of materials with different components that affects quality. At the same time, the real-time needs of downstream units are linked. Based on the raw material type, quantity, and time requirements in the downstream production unit's demand plan, precise stacking and retrieval strategies are formulated to ensure that inventory turnover is coordinated with the equipment maintenance plan.

[0044] 3. In response to the defects of the existing technology that the closed-loop control is insufficient, this method has built a complete real-time feedback mechanism. In the process of the relevant equipment operating according to the equipment scheduling instruction set, the material distribution status data of the current stockpile is collected in real time to identify whether the current stockpile deviates from the stockpile in the planning strategy; when a deviation occurs, the equipment scheduling instruction set is dynamically adjusted, and the material distribution of the actual stockpile is made to meet the planning strategy through the closed-loop control of the stacking and reclaiming equipment; after the material transportation operation is completed, the material distribution status data of the completed stockpile is fed back to the MES system, which can improve the quality of the operation. This real-time feedback and dynamic adjustment mechanism can correct deviations in a timely manner during the operation process, effectively prevent the shutdown of downstream production units due to equipment efficiency decline, sudden material outages, etc., greatly improve the stability and reliability of the material transportation process in the raw material yard, and meet the high standards of flexible production of modern steel enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope of the present application.

[0046] Figure 1 Schematic diagram of a flow chart of a material transportation process control method for a raw material yard in one embodiment;

[0047] Figure 2 A schematic diagram of a process for generating a stockpile planning strategy and an equipment scheduling instruction set based on collaborative scheduling parameters in one embodiment;

[0048] Figure 3 A schematic diagram of a process for calling a laser scanner to scan the contour of a current material pile in real time to form real-time contour information of the material pile in one embodiment;

[0049] Figure 4 1 is a flow chart of obtaining material distribution status data from real-time profile information in one embodiment;

[0050] Figure 5 It is a structural block diagram of a material conveying process control device of a raw material yard in one embodiment;

[0051] Figure 6 FIG. 1 is a schematic structural diagram of an electronic device in an embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0053] All terms (including technical and scientific terms) used in this application have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0054] For example, the terms "first," "second," etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0055] For example, the terms "include", "comprising", etc. used in this application indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0056] This application provides a material transportation process control method for a raw material yard, which is used in the MES system (Manufacturing Execution System) of a steel enterprise. Among them, the MES system is a real-time execution center that connects the enterprise planning layer (ERP / MRP) and the equipment control layer (PLC / SCADA), coordinating the entire process of raw material reception, processing, storage, and distribution in the steel enterprise. It has functions such as vertical integration, horizontal collaboration, and closed-loop control. For vertical integration, it decomposes the ERP production plan into process-level instructions and sends them to the equipment PLC for execution; for horizontal collaboration, it coordinates the materials and equipment resources of multiple processes such as sintering, ironmaking, and rolling; for closed-loop control, it realizes production self-optimization through a closed loop of real-time data collection → deviation analysis → dynamic scheduling.

[0057] The MES system stores data across multiple dimensions, including basic configuration data, dynamic execution data (updated frequently), quality and compliance data, equipment performance data, inventory and material data, and more. Basic configuration data includes basic equipment profile information (such as equipment ID, model, and technical parameters), material yard geographic information (such as material bar coordinates, length, slope, and storage material type restrictions), material data (such as material coding, physical properties, and composition standards), and process route information (such as standard stacking / reclaiming processes and process parameter thresholds). Dynamic execution data includes production planning and scheduling (such as equipment allocation plans such as work orders and stacker / reclaimer task queues, and material movement plans such as feeder paths and timings), as well as real-time process monitoring data (such as data from laser scanners and measurements from various sensors). Quality and compliance data includes mixed composition records (such as sampling time, Fe / SiO2 content, and standard deviation of fluctuations), collapse events (such as collapse time, pile slope, and collapse volume), and operation logs.

[0058] In this application, according to the function in the production process, the raw material yard can be divided into multiple types such as primary material yard, secondary material yard and mixing material yard. Among them, the primary material yard is mainly used for receiving, temporarily storing and roughly mixing raw materials, the secondary material yard is mainly used for semi-finished product storage and ingredient transfer, and the mixing material yard is mainly used for precise proportioning of multiple raw materials, homogenization of chemical components, etc. The raw material yard in this application involves scenarios where multiple materials need to be mixed, such as mixing, piling and taking multiple materials in the primary material yard and mixing material yard.

[0059] For example, a steel company's raw material yard is equipped with multiple reclaimers (such as cantilever stackers), multiple reclaimers (such as bridge reclaimers and scraper reclaimers), and multiple material strands. Each reclaimer and stacker performs stacking and reclaiming operations on its assigned strand. Each strand can be planned to form one or more stockpiles. The stockpilers transport the relevant raw materials and stack them in layers within the planned areas of the corresponding strands, forming a corresponding mixed stockpile. Furthermore, the reclaimers can retrieve material from the resulting mixed stockpile and transport it via conveyor belts to mixing and batching troughs. Each mixing and batching trough is equipped with a specific type of mixed material. At these troughs, the system receives different types of mixed materials delivered by multiple conveyor belts, each conveying a different type of mixed material. By controlling the material removal speed within each mixing and batching trough, the system delivers the mixed materials to the mixers according to the target ratio for mixing, achieving precise mixing of the various materials.

[0060] The present application provides a material conveying process control method for a raw material yard, in which the material conveying process is controlled by an automatic control system, and the automatic control system is communicated with the manufacturing execution system (MES system) of a steel enterprise.

[0061] An automatic control system is a system that automatically collects parameters, analyzes and processes them, generates and issues instructions for the material handling process at the raw material yard, and provides real-time monitoring and feedback control of the entire conveying process. Composed of hardware (such as servers, sensors, and controllers) and software (such as control algorithms and data processing programs), it optimizes and controls the material handling process with minimal or no human intervention.

[0062] For example, at a large steel company's raw material yard, an automated control system is deployed on a high-performance server in the central control room, connected to various equipment and sensors within the yard via Industrial Ethernet. Using a pre-programmed control algorithm software program, the system automatically receives real-time data from sensors, analyzes and processes it, and then sends dispatch instructions to the PLC controllers of the stacker and reclaimer equipment, enabling automated control of the material handling process.

[0063] Combine Figure 1 As shown, the material conveying process control method of the raw material field in this application includes the following steps:

[0064] Step 110: extract the multi-process collaborative scheduling parameters of the raw material yard from the MES system.

[0065] In this embodiment, multi-process collaborative scheduling parameters refer to a series of parameters that need to be collected and processed to achieve collaborative operation between multiple production processes (such as raw material receiving, storage, mixing, and feeding) during the material handling process at the raw material yard. These parameters cover information on multiple aspects, such as the material yard, equipment, and production needs, and serve as the basic data for generating a reasonable material handling scheduling plan. Collaborative scheduling parameters include one or more of the material yard inventory status, downstream production unit demand plans, equipment availability and capacity parameters, the available capacity of each material strip, and a set of material attributes. These parameters are interrelated and jointly influence the scheduling decisions of the material handling process. For example, the operating tasks and operation sequence of the stacking and reclaiming equipment are determined based on the demand plan of the downstream steelmaking workshop and the current material yard inventory status, combined with equipment capacity parameters.

[0066] The stockyard inventory status provides a real-time description of the physical distribution and properties of various materials within the yard. For example, this data may include information such as material type, quantity (current inventory), storage location coordinates, composition fluctuations, material temperature, and three-dimensional characteristics. These three-dimensional characteristics may include the material's surface shape and the thickness distribution of each layer. Real-time monitoring of the stockyard inventory status allows for the rational allocation and retrieval of materials, avoiding inventory overstocks or shortages. For example, within this raw material yard, stockyard inventory status data is collected by devices such as electronic tags, weighbridges, and laser scanners installed within the yard. For example, iron ore comes in three different grades: A, B, and C, stored in bars 1, 2, and 3, respectively. Bar 1 holds 10,000 tons of grade A iron ore, and the current stockpile height is 8 meters. The laser scanner can capture the 3D characteristics of the stockpile.

[0067] The downstream production unit demand plan represents the temporal, spatial, and quality requirements for raw material type, quantity, quality, and delivery time for downstream processes (such as sintering and blast furnaces) based on their production tasks. This plan (demand information) serves as a crucial basis for material scheduling and delivery at the raw material yard, ensuring timely and accurate delivery of raw materials to the production line. The downstream production unit demand plan may include information such as turnaround time windows (e.g., time intervals and raw material delivery time requirements), material specifications (e.g., material composition and physical properties), and material consumption rates (e.g., time-based consumption curves). For example, based on the sintering plant's daily production schedule, a demand plan is created: 500 tons of grade A iron ore, to be delivered before 10:00 AM; and 300 tons of grade B iron ore, to be delivered before 2:00 PM. The plan also specifies quality requirements for the iron ore, such as particle size and moisture content. This demand plan is entered into the MES system for automated control.

[0068] Equipment availability and capacity parameters reflect the operational status and operating capacity of stacker / reclaimer equipment, conveyor equipment, and other operating equipment within a specific time period. Equipment availability indicates the status (idleness, availability) of stacker / reclaimer, conveyor belt, and other operating equipment. Equipment capacity parameters represent the maximum stable performance indicators that the equipment can output under rated operating conditions. These parameters reflect the physical limitations and operational boundaries of the equipment and are used to determine scheduling feasibility. These parameters include the location, fault code, operating capacity, and maintenance window of the equipment. For example, the equipment availability and capacity parameters for a certain model of stacker / reclaimer are as follows: normal operating hours are 8:00 AM to 8:00 PM daily, the maximum stacking rate is 200 tons per hour, the maximum reclaiming rate is 150 tons per hour, and the positioning accuracy is ±5 cm. If a mechanical failure occurs in the stacker / reclaimer, its availability status changes to unavailable. The automatic control system adjusts the scheduling plan based on this information to prevent the equipment from performing tasks.

[0069] The available capacity of a material bar represents the physical space constraints and compatibility rules for materials that can be stored in the stockyard. This includes the bar's geometric volume, remaining capacity, compatible material list, bar coordinate position, floor height restrictions, and load-bearing capacity. The material attribute set represents the physical and chemical properties of the raw materials, along with scheduling constraints, and directly influences storage strategies and equipment selection. The material attribute set includes the material name, material code, stacking angle, density range, moisture content, and composition parameters. These attributes influence the material's storage method, transportation process, and usage in downstream production units.

[0070] Step 120 : Generate a planning strategy for the stockpile and an equipment scheduling instruction set based on the collaborative scheduling parameters, so that the operation duration predicted based on the planning strategy meets the turnaround time window constraint in the downstream production unit demand plan.

[0071] The planning strategy represents a material pile space-time allocation plan based on the calculation of multi-process collaborative parameters, including decision-making factors such as the planning layout of the material pile (such as the material pile location, material pile size, hierarchical structure, operation timing, etc.), storage order, material retrieval priority, and allowable deviation range. The equipment scheduling instruction set represents the equipment action control sequence that can be parsed by the PLC, converting the planning strategy into equipment-level executable operations, including equipment start, stop, operating speed, operation path and other instructions to drive the equipment to perform the corresponding material transportation operations. In response to the demand plan of the downstream production unit, the electronic equipment can determine the relevant equipment that can perform the corresponding operation tasks, and form a planning strategy and equipment scheduling instruction set based on the selected relevant equipment.

[0072] The downstream production unit demand plan can further include quality information of the required materials. Under the constraints of this quality information, the electronic equipment forms the specific content of the target stockpile in the planning strategy, such as the material pile size and layered structure, so that the resulting stockpile can meet the quality information of the material. For example, the quality information of the material in the downstream production unit demand plan requires that the fluctuation range of SiO2 in the mixing box of the material is less than 0.5%. Based on the material attribute set, the specific composition information of the two iron ores to be mixed (a high-grade iron ore and a low-grade iron ore) can be identified. Based on this composition information, the number of stacking layers of the target stockpile and the specific thickness of each layer of raw materials can be determined to ensure that the resulting mixing effect meets this quality information.

[0073] For example, based on the above-mentioned parameters such as the demand plan of the downstream production unit and the inventory status of the material yard, the planning strategy generated by the automatic control system is: give priority to taking grade A iron ore from the No. 2 material bar, and stack the newly arrived grade A iron ore in the No. 1 material bar in a layered stacking manner; the equipment scheduling instruction set is: start the No. 1 stacker-reclaimer, take materials from the No. 2 material bar at a speed of 150 tons per hour, and transport them to the No. 1 material bar for stacking. During the stacking process, the slope of the pile is maintained at 35° and the height does not exceed 10 meters.

[0074] Based on the formed planning strategy, the electronic equipment further presets the operation duration (i.e., theoretical duration) required to perform the operation based on the planning strategy and equipment scheduling instruction set, and compares whether the theoretical duration meets the turnaround time window constraint in the downstream production unit demand plan. If so, the relevant equipment operation can be driven according to the planning strategy and equipment scheduling instruction set. If not, the corresponding planning strategy and / or equipment scheduling instruction set are adjusted so that the operation duration formed by the adjusted planning strategy and / or equipment scheduling instruction set can meet the turnaround time window constraint. The turnaround time window constraint represents the time interval specified by the downstream production unit (such as the blast furnace) within which the raw materials must be delivered. This time interval contains hard boundaries and elastic boundaries.

[0075] Step 130: Send the equipment scheduling instruction set to the PLC of the corresponding stacker / reclaimer equipment to drive the stacker / reclaimer equipment to perform the material conveying operation.

[0076] In this embodiment, the final planning strategy and equipment scheduling instruction set can be sent to the PLC of the stacking and reclaiming equipment that needs to perform the operation. The data structure of the equipment scheduling instruction set can be an instruction in JSON format, and it is sent to the PLC via a relevant transmission protocol for easy recognition by the PLC. The equipment scheduling instruction set includes multiple instructions such as positioning instructions, stacking control, and reclaiming control for the corresponding stacking and reclaiming equipment. The relevant stacking and reclaiming equipment performs the relevant operation based on the received instructions. The material conveying operation includes stacking operation and / or reclaiming operation, and the stacker and reclaimer can include a stacker and / or a reclaimer.

[0077] Step 140 : collecting material distribution data of the material pile where the stacker / reclaimer is actually operating, and identifying the deviation between the material pile in actual operation and the material pile in the planned strategy.

[0078] Step 150 , dynamically adjusting the equipment scheduling instruction set according to the deviation amount, so that the material distribution formed by the material transportation operation executed by the stacker / reclaimer based on the dynamically adjusted equipment scheduling instruction set satisfies the planning strategy.

[0079] In this embodiment, during the operation of the stacking and reclaiming equipment, the electronic equipment further calls on relevant sensors, cameras, and / or laser scanners on site to scan the material distribution of the operating material pile in real time, thereby generating real-time material distribution status data. For example, a camera can be used to capture an image of the material pile in real time, and the material distribution status data can be identified from the image. Alternatively, a laser scanner can be used to scan the material pile in real time, and the material distribution status data can be identified from the scanned data. The material distribution status data refers to data that reflects the spatial distribution of materials in the actual operating material pile during the material conveying operation, and can include multi-dimensional status information such as the geometric form, component distribution, and spatial position of the material pile. The geometric form can include the shape, size, stacking angle, thickness and width of each layer of the material pile. By collecting and analyzing the material distribution status data, the actual situation of the material pile can be understood in real time, providing a basis for adjusting the operation strategy.

[0080] Deviation refers to the difference in various parameters (such as shape, height, layer thickness, and stacking angle) between the actual material pile and the planned material pile. By calculating this deviation, we can determine whether the material handling operation is proceeding according to the planned strategy. When the deviation exceeds a certain threshold, the equipment scheduling instruction set needs to be adjusted to ensure the accuracy and effectiveness of the material handling operation.

[0081] The planning strategy also includes the corresponding stockpile status data. Based on the collected real-time material distribution status data, it can be compared with the stockpile status data in the planning strategy to identify the corresponding deviation. This allows analysis to determine whether the deviation is within the allowable deviation range. If it is, the operation continues according to the planning strategy until the material transportation operation is completed. If the deviation exceeds the allowable deviation range, the stockpile is corrected in real time to ensure that the resulting stockpile is consistent with the planned stockpile.

[0082] For example, the planning strategy specifies a standard thickness of 0.4 meters for a layer in the target stockpile. However, the actual thickness of the corresponding layer at a certain location in the current stockpile, calculated through collected material distribution data, is 0.35 meters. The thickness deviation at that location is 0.35-0.4 = -0.05 meters. When this deviation falls below a set threshold (e.g., -0.03 meters), the automatic control system adjusts the stacker / reclaimer operating parameters according to the aforementioned adjustment strategy to compensate for the thickness deviation.

[0083] Step 160: After the material transportation operation is completed, the material distribution status data of the completed operation is fed back to the MES system.

[0084] After detecting that the material conveying operation is completed, the material distribution status data collected in real time after the material conveying operation is completed can be written into the MES system, so that relevant users can view relevant operation data in real time from the MES system.

[0085] The material conveying process control method of the raw material yard in the present application integrates relevant data into the MES system, so that the multi-process collaborative scheduling parameters of the raw material yard can be extracted from the MES system. From a global perspective, the scheduling parameters are used to generate a planning strategy and equipment scheduling instruction set that can meet the turnaround time window constraints in the downstream production unit demand plan. By sending the equipment scheduling instruction set to the PLC of the corresponding stacking and reclaiming equipment, the stacking and reclaiming equipment is driven to perform material conveying operations, making the formed planning strategy more reasonable. If there is a sudden equipment failure, emergency insertion, etc., the automatic control system can quickly perceive the parameter changes, regenerate the equipment scheduling instruction set, and dynamically adjust the tasks originally assigned to the faulty equipment to other available equipment, so as to avoid overload in local areas of the material yard and idleness in other areas, and realize the timely supply of high-priority materials, while balancing equipment utilization and reducing energy waste.

[0086] In addition, when generating planning strategies and equipment scheduling instruction sets, this application incorporates material attribute sets into scheduling objectives. For example, based on the stability of the material's composition, the stacking location and sequence are reasonably arranged to avoid mixing of materials with different components and affecting quality. At the same time, the real-time needs of downstream units are linked, and accurate stacking and material retrieval strategies are formulated based on the type, quantity and time requirements of raw materials in the demand plan of the downstream production unit to ensure that inventory turnover is coordinated with the equipment maintenance plan.

[0087] In addition, in response to the shortcomings of the existing technology's insufficient closed-loop control, this method has constructed a complete real-time feedback mechanism. In the process of the relevant equipment operating according to the equipment scheduling instruction set, the material distribution status data of the current stockpile is collected in real time to identify whether the current stockpile deviates from the stockpile in the planning strategy; when a deviation occurs, the equipment scheduling instruction set is dynamically adjusted, and the material distribution of the actual stockpile is made to meet the planning strategy through closed-loop control of the stacking and reclaiming equipment; after the material transportation operation is completed, the material distribution status data of the completed stockpile is fed back to the MES system, which can improve the quality of the operation. This real-time feedback and dynamic adjustment mechanism can correct deviations in a timely manner during the operation process, effectively preventing the shutdown of downstream production units due to equipment efficiency decline, sudden material outages, etc., greatly improving the stability and reliability of the material transportation process in the raw material yard, and meeting the high standards of flexible production of modern steel enterprises.

[0088] In one embodiment, Figure 2 As shown in the figure, the planning strategy and equipment scheduling instruction set for the stockpile are generated based on the collaborative scheduling parameters, including:

[0089] Step 210: Generate a standard planning strategy for the stockpile and a standard equipment scheduling instruction set based on the collaborative scheduling parameters.

[0090] In this embodiment, the planning standard strategy formulates an optimal stacking and reclaiming plan under ideal operating conditions, including a comprehensive set of standardized strategies for stockpile geometry, quality indicators, and operation sequences. This planning standard strategy can be a default strategy established based on historical experience. This planning standard strategy offers superior execution efficiency, and related operating equipment typically defaults to the corresponding strategy.

[0091] The electronic equipment sets different planning standard strategies for different scene requirements. By identifying the matching between the current operation requirements and the scene, a planning standard strategy is selected from multiple strategies.

[0092] The equipment scheduling standard instruction set is a set of equipment action sequences and parameters required to implement the planning standard strategy based on equipment availability and capability parameters. It includes specific instructions such as equipment start, stop, operating speed, operation path, and operation mode to ensure that equipment works collaboratively to achieve planning goals.

[0093] The generation of standard instruction sets for equipment scheduling is closely aligned with planning standard strategies and actual equipment conditions. For example, if a stacker / reclaimer is under maintenance, the automatic control system will exclude it from the instruction set when generating the instruction set, scheduling only available equipment to perform the task. Equipment operating parameters are appropriately set based on equipment capability parameters, such as maximum reclaiming speed, maximum transport speed, and operational accuracy. For example, given the maximum reclaiming speed of stacker / reclaimer No. 2 at 200 tons per hour, reclaiming instructions are designed to ensure this speed is not exceeded. Furthermore, the reclaiming speed is precisely calculated based on the material quantity and time requirements of the planning standard strategy.

[0094] The arrangement of equipment action sequences must ensure the consistency and efficiency of the operational process. For example, when transporting grade A iron ore from strand 1 to strand 3, the standard equipment scheduling instruction set would first instruct stacker-reclaimer No. 2 to start and move to the designated reclaiming location in strand 1, beginning to reclaim at an appropriate reclaiming speed. Once reclaiming is complete, the equipment would be instructed to follow the planned shortest transport path to strand 3. Upon arrival, the equipment would then proceed with the stockpile operation at a specific speed and method, consistent with the stockpile geometry requirements of the planned standard strategy, until the task was completed and the equipment would stop.

[0095] After obtaining the multi-process collaborative scheduling parameters, the automated control system first selects the most compatible strategy from a variety of pre-set standard planning strategies based on current operational requirements and scenario characteristics. Once the standard planning strategy is determined, the system then generates a standard set of equipment scheduling instructions based on other collaborative scheduling parameters, such as equipment availability and capacity parameters and the available capacity of each material strip.

[0096] Step 220 , calculate the theoretical time required to complete the material transportation operation based on the equipment scheduling standard instruction set and the planning standard strategy.

[0097] Based on the determined planning standard strategy, the electronic device can calculate the theoretical time required to perform the operation according to the device scheduling standard instruction set.

[0098] Specifically, based on the equipment operating parameters (such as material retrieving speed, transport speed, and stacking speed) set in the standard equipment scheduling instructions, as well as information such as material quantity and operation path in the standard planning strategy, a mathematical model and calculation formula are used to estimate the time required to complete the entire material transportation operation. This calculation process comprehensively considers the time required for each operation link, including material retrieving time, transport time, and stacking time, to determine the theoretical duration.

[0099] Taking a material handling operation involving layered stacking as an example, this planning strategy constrains the target pile geometry, including its overall dimensions, layer dimensions, and number of layers. Based on this geometry, the site environment, and the efficiency of the on-site equipment under this standard equipment scheduling instruction set, the required operation time for each layer can be calculated. Based on this per-layer operation time, the theoretical time required to complete the material handling operation can be derived. Furthermore, the quality of the materials produced under this standard planning strategy meets the quality requirements of the downstream production unit's demand plan.

[0100] Step 230: When the theoretical duration is less than or equal to the preset allowed duration, the device scheduling standard instruction set is used as the device scheduling instruction set, and the planning standard strategy is used as the planning strategy.

[0101] Step 240: When the theoretical duration is greater than the preset allowed duration, the planning standard strategy and / or the equipment scheduling standard instruction set are adjusted so that the adjusted theoretical duration is less than or equal to the preset allowed duration.

[0102] In this embodiment, the material pile standard formed by the adjusted planning standard strategy is lower than the material pile standard formed by the planning standard strategy before adjustment, and the operating efficiency formed by the adjusted equipment scheduling standard instruction set is higher than the operating efficiency formed by the equipment scheduling standard instruction set before adjustment.

[0103] The preset allowable time is set in advance based on factors such as the turnaround time window constraints in the downstream production unit demand plan, and is used to measure whether the currently generated planning standard strategy and equipment scheduling standard instruction set can meet the production time requirements.

[0104] When the theoretical duration is less than the allowed duration, it means that the current plan is feasible. Then the equipment scheduling standard instruction set can be used as the subsequent equipment scheduling instruction set, and the planning standard strategy can be used as the planning strategy, so that subsequent operations can be performed according to the equipment scheduling standard instruction set and the planning standard strategy.

[0105] If the theoretical duration is greater than the allowed duration, one or both of the device scheduling standard instruction set and the planning standard strategy are adjusted to shorten the theoretical duration until it is less than or equal to the preset allowed duration.

[0106] For example, the allowed time identified in the downstream production unit demand plan is 10 hours, the minimum number of layers of the required material pile is 100 layers, and the fluctuation threshold of SiO2 in the formed material pile is within 0.4%. Based on the downstream production unit demand plan, the target number of layers of the material pile in the formulated planning standard strategy is 120 layers, and the fluctuation threshold of SiO2 is within 0.3%.

[0107] Based on the planning standard strategy and the equipment scheduling standard instruction set, the calculated theoretical duration is 10.5 hours, which exceeds the allowed duration. In this case, the total number of layers of the target material pile in the planning standard strategy can be adjusted to 108 layers, and the equipment scheduling standard instruction set remains unchanged. At this time, the fluctuation threshold of the SiO2 formed is at 0.36%, and the theoretical duration can be reduced to 9.5 hours.

[0108] In addition, the equipment scheduling standard instruction set can also be adjusted. For example, the standard instruction set for equipment scheduling before adjustment is 1500t / h of stockpiling flow, 1.5m / s of travel speed, and an operation safety factor of 1.0. Keeping the above planning standard strategy unchanged, the adjusted standard instruction set for equipment scheduling is 1700t / h of stockpiling flow, 1.8m / s of travel speed, and an operation safety factor of 0.95. Based on this, the theoretical duration calculated is 9.2 hours. In this case, this planning standard strategy can be used as the planning strategy, and the adjusted standard instruction set for equipment scheduling can be used as the equipment scheduling instruction set.

[0109] By calculating theoretical durations and comparing them with preset allowable durations, this implementation allows for flexible adjustments to stockpile planning strategies and equipment scheduling instructions based on actual production time constraints. When time constraints arise due to changes in downstream production unit demand plans, plans can be quickly optimized to ensure timely completion of material handling operations, avoiding production delays caused by unreasonable operation durations and ensuring smooth production flow.

[0110] In one embodiment, collecting material distribution status data of a material pile where a stacker and reclaimer is actually operating includes: calling a laser scanner to scan the contour of the current material pile in real time to form real-time contour information of the material pile; and obtaining the material distribution status data from the real-time contour information.

[0111] The raw material yard is further equipped with one or more laser scanners, which can be 3D laser scanners. Electronic equipment uses a laser scanner that matches the location of the material pile to scan the pile, generating corresponding scan data. Based on this scan data, real-time profile information of the pile is generated. This real-time profile information includes data such as the geometry of the pile, from which material distribution data can be extracted.

[0112] Specifically, one or more 3D laser scanners are installed at appropriate locations in the material yard, allowing them to scan the material yard in operation. These 3D laser scanners can emit waves of a preset length, such as 900nm to 1800nm, and have a high scanning frequency, allowing them to fully match the maximum transport speed of the stacker / reclaimer. For example, they can emit a 1550nm wavelength laser at a scanning frequency of 30Hz, generating real-time scanning data.

[0113] By constructing a 3D profile based on real-time scan data, real-time profile information of the material can be generated. This real-time profile information reflects the length, width, and height of each location in the material pile. For multi-layered piles, the length, width, and height of each layer can also be identified. Once this dimensional information is obtained, the stacking angle of the material pile can be calculated based on this real-time profile information.

[0114] In one embodiment, Figure 3 As shown, a laser scanner is called to scan the contour of the current pile in real time to form real-time contour information of the pile, including:

[0115] Step 310 : Call multiple laser scanners to scan the current stockpile within a preset interval at a preset scanning frequency. Each laser scanner scans a corresponding interval to obtain an initial point cloud dataset with a timestamp.

[0116] In step 320 , the initial point cloud dataset of each laser scanner is mapped to a local coordinate system based on the target stockpile, and dust noise points in the three-dimensional point cloud dataset in the local coordinate system are eliminated by a stepping bounding box, and an anti-interference stockpile point cloud dataset is output.

[0117] Step 330 : generating corresponding real-time contour local information based on each anti-interference stockpile point cloud dataset.

[0118] Step 340 : splice each real-time contour local information to obtain real-time contour information.

[0119] The preset interval represents the interval where the target material pile that needs to be operated is located, and this interval is within the corresponding material strip. The initial point cloud dataset refers to the original three-dimensional spatial data set acquired by the 3D laser scanner in a single scanning cycle, which contains the surface geometry information of the material pile and the environmental interference points. When the 3D laser scanner scans to obtain the initial point cloud dataset, it records the corresponding scanning moment to obtain the timestamp of the corresponding initial point cloud dataset. The initial point cloud data is the three-dimensional point cloud data in the scanner coordinate system. When the material conveying operation is stacking, the target material pile represents the expected material pile formed after the material conveying operation is completed; when the material conveying operation is picking, the target material pile represents the material pile before picking begins.

[0120] A 3D laser scanner is called to scan each point within a preset interval to obtain the scanning return time of each point; the theoretical distance between each point and the 3D laser scanner is calculated based on the scanning return time; a correction coefficient corresponding to the dust concentration is queried based on the correspondence between the dust concentration in the preset interval and the theoretical distance, and the theoretical distance is corrected based on the correction coefficient to obtain the corrected distance; and a corresponding initial point cloud dataset is formed based on the corrected distance.

[0121] Specifically, a 3D laser scanner emits a corresponding pulse laser beam to each point and records the scanning return time of each point. The scan returns the duration The time between the corresponding emission and reception times is calculated by combining the scan return time with the speed of light to determine the theoretical distance between each point and the 3D laser scanner.

[0122] The raw material yard is also equipped with a sensor for measuring dust concentration in the working environment. This sensor can determine the current dust concentration in the material pile's environment. Furthermore, the electronic equipment pre-measures the theoretical distances at different dust concentrations for the same material distribution. Based on this theoretical distance and the actual distance between the material and the 3D laser scanner, a simulation is performed to derive correction factors for different dust concentrations. This creates a table comparing dust concentration and correction factors. Based on this table, the corresponding correction factors can be queried.

[0123] According to the pitch angle and azimuth angle of the 3D laser scanner during scanning, the corrected distance can be converted into initial point cloud data in the scanner coordinate system. The origin of the scanner coordinate system is the optical center of the scanner, the X-axis direction can be the front of the scanner, the Y-axis direction is the scanning direction, and the Z-axis direction is the height direction (vertically upward).

[0124] Based on the positional relationship between the 3D laser scanner and the target stockpile, the initial point cloud dataset undergoes coordinate system transformations, including translation and conversion, to a local coordinate system based on the target stockpile. This results in a 3D point cloud dataset within this local coordinate system. The origin of this local coordinate system can be the center of the target stockpile (or the center of the strip of material where the target stockpile is located). The X-axis is the length of the strip of material where the target stockpile is located, the Y-axis is the width of the strip of material where the target stockpile is located, and the Z-axis is the height (vertically upward).

[0125] By measuring the dust concentration in the environment and correcting the measured data based on the dust concentration, the resulting initial point cloud dataset can initially eliminate the interference caused by the dust in the environment on the laser scanning, thereby improving the accuracy of the real-time contour information of the subsequently constructed stockpile.

[0126] In one embodiment, the initial point cloud dataset of each laser scanner is mapped to a local coordinate system based on the target stockpile, including: dividing the initial point cloud dataset of each laser scanner according to a preset cubic grid, extracting a representative point from the initial point cloud dataset in each grid, and mapping the representative point to the local coordinate system.

[0127] In this embodiment, the data in the initial point cloud dataset can be downsampled to improve the efficiency of constructing subsequent real-time contour information. Specifically, the size of the cube grid can be set according to the data volume of the initial point cloud dataset and the area size of the material pile, so that the number of extracted representative points is appropriate. For example, the data volume of the initial point cloud dataset is 200,000 points, and the target data volume obtained by downsampling is 4,000 points. Then, a suitable grid size can be set based on this requirement, and 4,000 representative points can be extracted from it. The data volume in each grid can be the same or different. Coordinate system transformation processing such as coordinate translation and transformation will be performed based on the positional relationship between the two coordinate systems, and these representative points will be mapped to the local coordinate system.

[0128] For the initial point cloud data within each grid, a point cloud data point can be directly selected as a representative point. Alternatively, the initial point cloud data within the grid can be averaged and the average value obtained can be used as the corresponding representative point. This average solution can be implemented using any suitable mathematical method. By downsampling, not only the data volume is reduced, but also the interference of dust points within the grid can be further reduced.

[0129] In one embodiment, dust noise in a three-dimensional point cloud dataset in a local coordinate system is eliminated by stepping a bounding box, including: constructing a bounding box that matches the size of a preset interval, identifying whether each point cloud data mapped to the local coordinate system is within the bounding box, and treating the point cloud data that is not within the bounding box as dust noise and removing it.

[0130] In this embodiment, by constructing a step-by-step bounding box to perform point cloud filtering, dust noise in the point cloud data can be further eliminated, making the real-time contour information finally constructed more accurate.

[0131] Specifically, the length, width, and maximum height of the target stockpile are obtained, and a bounding box is constructed based on these length, width, and maximum height. This bounding box matches the stockpile's geometric features. Point cloud data within the 3D point cloud dataset can be identified as falling within this bounding box, and any point cloud data not falling within the bounding box is removed. Dust noise, due to its diffusion characteristics, is distributed outside the bounding box and can be automatically filtered out.

[0132] The center of the bounding box moves along the X-axis in the local coordinate system with a step size of s = v × T. For a 3D point cloud p (x, y, z), it can be checked whether it is within the current bounding box according to the following conditions:

[0133] .

[0134] Among them, L x is the length of the bounding box, Ly is the width of the bounding box, L z is the height of the bounding box, (x c ,y c , z c ) represents the center coordinate of the current bounding box, v represents the speed of the current pile changing in the length direction, and T represents the scanning period.

[0135] In one embodiment, the size of the bounding box can be dynamically adjusted based on the dust concentration in the environment to compensate for laser attenuation caused by excessive dust concentration. The size of the bounding box is positively correlated with the dust concentration. When the dust concentration is high, the bounding box can be correspondingly expanded.

[0136] For example, the length L of the bounding box x =v×T+a x Width L y =W+a y Height L z =b z ×z max . z max Indicates the maximum material height, a x 、a y and b z They are related parameters respectively. One or more of the three parameters can be fixed values ​​or can be automatically adjusted according to the dust concentration.

[0137] Among them, there is partial overlap in the local information of the real-time contour formed by two adjacent laser scanners. Based on this, during the splicing process, the data of the overlapping parts can be aligned, so that the splicing can form complete and accurate real-time contour information.

[0138] In one embodiment, the material distribution state data includes the thickness of the current layer of the current material pile. Figure 4 As shown, the material distribution status data is obtained from the real-time profile information, including:

[0139] Step 410: Identify the first total height of each point of the current stockpile from the real-time contour information.

[0140] Step 420 : Identify from the historical profile information the second total height of each point when the current stockpile is in the previous layer of the current layer.

[0141] Step 430 : Calculate the thickness of the current layer based on the first total height and the second total height.

[0142] When new real-time profile information is generated, the existing real-time profile information becomes historical profile information. The planning strategy specifies the type of material to be deposited in each layer of the target stockpile and the thickness of each layer. The thickness of the current layer can be determined by combining the first total height at each point when the current layer was laid, and the second total height at each point measured by the equipment after laying the previous layer. The first and second total heights at the same point are subtracted to determine the thickness of the current layer at the corresponding point.

[0143] In one embodiment, the material conveying operation includes a layered stacking operation, the material distribution state data includes the thickness of a current layer of the current material stack, the planning strategy includes a standard layer thickness of each layer of the target material stack, and the deviation includes a thickness deviation.

[0144] Collect material distribution data from the stockpile where the stacker and reclaimer is actually operating, and identify the deviation between the actual stockpile and the planned stockpile. This includes calculating the difference between the thickness of the current layer at each point in the current stockpile and the standard thickness of the corresponding layer in the target stockpile to obtain the thickness deviation.

[0145] The thickness of the current layer can be identified through steps 410 to 430. The thickness deviation of the current layer = the thickness of the current layer - the standard thickness of the current layer. If the thickness deviation is less than 0, it means that the material required for laying at the corresponding point in the corresponding layer is less than the expected standard material. If the thickness deviation is greater than 0, it means that the material required for laying at the corresponding point in the corresponding layer is greater than the expected standard material.

[0146] Optionally, the equipment scheduling instruction set is dynamically adjusted based on the deviation amount so that the material distribution formed by the material conveying operation executed by the stacker and reclaimer based on the dynamically adjusted equipment scheduling instruction set satisfies the planning strategy, including: when the thickness deviation is less than 0 and less than a first threshold, a first mark is made at the point where the thickness deviation less than the first threshold occurs, and the operating parameters of the stacker and reclaimer are adjusted so that the stacker and reclaimer compensates for the layer thickness of the material pile at the first mark; when the thickness deviation is greater than 0 and greater than a second threshold and less than a third threshold, a second mark is made at the point where the thickness deviation greater than the second threshold occurs, the target material pile is adjusted to a standard material pile size of N layers above the current layer at the second marked point, and the operating parameters of the stacker and reclaimer at the second marked point are adjusted according to the adjusted standard material pile size so that after the stacker and reclaimer completes the stacking of N layers above the current layer, material compensation is performed at the second marked point; when the thickness deviation is greater than a third threshold, a third mark is made at the point where the thickness deviation greater than the third threshold occurs, and the stacker and reclaimer is controlled to remove material matching the thickness deviation at the third marked point, where the third threshold is greater than the second threshold.

[0147] In this embodiment, during the actual operation of the stacking and reclaiming equipment, there may be deviations between the layer thickness and other dimensions of the formed material pile and the standard dimensions. When the deviation is large, it is easy to cause the quality of the formed material pile to decline, and even fail to meet the quality requirement information in the demand plan of the downstream production unit. At this time, real-time compensation of the material pile is required.

[0148] The first threshold is a negative thickness deviation threshold used to determine whether the thickness of a specific location in the pile is significantly less than the standard thickness defined in the planning strategy. If the thickness deviation is less than this threshold, the thickness deficiency at that location is severe, and the stacker / reclaimer operating parameters must be adjusted to compensate for the thickness at that location.

[0149] The second threshold is a positive thickness deviation threshold used to identify whether the thickness of a specific point in the current stockpile exceeds the standard thickness to the extent that subsequent stockpile strategies require adjustment. If the thickness deviation exceeds this second threshold, the stockpile at that point is excessively thick, requiring adjustments to the standard stockpile dimensions for several subsequent layers at that point, as well as the corresponding stacker and reclaimer operating parameters, to achieve material compensation and optimize the overall stockpile configuration.

[0150] For example, the second threshold is 0.08 meters. Taking point R as an example, its thickness deviation is 0.1 meters, which is greater than 0.08 meters. The automatic control system will mark point R for the second time. The system will pile the target material in the two layers above the current layer at point R (assuming N=2), and the standard layer thickness of the same raw material needs to be laid from 0.5 meters to 0.48 meters. It will then recalculate the stacking speed, angle, path and other operating parameters of the stacking equipment for the next two layers at point R. After completing the stacking of the current layer, the stacker will stack the next two layers according to the new parameters, reducing the amount of material accumulated in the upper layer at this point, thereby compensating for the excessive thickness of the current layer at point R and making the material pile shape conform to the planning strategy. Among them, the size of N can be a fixed value or can be determined adaptively according to the thickness deviation.

[0151] The third threshold is a positive thickness deviation threshold greater than the second threshold. It defines situations where the thickness deviation at a specific point in the pile is excessive, necessitating immediate removal of excess material. When the thickness deviation exceeds this threshold, it indicates that the layer thickness at that point is significantly exceeding the standard. Adjusting the subsequent stockpiling strategy alone will not be enough to effectively correct the situation. Direct control of the stacker and reclaimer is required to remove material matching the deviation to ensure that the stockpile thickness meets the standard.

[0152] The sizes of the first threshold, the second threshold, and the third threshold can be adaptively set according to the standard stockpile size of the stockpile in the planning strategy. Taking point Q as an example of the point that needs to be compensated, during the compensation process, the 3D laser scanner continuously monitors the layer thickness changes at point Q. When the layer thickness reaches or approaches the standard layer thickness, the system restores the normal operating parameters of the stacking and reclaiming equipment. Through the above-mentioned dynamic adjustment and closed-loop control of the operating parameters of the stacking and reclaiming equipment, the automatic control system can correct the deviation between the actual operating stockpile and the stockpile in the planning strategy in real time, ensuring that the material distribution formed by the layered stacking operation meets the planning requirements, effectively improving the standardization and stability of the material storage in the raw material yard, and providing a reliable raw material supply guarantee for subsequent production links.

[0153] In one embodiment, the material conveying operation includes a material reclaiming operation, the material distribution status data includes the real-time stacking angle at each point of the current material pile, the planning strategy includes the standard stacking angle of the target material pile, and the deviation includes the angle deviation.

[0154] The stacking angle refers to the angle formed between the slope of the pile and the horizontal plane when the material is naturally stacked. It can reflect the material's fluidity and stacking stability. The standard stacking angle is a pre-set ideal stacking angle for the material in the raw material yard's material management planning strategy, based on factors such as material characteristics, yard operating requirements, and production safety regulations. It serves as a standard reference value for measuring whether the actual stacking state of the material pile meets the requirements. The real-time stacking angle is the actual stacking angle at each point in the current material pile, obtained through real-time monitoring methods (such as 3D laser scanners and other equipment collecting data and calculating it through algorithms) during the material conveying operation in the raw material yard. It reflects the actual stacking state of the material pile at the current moment.

[0155] Collect material distribution data from the stockpile where the stacker / reclaimer is actually operating, and identify the deviation between the actual stockpile and the planned stockpile. This includes calculating the difference between the real-time stacking angle and the standard stacking angle at each point in the current stockpile to obtain the angular deviation at each point.

[0156] In this embodiment, the angular deviation can be the absolute value of the difference between the real-time stacking angle and the standard stacking angle. The real-time stacking angle may be greater than or less than the standard stacking angle. When the real-time stacking angle is greater than the standard stacking angle, the stockpile slope is steeper, and the downward force on the upper material increases. Under the influence of material removal disturbances or other external factors, the upper material is prone to lose balance and cause collapse. When the real-time stacking angle is less than the standard stacking angle, it indicates that the stockpile slope is too gentle. This may be due to excessive removal of local material during the material removal process, resulting in uneven force on the surrounding material, which will also undermine the stability of the stockpile and increase the risk of collapse.

[0157] The equipment scheduling instruction set is dynamically adjusted according to the deviation amount, and the material distribution of the actual operation stockpile meets the planning strategy through closed-loop control of the stacking and reclaiming equipment, including: marking the points where the angle deviation exceeds the preset deviation angle as collapse points; calculating the entry point and the end point when performing a single material reclaim according to the equipment scheduling instruction set before adjustment, and when the distance between the end point and the collapse mark point is less than the preset distance, adjusting the entry point and the end point, and performing a single material reclaim according to the adjusted entry point and end point, so that the materials taken in a single material reclaim include all materials within the collapse range, or do not include any materials within the collapse range at all.

[0158] The preset deviation angle is a pre-set angle threshold in the automatic control system. It measures whether the deviation between the real-time stacking angle at each point in the pile and the standard stacking angle reaches a level that requires action. For example, if the preset deviation angle is 2°, when the absolute difference between the real-time stacking angle and the standard stacking angle of 38° exceeds 2°, the system will determine that the point poses a risk of compromising pile stability and require adjustment to the reclaiming strategy. The preset distance is a pre-set length threshold in the system that determines the distance between the end point of a single reclaim operation and a point marked as a collapse risk, thereby determining whether the reclaiming path needs to be adjusted. Both the preset distance and the deviation angle can be fixed values ​​or adaptively set based on actual conditions. For example, if the preset distance is set to 1 meter, the automatic control system will trigger the reclaiming path adjustment mechanism if the calculated distance between the end point of a single reclaim operation and N points marked as collapses, calculated according to the pre-adjusted equipment scheduling instruction set, is less than 1 meter.

[0159] A single reclaim operation refers to the process by which a stacker / reclaimer, starting from a specific location in the pile and following a predetermined path and operating method, retrieves a certain amount of material during a single continuous reclaiming operation. The default entry point is the edge of the pile. Based on the required material volume for a single reclaim operation and the three-dimensional characteristics of the pile, the corresponding end point is determined. This ensures that the volume of material retrieved from this default entry point and the corresponding end point matches the required volume for a single reclaim operation.

[0160] Optionally, when it is detected that the distance between the end point corresponding to the default entry point and the point where the collapse mark is located is less than the preset distance, the end point can be adjusted so that the distance between the end point and the point where the collapse mark is located is not less than the preset distance, and the starting point is adjusted accordingly according to the adjusted end point so that the material capacity of a single material extraction remains unchanged.

[0161] For example, if the point where the collapse mark is located is between the adjusted end point and the starting point, then a single material extraction can completely cover the corresponding collapse area, and all materials in the collapse area can be extracted at one time, making the quality and quantity of the extracted materials more controllable, and providing a stable supply of raw materials for subsequent production links.

[0162] In one embodiment, Figure 5 As shown, a material conveying process control device for a raw material yard is provided, the device comprising:

[0163] The parameter acquisition module 510 is used to extract the multi-process collaborative scheduling parameters of the raw material yard from the MES system. The collaborative scheduling parameters include the inventory status of the material yard, the demand plan of the downstream production unit, the equipment availability and capacity parameters, the available capacity of each material strip, and the material attribute set.

[0164] The operation planning module 520 is used to generate a planning strategy for the stockpile and an equipment scheduling instruction set based on the collaborative scheduling parameters, so that the operation duration predicted based on the planning strategy meets the turnaround time window constraint in the downstream production unit demand plan.

[0165] The operation adjustment module 530 is used to send the equipment scheduling instruction set to the PLC of the corresponding stacker and reclaimer to drive the stacker and reclaimer to perform material conveying operations; collect material distribution status data of the material pile actually being operated by the stacker and reclaimer, and identify the deviation between the actual material pile and the material pile in the planning strategy; and dynamically adjust the equipment scheduling instruction set based on the deviation so that the material distribution formed by the material conveying operations performed by the stacker and reclaimer based on the dynamically adjusted equipment scheduling instruction set meets the planning strategy.

[0166] The data feedback module 540 is used to feed back the material distribution status data of the completed material pile to the MES system after the material transportation operation is completed.

[0167] In one embodiment, the operation adjustment module 530 is further configured to call a laser scanner to scan the contour of the current material pile in real time, thereby forming real-time contour information of the material pile; and obtain material distribution status data from the real-time contour information.

[0168] In one embodiment, the operation adjustment module 530 is also used to call multiple laser scanners to scan the current material pile within a preset interval according to a preset scanning frequency. Each laser scanner scans a corresponding interval to obtain an initial point cloud data set with a timestamp; the initial point cloud data set of each laser scanner is mapped to a local coordinate system based on the target material pile, and the dust noise in the three-dimensional point cloud data set in the local coordinate system is eliminated by the stepping bounding box, and an anti-interference material pile point cloud data set is output; corresponding real-time contour local information is formed based on each anti-interference material pile point cloud data set; each real-time contour local information is spliced ​​to obtain real-time contour information.

[0169] In one embodiment, the material distribution status data includes the layer thickness of the current layer of the current material pile; the operation adjustment module 530 is also used to identify the first total height of each point of the current material pile from the real-time contour information; identify the second total height of each point when the current material pile is in the previous layer of the current layer from the historical contour information; and calculate the layer thickness of the current layer based on the first total height and the second total height.

[0170] In one embodiment, the operation planning module 520 is also used to generate a planning standard strategy and an equipment scheduling standard instruction set for the material pile based on the collaborative scheduling parameters; calculate the theoretical time required to complete the material transportation operation based on the equipment scheduling standard instruction set and the planning standard strategy; when the theoretical time is less than or equal to the preset allowed time, the equipment scheduling standard instruction set is used as the equipment scheduling instruction set, and the planning standard strategy is used as the planning strategy; when the theoretical time is greater than the preset allowed time, the planning standard strategy and / or the equipment scheduling standard instruction set is adjusted so that the adjusted theoretical time is less than or equal to the preset allowed time, wherein the material pile standard formed by the adjusted planning standard strategy is lower than the material pile standard formed by the planning standard strategy before the adjustment, and the operation efficiency formed by the adjusted equipment scheduling standard instruction set is higher than the operation efficiency formed by the equipment scheduling standard instruction set before the adjustment.

[0171] In one embodiment, the material conveying operation includes a layered stacking operation, the material distribution state data includes the thickness of a current layer of the current material stack, the planning strategy includes a standard layer thickness of each layer of the target material stack, and the deviation includes a thickness deviation.

[0172] The operation adjustment module 530 is further configured to calculate the difference between the thickness of the current layer at each point in the current stockpile and the standard thickness of the corresponding layer in the target stockpile to obtain a thickness deviation. When the thickness deviation is less than 0 and less than a first threshold, a first mark is assigned to the point where the thickness deviation less than the first threshold occurs, and the operating parameters of the stacker / reclaimer are adjusted so that the stacker / reclaimer compensates for the thickness of the stockpile layer at the first mark. When the thickness deviation is greater than 0, greater than a second threshold and less than a third threshold, a second mark is assigned to the point where the thickness deviation greater than the second threshold occurs, and the target stockpile is adjusted to the standard stockpile size of the N layers above the current layer at the second marked point. The operating parameters of the stacker / reclaimer at the second marked point are adjusted based on the adjusted standard stockpile size so that the stacker / reclaimer completes the stockpile of the N layers above the current layer and then compensates for the material at the second marked point. When the thickness deviation is greater than a third threshold, a third mark is assigned to the point where the thickness deviation greater than the third threshold occurs, and the stacker / reclaimer is controlled to remove material matching the thickness deviation at the third marked point, where the third threshold is greater than the second threshold.

[0173] In one embodiment, the material conveying operation includes a material taking operation, the material distribution status data includes the real-time stacking angle at each point of the current material pile, the planning strategy includes the standard stacking angle of the target material pile, and the deviation includes the angle deviation. The operation adjustment module 530 is also used to calculate the difference between the real-time stacking angle and the standard stacking angle at each point of the current material pile to obtain the angle deviation at each point; mark the points where the angle deviation exceeds the preset deviation angle as collapse points; calculate the entry point and end point when performing a single material taking according to the equipment scheduling instruction set before adjustment, and when the distance between the end point and the point marked with the collapse is less than the preset distance, adjust the entry point and end point, and perform a single material taking according to the adjusted entry point and end point, so that the materials taken in a single material taking include all materials within the collapse range, or do not include any materials within the collapse range at all.

[0174] In one embodiment, a computer-readable storage medium is provided, on which executable instructions are stored. When the instructions are executed by a processor, the processor executes the steps in the above-mentioned method embodiments.

[0175] In one embodiment, an electronic device is also provided, comprising one or more processors; a memory, wherein one or more programs are stored in the memory, wherein when the one or more programs are executed by one or more processors, the one or more processors execute the steps in the above-mentioned method embodiments.

[0176] In one embodiment, Figure 6 , which shows a schematic diagram of the structure of an electronic device for implementing an embodiment of the present application. The electronic device includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 602 or programs loaded from a storage unit 608 into a random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the electronic device. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0177] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 608 including devices such as a hard disk; and a communication section 609 including a network interface card such as a LAN card or a modem. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 610 as needed, so that computer programs read from the removable media can be installed in the storage section 608 as needed.

[0178] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer-readable medium carrying instructions. In such embodiments, the instructions can be downloaded and installed from a network via communication portion 609 and / or installed from removable media 611. When the instructions are executed by central processing unit (CPU) 601, the various method steps described in this application are performed.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

[0180] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, all of the above embodiments may be used in any combination. The information disclosed in this background section is intended solely to enhance understanding of the overall background of this application and should not be construed as an admission or any form of implication that such information constitutes prior art known to those skilled in the art.

Claims

1. A material conveying process control method for a raw material field, characterized in that: The material conveying process is controlled by an automatic control system, wherein the automatic control system is in communication with a manufacturing execution system of a steel enterprise, and the method includes: Extracting multi-process collaborative scheduling parameters of the raw material yard from the manufacturing execution system, the collaborative scheduling parameters including the inventory status of the raw material yard, the demand plan of the downstream production unit, the equipment availability and capacity parameters, the available capacity of each material strip, and the material attribute set; generating a stockpile planning strategy and an equipment scheduling instruction set based on the collaborative scheduling parameters, so that the operation duration predicted based on the planning strategy satisfies the turnaround time window constraint in the downstream production unit demand plan; Sending the equipment scheduling instruction set to the PLC of the corresponding stacker and reclaimer to drive the stacker and reclaimer to perform material conveying operations; Collecting material distribution status data of the material pile where the stacker and reclaimer is actually operating, and identifying the deviation between the material pile in actual operation and the material pile in the planned strategy; Dynamically adjusting the equipment scheduling instruction set according to the deviation amount so that the material distribution formed by the material transportation operation performed by the stacking and reclaiming equipment based on the dynamically adjusted equipment scheduling instruction set meets the planning strategy; After the material transport operation is completed, the material distribution status data of the completed material pile is fed back to the manufacturing execution system.

2. The method according to claim 1, characterized in that The collecting of the material distribution status data of the material pile where the stacker and reclaimer is actually operating includes: Call the laser scanner to scan the contour of the current pile in real time to form real-time contour information of the pile; The material distribution status data is obtained from the real-time profile information.

3. The method according to claim 2, characterized in that The calling of the laser scanner to scan the contour of the current pile in real time to form real-time contour information of the pile includes: Call multiple laser scanners to scan the current stockpile within a preset interval at a preset scanning frequency. Each laser scanner scans a corresponding interval to obtain an initial point cloud dataset with a timestamp. Mapping the initial point cloud dataset of each laser scanner to a local coordinate system based on the target stockpile, removing dust noise from the 3D point cloud dataset in the local coordinate system using a stepping bounding box, and outputting an anti-interference stockpile point cloud dataset; Based on each anti-interference stockpile point cloud data set, corresponding real-time contour local information is generated; Each piece of real-time contour local information is spliced ​​together to obtain the real-time contour information.

4. The method according to claim 2, characterized in that The material distribution state data includes the thickness of the current layer of the current material pile; The obtaining of the material distribution status data from the real-time profile information includes: Identifying a first total height of each point of the current stockpile from the real-time contour information; Identify the second total height of each point when the current stockpile is in the previous layer of the current layer from the historical contour information; The layer thickness of the current layer is calculated based on the first total height and the second total height.

5. The method according to claim 1, wherein The generating of a stockpile planning strategy and an equipment scheduling instruction set based on the collaborative scheduling parameters includes: Generate a standard planning strategy for a stockpile and a standard equipment scheduling instruction set based on the collaborative scheduling parameters; Calculating the theoretical time required to complete the material transportation operation based on the equipment scheduling standard instruction set and the planning standard strategy; When the theoretical duration is less than or equal to the preset allowed duration, the device scheduling standard instruction set is used as the device scheduling instruction set, and the planning standard strategy is used as the planning strategy; When the theoretical duration is greater than the preset allowed duration, the planning standard strategy and / or the equipment scheduling standard instruction set is adjusted so that the adjusted theoretical duration is less than or equal to the preset allowed duration, wherein the material pile standard formed by the adjusted planning standard strategy is lower than the material pile standard formed by the planning standard strategy before adjustment, and the operating efficiency formed by the adjusted equipment scheduling standard instruction set is higher than the operating efficiency formed by the equipment scheduling standard instruction set before adjustment.

6. The method according to claim 1, wherein The material conveying operation includes a layered stacking operation, the material distribution state data includes a layer thickness of a current layer of a current material stack, the planning strategy includes a standard layer thickness of each layer of a target material stack, and the deviation includes a thickness deviation; The collecting of material distribution data of the stockpile in which the stacker / reclaimer is actually operating and identifying the deviation between the stockpile in actual operation and the stockpile in the planned strategy includes: calculating the difference between the thickness of a current layer at each point in the current stockpile and the standard thickness of the corresponding layer in the target stockpile to obtain the thickness deviation; The dynamically adjusting the equipment scheduling instruction set according to the deviation so that the material distribution formed by the material transportation operation performed by the stacking and reclaiming equipment based on the dynamically adjusted equipment scheduling instruction set satisfies the planning strategy includes: When the thickness deviation is less than 0 and less than a first threshold, a first mark is made on the point where the thickness deviation less than the first threshold occurs, and the operating parameters of the stacker and reclaimer are adjusted so that the stacker and reclaimer compensates for the thickness of the material pile layer at the first mark; When the thickness deviation is greater than 0, greater than the second threshold and less than the third threshold, a second mark is made for the point where the thickness deviation greater than the second threshold occurs, and the target stockpile is adjusted at the second marked point. The standard stockpile size of the N layers above the current layer is adjusted, and the operating parameters of the stacker and reclaimer at the second mark are adjusted according to the adjusted standard stockpile size, so that after the stacker and reclaimer completes the stockpile of the N layers above the current layer, the material compensation at the second mark is realized; When the thickness deviation is greater than the third threshold, a third mark is made on the point where the thickness deviation greater than the third threshold occurs, and the stacking and reclaiming equipment is controlled to remove material matching the thickness deviation at the third marked point, and the third threshold is greater than the second threshold.

7. The method according to claim 1, characterized in that The material conveying operation includes a material reclaiming operation, the material distribution state data includes the real-time stacking angle at each point of the current material pile, the planning strategy includes the standard stacking angle of the target material pile, and the deviation includes the angle deviation; The collecting of material distribution data of the stockpile in which the stacker / reclaimer is actually operating and identifying the deviation between the stockpile in actual operation and the stockpile in the planned strategy includes: calculating the difference between the real-time stacking angle at each point in the current stockpile and the standard stacking angle to obtain the angle deviation at each point; Dynamically adjusting the equipment scheduling instruction set according to the deviation amount so that the material distribution formed by the material transportation operation performed by the stacking and reclaiming equipment based on the dynamically adjusted equipment scheduling instruction set meets the planning strategy, including: The points where the angle deviation exceeds the preset deviation angle are marked as collapsed; Calculate the entry point and the end point when performing a single material extraction according to the equipment scheduling instruction set before adjustment. When the distance between the end point and the point of the collapse mark is less than the preset distance, adjust the entry point and the end point, and perform a single material extraction according to the adjusted entry point and end point, so that the material extracted in a single time includes all materials within the collapse range, or does not include any materials within the collapse range.

8. A material conveying process control device for a raw material field, characterized in that: The material conveying process is controlled by an automatic control system, which is in communication with the manufacturing execution system of the steel enterprise. The device includes: a parameter acquisition module for extracting multi-process collaborative scheduling parameters of the raw material yard from the manufacturing execution system, wherein the collaborative scheduling parameters include the inventory status of the raw material yard, the demand plan of the downstream production unit, the equipment availability and capacity parameters, the available capacity of each material strip, and the material attribute set; An operation planning module, configured to generate a planning strategy for a stockpile and an equipment scheduling instruction set based on the collaborative scheduling parameters, such that the operation duration predicted based on the planning strategy satisfies the turnaround time window constraint in the downstream production unit demand plan; an operation adjustment module for issuing the equipment scheduling instruction set to the PLC of the corresponding stacker and reclaimer to drive the stacker and reclaimer to perform material conveying operations; collecting material distribution status data of the material pile actually being operated by the stacker and reclaimer to identify the deviation between the actual material pile and the material pile in the planning strategy; and dynamically adjusting the equipment scheduling instruction set based on the deviation so that the material distribution formed by the material conveying operations performed by the stacker and reclaimer based on the dynamically adjusted equipment scheduling instruction set satisfies the planning strategy; The data feedback module is used to feed back the material distribution status data of the completed material pile to the manufacturing execution system after the material transportation operation is completed.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores executable instructions, which, when executed by a processor, enable the processor to perform the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, causes the one or more processors to perform the method according to any one of claims 1 to 7.

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