Slag slow cooling field equipment control system and method, computer equipment and storage medium

Abstract

The invention discloses a slag slow cooling field equipment control system, a slag slow cooling field equipment control method, computer equipment and a storage medium, relates to the technical field of equipment control, and can automatically judge whether to execute avoidance operation or not based on a collected monitoring video, eliminate visual errors caused by judging equipment spacing by human eyes and reduce the risk of track conflict in a dense region. The system comprises a video monitoring subsystem which is used for collecting a monitoring video based on camera equipment configured in a slag slow cooling field area and transmitting the monitoring video to an operator station terminal; the equipment control subsystem is used for continuously displaying the corresponding monitoring videos, determining the position information of the corresponding target slag slow cooling field equipment according to a control instruction issued by the operator station terminal, generating an equipment moving path according to the position information and the monitoring videos, and sending the equipment moving path to the operator station terminal; and controlling the corresponding target slag slow cooling field equipment to move according to the equipment moving path, executing a cooperative operation control operation, and continuously judging whether to stop moving and execute an avoidance operation according to the monitoring video in the moving process.

Description

Technical Field

[0001] The present application relates to the field of equipment control technology, and in particular to a slag slow cooling equipment control system, method, computer equipment and storage medium. Background Art

[0002] As the metallurgical industry's requirements for slag treatment efficiency and safety increase, the scale of slag cooling sites has gradually expanded, and the number and frequency of mobile equipment required to work together in the site have increased significantly.

[0003] In related technologies, equipment operation mainly relies on manual judgment of equipment location and operating status, such as using fixed monitoring screens to assist operators in manually coordinating equipment routes, or planning equipment avoidance paths based on operating experience. However, in scenarios where multiple devices are operating dynamically, manual coordination has problems with response delays and accumulated path planning errors. Especially in equipment-intensive areas or high-load operation stages, it is very easy for deviations in real-time position judgment to lead to conflicts in equipment trajectories, causing physical interference risks or interruptions in operating processes, which seriously restrict the large-scale operation efficiency and safety of slag cooling sites. Therefore, there is an urgent need for a solution that supports intelligent scheduling and high-precision collaborative control of multiple devices to improve the overall operating efficiency of slag cooling sites. Summary of the Invention

[0004] In view of this, the present application provides a slag cooling field equipment control system, method, computer equipment and storage medium, the main purpose of which is to solve the problem of response delay and path planning error accumulation in manual coordination in a multi-device dynamic operation scenario, especially in equipment-intensive areas or high-load operation stages. It is very easy for the equipment's travel trajectory to conflict due to real-time position judgment deviation, causing physical interference risks or interruption of the operation process, which seriously restricts the large-scale operation efficiency and safety of the slag cooling field.

[0005] According to a first aspect of the present application, a slag slow cooling equipment control system is provided, the system comprising: a video acquisition subsystem and an equipment control subsystem;

[0006] The video monitoring subsystem is used to collect monitoring videos based on camera equipment configured at multiple locations in the slag slow cooling area, and transmit the monitoring videos to the operator station terminal at the remote control center end;

[0007] The equipment control subsystem is used to continuously visualize the monitoring video corresponding to the corresponding target slag cooling field equipment, and determine the position information of the corresponding target slag cooling field equipment according to the control instructions issued by the operator station terminal, and generate the equipment movement path according to the position information and the monitoring video, and control the movement of the corresponding target slag cooling field equipment according to the equipment movement path, perform collaborative operation control operations, and continuously judge whether to pause the movement and perform avoidance operations according to the monitoring video during the movement process, wherein the collaborative operation control operation is one or more operations of the collaborative operation control operation of the spray door crane and the metallurgical crane, the collaborative operation control operation of the electric flat car and the metallurgical crane, and the collaborative operation control operation of the electric flat car and the rail-changing car. The target slag cooling field equipment includes but is not limited to the target metallurgical crane, the target spray door crane, the target electric flat car and the target rail-changing car.

[0008] Optionally, the equipment control subsystem includes: a metallurgical crane control module;

[0009] The metallurgical crane control module is used to continuously display the operating data obtained by the perception layer of the slow cooling field equipment end and the first designated monitoring video collected by the video monitoring subsystem on the operator station terminal of the remote control center end. The operating data includes the package status data and the equipment operation status data uploaded by the metallurgical crane equipment PLC. The first designated control video includes the overall bird's-eye view video of the slag slow cooling field, the monitoring video around the metallurgical crane, and the hook monitoring video. The metallurgical crane control module is also used to call the decision layer of the slow cooling field equipment end, determine the target slag slow cooling field equipment for performing the slow cooling operation and generate the equipment movement path according to the control instructions issued by the operator station terminal, and call the execution layer of the slow cooling field equipment end to control the target slag slow cooling field equipment to move according to the equipment movement path and perform the slow cooling operation through the control protocol and interface corresponding to the target slag slow cooling field equipment.

[0010] Optionally, the metallurgical crane control module is used to call the decision layer of the slow cooling field equipment end, determine the dumping point, target slag bag and target metallurgical crane according to the control instructions issued by the operator station terminal, generate the equipment movement path according to the position information of the target metallurgical crane and the target slag bag, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the equipment movement path and lift the target slag bag, and call the decision layer of the slow cooling field equipment end, regenerate the equipment movement path according to the position information of the target metallurgical crane and the position information of the dumping point, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the regenerated equipment movement path Move to the bag turning point to perform bag turning operation; the metallurgical crane control module is also used to call the decision layer of the slow cooling field equipment end, determine the target slag bag and the target metallurgical crane according to the control instruction issued by the operator station terminal, generate the equipment moving path according to the position information of the target metallurgical crane and the target slag bag, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the equipment moving path and lift the target slag bag, and receive the in-position signal initiated by the electric flat car and rail shifting car control module, call the decision layer of the slow cooling field equipment end, and regenerate the equipment moving path according to the position information of the target electric flat car and the position information of the target metallurgical crane indicated by the in-position signal, and call the execution layer of the slow cooling field equipment end. Use the execution layer of the slow cooling field equipment end to control the target metallurgical crane to move according to the regenerated equipment moving path and control the hook to descend in stages to place the target slag bag on the target electric flat car, and send a transportation signal to the electric flat car and rail-shifting car control module after the placement is completed; the metallurgical crane control module is also used to call the decision layer of the slow cooling field equipment end, determine the target bag position, target slag bag and target metallurgical crane according to the control instructions issued by the operator station terminal, and receive the in-position signal initiated by the electric flat car and rail-shifting car control module, call the decision layer of the slow cooling field equipment end, and generate the in-position signal according to the position information of the target electric flat car and the position information of the target metallurgical crane indicated by the in-position signal. Prepare a moving path, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the equipment moving path and lift the target slag bag loaded on the target electric flat car, and call the decision layer of the slow cooling field equipment end to regenerate the equipment moving path according to the position information of the target bag position and the position information of the target metallurgical crane, call the execution layer of the slow cooling field equipment end to control the target metallurgical crane to move according to the regenerated equipment moving path and control the hook to descend in stages to place the target slag bag on the target bag position; wherein, during the movement of the target metallurgical crane, the metallurgical crane control module continuously determines whether to perform an avoidance operation based on the acquired first designated monitoring video.

[0011] Optionally, the equipment control module further includes: a spray door machine control module;

[0012] The spray door machine control module is used to continuously display the slag bag status data, the second designated monitoring video collected by the video monitoring subsystem and the equipment operation status data uploaded by the mobile spray vehicle equipment PLC on the operator station terminal at the remote control center end. The second designated control video includes the front and rear videos of the mobile spray vehicle and the slag bag monitoring video; the spray door machine control module is also used to call the decision layer of the slow cooling field equipment end, determine the target bag position and the target spray door machine according to the control instructions issued by the operator station terminal, generate the equipment movement path according to the position information of the target spray door machine and the target bag position, and call the slow cooling field The execution layer on the equipment side controls the target spray door crane to move according to the equipment moving path and controls the corresponding spray water ball valve switch to spray water cooling on the slag bag on the target bag position; wherein, during the movement of the target spray door crane, the spray door crane control module continuously determines whether to start the avoidance mechanism and / or anti-collision mechanism based on the acquired second designated monitoring video. The avoidance mechanism is used to determine the operating priority between the spray door crane and the metallurgical crane to enable active avoidance of low-level equipment. The anti-collision mechanism includes anti-collision between spray door cranes and anti-collision between the spray door crane and the metallurgical crane.

[0013] Optionally, the equipment control subsystem further includes: an electric flat car and a rail shifter control module;

[0014] The electric flat car and rail-shifting car control module is used to continuously display the third designated monitoring video collected by the video monitoring subsystem and the equipment operation status data uploaded by the electric flat car equipment PLC on the operator station terminal of the remote control center end. The third designated control video includes videos of multiple position points corresponding to the slag transportation route and videos before and after the electric flat car; the electric flat car and rail-shifting car control module is also used to call the decision layer of the slow cooling field equipment end, determine the target electric flat car and the designated docking position according to the control instructions issued by the operator station terminal, generate the equipment movement path according to the position information of the target electric flat car and the designated docking position, call the execution layer of the slow cooling field equipment end, control the target electric flat car to move according to the equipment movement path, and send a positioning signal to the metallurgical door crane control module after the target electric flat car reaches the designated docking position. , so that the metallurgical gantry crane control module receives the in-position signal and controls the target metallurgical crane to move to the designated parking position to pick up or put down the package; the electric flat car and rail shifter control module is also used to receive the transportation signal sent by the metallurgical gantry crane control module, call the decision layer of the slow cooling field equipment end, determine the slag receiving port according to the control instruction, and generate an equipment movement path according to the position information of the target electric flat car indicated by the transportation signal and the position information of the slag receiving port, call the execution layer of the slow cooling field equipment end, and control the target electric flat car to move to the slag receiving point according to the equipment movement path to receive slag; the electric flat car and rail shifter control module is also used to control the rail shifter to dock at a designated position through a positioning sensor, and after detecting that the electric flat car runs onto the rail shifter, control the rail shifter to run to another track and notify the electric flat car to leave the rail shifter.

[0015] Optionally, the video monitoring subsystem is also used to collect corresponding driver's perspective videos based on the camera equipment installed on the electric flat car and the metallurgical crane equipment, so that the operator can remotely operate the electric flat car and the metallurgical crane based on the driver's perspective video, and the driver's perspective video includes the front and rear videos of the electric flat car, the front and rear videos of the metallurgical crane, and the main and auxiliary hook videos.

[0016] Optionally, the system further comprises: a fault monitoring subsystem and a communication subsystem;

[0017] The fault monitoring subsystem is used to continuously detect the working status, working data, location information and fault information of the mobile equipment in the slag slow cooling area, as well as the status of the slag bag position in the slag slow cooling area, the status of the spray water valve, and the monitoring video of the gantry crane trolley and hook, slag yard, and electric flat car operating area, and transmit the detection results to the operator station terminal of the remote control center for display; the communication subsystem is used to transmit the control instructions issued by the operator station terminal of the remote control center to the slow cooling equipment end through the wireless receiving module configured on each metallurgical crane, spray gantry crane, electric flat car, and rail shifter using 5G+WIFI6 redundant communication to control the corresponding target slag slow cooling equipment to perform slow cooling operations. The communication subsystem includes a wired network and a wireless network, and the wireless network is composed of a wireless controller and a wireless base station.

[0018] According to a second aspect of the present application, a slag slow cooling equipment control method applicable to a slag slow cooling equipment control system is provided, the method comprising:

[0019] The video monitoring subsystem collects monitoring videos based on the camera equipment configured at multiple locations in the slag cooling area and transmits the monitoring videos to the operator station terminal at the remote control center.

[0020] The equipment control subsystem continuously visualizes the monitoring video corresponding to the corresponding target slag slow cooling field equipment, and determines the location information of the corresponding target slag slow cooling field equipment according to the control instructions issued by the operator station terminal;

[0021] The equipment control subsystem generates an equipment movement path according to the position information and the monitoring video, and controls the movement of the corresponding target slag cooling field equipment according to the equipment movement path, performs collaborative operation control operations, and continuously determines whether to pause the movement and perform avoidance operations according to the monitoring video during the movement. The collaborative operation control operations are one or more operations of the collaborative operation control operations of the spray door crane and the metallurgical crane, the collaborative operation control operations of the electric flat car and the metallurgical crane, and the collaborative operation control operations of the electric flat car and the rail-changing car. The target slag cooling field equipment includes but is not limited to a target metallurgical crane, a target spray door crane, a target electric flat car, and a target rail-changing car.

[0022] According to a third aspect of the present application, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the methods described in the first aspect when executing the computer program.

[0023] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

[0024] By means of the above technical solution, the present application provides a slag slow cooling field equipment control system, method, computer equipment and storage medium. The present application uses a video monitoring subsystem to collect real-time equipment operation video streams and transmit them to a remote control center. The equipment control subsystem continuously plans collision-free movement paths for the equipment based on the video and the position of the equipment, eliminating the visual error of the human eye in judging the distance between devices and reducing the risk of trajectory conflicts in dense areas. The multi-module collaborative mechanism effectively solves the collaborative control problem in the dynamic operation scenario of multiple devices in the slag slow cooling field, and realizes the safe and efficient operation of the slag slow cooling field.

[0025] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0027] Figure 1 A schematic structural diagram of a slag slow cooling equipment control system provided in an embodiment of the present application is shown;

[0028] Figure 2 A schematic diagram of the communication system layout of a slag slow cooling equipment control system provided in an embodiment of the present application is shown;

[0029] Figure 3 A schematic structural diagram of a slag slow cooling equipment control system provided in an embodiment of the present application is shown;

[0030] Figure 4 A schematic diagram of the target monitoring software operation interface of a slag slow cooling field equipment control system provided by an embodiment of the present application is shown;

[0031] Figure 5 A schematic diagram of the target monitoring software operation interface of a slag slow cooling equipment control system provided by an embodiment of the present application is shown;

[0032] Figure 6A schematic diagram of the target monitoring software operation interface of a slag slow cooling equipment control system provided by an embodiment of the present application is shown;

[0033] Figure 7 A schematic flow chart of a slag slow cooling field equipment control method applicable to a slag slow cooling field equipment control system provided in an embodiment of the present application is shown;

[0034] Figure 8 A schematic diagram of the device structure of a computer device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0035] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and are not to be construed as limiting the present application.

[0036] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0037] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0038] Those skilled in the art will appreciate that the term "terminal" as used herein includes both devices that are wireless signal receivers, i.e., devices that only have wireless signal receivers without transmission capabilities, and devices that have receiving and transmitting hardware capable of performing two-way communication over a two-way communication link. Such devices may include: cellular or other communication devices with single-line displays, multi-line displays, or cellular or other communication devices without multi-line displays; PCS (Personal Communications Service) devices that may combine voice, data processing, fax, and / or data communication capabilities; PDAs (Personal Digital Assistants) that may include a radio frequency receiver, a pager, Internet / Intranet access, a web browser, a notepad, a calendar, and / or a GPS (Global Positioning System) receiver; and conventional laptop and / or palmtop computers or other devices that have and / or include a radio frequency receiver. As used herein, a "terminal" may be portable, transportable, installed in a vehicle (air, sea, and / or land), or adapted and / or configured to operate locally, and / or in a distributed manner, at any other location on Earth and / or in space. As used herein, a "terminal" may also be a communication terminal, an Internet access terminal, or a music / video playback terminal, such as a PDA, an MID (Mobile Internet Device), and / or a mobile phone with music / video playback capabilities, or a device such as a smart TV or a set-top box.

[0039] The slag slow cooling equipment control system provided in this application is suitable for controlling mobile equipment in the slag slow cooling area. The movable equipment in the slag slow cooling area includes but is not limited to metallurgical cranes, spray gantry cranes, electric flat cars and rail-changing cars.

[0040] The video monitoring subsystem of the present application is based on camera equipment configured at multiple locations within the slag cooling area, collects monitoring videos, and transmits the monitoring videos to the operator station terminal at the remote control center. Next, the equipment control subsystem continuously visualizes the monitoring videos corresponding to the corresponding target slag cooling equipment, and determines the location information of the corresponding target slag cooling equipment based on the control instructions issued by the operator station terminal. Furthermore, the equipment control subsystem generates the equipment movement path based on the location information and the monitoring video. Finally, the equipment control subsystem controls the movement of the corresponding target slag cooling equipment according to the equipment movement path, performs collaborative operation control operations, and continuously determines whether to pause the movement and perform avoidance operations based on the monitoring video during the movement process, wherein the collaborative operation control operation is one or more operations of the collaborative operation control operation of the spray gantry crane and the metallurgical crane, the collaborative operation control operation of the electric flat car and the metallurgical crane, and the collaborative operation control operation of the electric flat car and the rail-switching car. The target slag cooling equipment includes but is not limited to the target metallurgical crane, the target spray gantry crane, the target electric flat car, and the target rail-switching car. This application uses a video monitoring subsystem to collect real-time video streams of equipment operation and transmit them to a remote control center. The equipment control subsystem continuously plans collision-free movement paths for the equipment based on the video and the position of the equipment, eliminating the visual error of the human eye in judging the distance between equipment and reducing the risk of trajectory conflicts in dense areas. The multi-module collaborative mechanism effectively solves the collaborative control problem in the dynamic operation scenario of multiple equipment in the slag cooling field, and realizes the safe and efficient operation of the slag cooling field. The embodiment of this application provides a slag cooling field equipment control system, such as Figure 1 As shown, the system includes: a video acquisition subsystem 11 and a device control subsystem 12.

[0041] For example, the communication system layout of the control system is as follows: Figure 2 As shown, the information network connects multiple operator stations, each equipped with corresponding terminal devices for operation and monitoring. This network is connected to key systems such as the supervisory platform, database audit system, and video surveillance via the industrial network. It also includes security and recording equipment such as host security software and hard disk recorders. An industrial-grade Layer 3 switch in the control room serves as the core switching device, connecting to security facilities such as industrial firewalls and industrial-grade access switches to enable network communication at different levels. Ground-based wireless base stations and other monitoring PLC controllers are deployed to control and manage ground-based wireless signals. Vehicle-based controllers communicate with the ground-based wireless base station (control terminal) via onboard wireless, enabling remote monitoring and operation of onboard equipment.

[0042] Control system architecture such as Figure 3As shown, the system is divided into three parts: the remote control center, the slag cooling field and the communication network. The remote control center mainly includes the display layer and the operation layer. Among them, the display layer realizes the monitoring of various status data and the video interface display, and the operation layer mainly controls the issuance of instructions, including handles, button operation units, and graphic operation units. It should be noted that the operator station terminal is equipped with target monitoring software. The target monitoring software orders scheduling tasks through the wireless network and dispatches various mobile devices to realize the transfer of slag bags. Each device feeds back the current operating status to the target monitoring software through the wireless network for statistics and display. The target monitoring software is a monitoring software based on Kingview. The specific process of PLC configuration between the target monitoring software and the slag cooling field equipment is as follows: Figures 4 to 6 As shown, in the "System" menu on the left side of the target monitoring software, select "Device" - "DDE" and then select the PLC model used by the device to configure hardware communication. Furthermore, in the "Variables" menu bar on the left side of the target monitoring software, you can set input and output variable values ​​that share the same address as the device's PLC to enable interaction between the host computer and the device. In the "System" menu bar on the left side of the target monitoring software, select "Command Language" - "Application Command Language" to write the relevant program code to implement the corresponding functions. Manual operation control of the device can also be achieved based on the buttons and selector switches on the interface.

[0043] In the embodiment of the present application, surveillance cameras are deployed at multiple key locations within the slag cooling area, such as forks and slag outlets. The video surveillance subsystem 11 is used to capture surveillance video based on the cameras deployed at multiple locations within the slag cooling area and transmit the surveillance video to the operator station terminal at the remote control center. The surveillance video includes, but is not limited to, the entire working scene of the slag outlet area, the slag transport track line, the slag cooling area, and a multi-angle bird's-eye view of key locations such as forks, water sprays, and the slag outlet.

[0044] It can be understood that the operator station terminal communicates with the mobile devices on site through a wireless network, and each metallurgical crane, sprinkler door crane, electric flat car, and rail transfer car is equipped with a wireless receiving module.

[0045] Furthermore, the equipment control subsystem 12 is used to continuously visualize the monitoring video corresponding to the corresponding target slag slow cooling field equipment. For example, if the water-cooled slag ladle needs to be turned over, then the surrounding monitoring video, main and auxiliary hook monitoring video, and bag turning point monitoring video corresponding to the target metallurgical crane performing the slag ladle turning task need to be displayed on the operator station terminal. In other words, the equipment control subsystem needs to display different monitoring videos according to different work tasks so that the operator can understand the current work status. Furthermore, the equipment control subsystem 12 is also used to determine the location information of the corresponding target slag slow cooling field equipment based on the control instructions issued by the operator station terminal, generate the equipment movement path based on the location information and monitoring video, and control the movement of the corresponding target slag slow cooling field equipment based on the equipment movement path, perform collaborative work control operations, and continuously determine whether to pause the movement and perform avoidance operations based on the monitoring video during the movement process. Among them, the collaborative operation control operation is one or more operations among the collaborative operation control operation of the spray gantry crane and the metallurgical crane, the collaborative operation control operation of the electric flat car and the metallurgical crane, and the collaborative operation control operation of the electric flat car and the rail-changing car. The target slag cooling equipment includes but is not limited to the target metallurgical crane, the target spray gantry crane, the target electric flat car and the target rail-changing car.

[0046] Furthermore, in order to better control the equipment in the slag slow cooling area, the equipment control subsystem 12 also includes a metallurgical crane control module 121, a spray door machine control module 122, and an electric flat car and rail shifter control module 123. The following is an introduction to each module:

[0047] The metallurgical crane control module 121 primarily consists of a remote operation unit located in the remote control center, a video processing server, a core processing industrial computer and software modules, and a network switch. The remote operation unit is responsible for collecting and encapsulating commands from the operator station terminal's keys, buttons, and handles; the video processing server processes and displays video information; and the core processing industrial computer is responsible for remote crane control, data analysis, and display of status and fault monitoring information. The slow cooling terminal utilized by the metallurgical crane control module 121 primarily comprises a perception layer, a decision layer, and an execution layer. The perception layer senses operational data such as position, weight, and equipment status. The decision layer primarily formulates control strategies based on automated function algorithms and generates equipment movement paths. The execution layer primarily executes control strategies. By interfacing with the crane and electric flat car control protocols and interfaces, it implements automatic crane control, automatic water spray control, and electric flat car control. Furthermore, the perception layer can obtain the status of actuators such as motors, inverters, and electric ball valves, enabling closed-loop control.

[0048] In an embodiment of the present application, the circulation of slag bags mainly includes the following two links. The first link is that the metallurgical crane removes the full bag loaded on the electric flat car and places it at the designated position of the slow cooling site, and places the empty bag at the designated position on the electric flat car (corresponding to the bag taking control instruction and the bag placing control instruction). The second link is to transport the slag bag after water cooling to the slag pool (bag pouring point) to turn the bag over and dump it, and transport the empty bag after slag pouring to the designated position (corresponding to the bag turning control instruction). The recycling of slag bags can be achieved through these two links. In the process of slag bag circulation, the metallurgical crane control module 121 adopts pan-tilt zoom camera technology, intelligent remote control technology, and positioning technology to accurately determine the real-time position information of the crane trolley, car, and hook, and automatically hooks according to the position information and video signal to realize the automatic bag taking, automatic bag placing, and automatic slag dumping functions in remote control mode.

[0049] During actual operation, the metallurgical crane control module 121 is configured to continuously display, on the operator station terminal at the remote control center, operating data acquired by the sensor layer of the slow cooling equipment and a first designated monitoring video captured by the video monitoring subsystem 11. It is understood that the operating data includes package status data and equipment status data uploaded by the metallurgical crane PLC. The first designated control video includes an overall bird's-eye view of the slag slow cooling area, a monitoring video of the metallurgical crane's surroundings, and a monitoring video of the hook.

[0050] Furthermore, the metallurgical crane control module 121 is also used to call the decision layer of the slow cooling field equipment end, determine the target slag slow cooling field equipment to perform the slow cooling operation and generate the equipment movement path according to the control instructions issued by the operator station terminal, and call the execution layer of the slow cooling field equipment end, through the control protocol and interface corresponding to the target slag slow cooling field equipment, control the target slag slow cooling field equipment to move according to the equipment movement path and perform the slow cooling operation.

[0051] It should be noted that the control instructions issued by the operator station terminal include but are not limited to bag taking, bag pouring, bag loading, spraying, etc. Different control instructions correspond to different target slag cooling equipment.

[0052] Exemplarily, the metallurgical crane control module 121 is configured to invoke the decision layer of the slow cooling yard equipment side. Based on the bag unloading control instructions issued by the operator station terminal, it determines the bag unloading point, target slag ladle, and target metallurgical crane. Next, the decision layer is invoked to generate an equipment movement path based on the location information of the target metallurgical crane and the target slag ladle. It should be noted that the decision layer generates the equipment movement path based on the principle of proximity, ensuring that the flatbed trucks can be unloaded and loaded in the shortest possible time, ensuring that the two processes proceed in an orderly manner without interfering with each other's production. Furthermore, the decision layer plans production rhythms and priority strategies to avoid accidental equipment interference. Furthermore, it considers that if one crane fails, the other two cranes can cover the three areas and operate normally. Next, the execution layer of the slow cooling yard equipment side is invoked to control the target metallurgical crane to move according to the equipment movement path and pick up the target slag ladle. The decision layer of the slow cooling yard equipment side is invoked to regenerate the equipment movement path based on the location information of the target metallurgical crane and the bag unloading point. The execution layer of the slow cooling yard equipment side is invoked to control the target metallurgical crane to move to the bag unloading point according to the regenerated equipment movement path to perform bag unloading.

[0053] Exemplarily, the metallurgical crane control module 121 is also used to call the decision layer of the slow cooling field equipment end, determine the target slag bag and the target metallurgical crane according to the packaging control instructions issued by the operator station terminal, generate the equipment movement path according to the position information of the target metallurgical crane and the target slag bag, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the equipment movement path and lift the target slag bag, and receive the in-position signal initiated by the electric flat car and rail transfer car control module 123, call the decision layer of the slow cooling field equipment end, regenerate the equipment movement path according to the position information of the target electric flat car and the position information of the target metallurgical crane indicated by the in-position signal, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the regenerated equipment movement path and control the hook to descend in stages to place the target slag bag on the target electric flat car, and send a transportation signal to the electric flat car and rail transfer car control module 123 after the placement is completed.

[0054] Exemplarily, the metallurgical crane control module 121 is also used to call the decision layer of the slow cooling field equipment end, determine the target bag position, target slag bag and target metallurgical crane according to the bag picking control instruction issued by the operator station terminal, and receive the in-position signal initiated by the electric flat car and rail transfer car control module 123, call the decision layer of the slow cooling field equipment end, generate the equipment moving path according to the position information of the target electric flat car indicated by the in-position signal and the position information of the target metallurgical crane, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the equipment moving path and lift the target slag bag loaded by the target electric flat car, and call the decision layer of the slow cooling field equipment end to regenerate the equipment moving path according to the position information of the target bag position and the position information of the target metallurgical crane, call the execution layer of the slow cooling field equipment end to control the target metallurgical crane to move according to the regenerated equipment moving path and control the hook to descend in stages to place the target slag bag on the target bag position.

[0055] It should be noted that, during the movement of the target metallurgical crane, the metallurgical crane control module 121 continuously determines whether to perform an avoidance operation based on the acquired first designated monitoring video.

[0056] In summary, the metallurgical crane control module 121 enables intelligent positioning, automatic bag placement, automatic hooking, and automatic slag dumping. The system offers fully automatic, semi-automatic, and manual operation modes. In fully automatic operation, the system automatically allocates gantry crane operations and places bags based on the current status of slag bags in the slow cooling area and preset rules. Key steps require manual confirmation or fine-tuning. In semi-automatic operation, each step requires manual selection of the task, bag pickup location, and bag placement location at the operator station terminal. In manual operation, all movements of the gantry crane's trolley, trolley, main hook, and auxiliary hook are remotely controlled from the duty console.

[0057] In the embodiment of the present application, the spray door machine control module 122 is mainly composed of a core control industrial computer located in a remote control center, corresponding software modules, and a network switch. Among them, the video processing server is responsible for processing and displaying the image data, status, and fault information displayed by the on-board camera and the fault handling module. The core control industrial computer collects the operating status of the spray door machine through the corresponding software module and controls the water pump switch to realize automatic water spraying. The spray door machine is responsible for spraying and cooling the slag bags to be cooled in the water cooling field. That is, it is used to monitor the spraying time of the slag bags, and cooperate with the slag bag lifting crane to spray water on the slag bags accurately and timely to improve operating efficiency. During actual operation, the spray door machine control module 122 uses intelligent remote control technology, positioning technology, and laser ranging and anti-collision technology to accurately determine the real-time position information of the mobile spray driving vehicle, and automatically controls the start and stop of the spray water ball valve in combination with the slag bag position information and the air cooling and water cooling time.

[0058] Exemplarily, the spray door machine control module 122 is used to continuously display the slag bag status data, the second designated monitoring video collected by the video monitoring subsystem, and the equipment operation status data uploaded by the mobile spray vehicle equipment PLC on the operator station terminal at the remote control center end. Among them, the second designated control video includes the front and rear videos of the mobile spray vehicle and the slag bag monitoring video. Furthermore, the spray door machine control module 122 is also used to call the decision layer of the slow cooling field equipment end, determine the target bag position and the target spray door machine according to the control instructions issued by the operator station terminal, generate the equipment movement path according to the position information of the target spray door machine and the target bag position, call the execution layer of the slow cooling field equipment end, control the target spray door machine to move according to the equipment movement path and control the corresponding spray water ball valve switch to spray water cooling on the slag bag on the target bag position.

[0059] It should be noted that when the target spray door crane is moving, the spray door crane control module 122 continuously determines whether to start the avoidance mechanism and / or anti-collision mechanism based on the acquired second designated monitoring video, wherein the avoidance mechanism is used to determine the operating priority between the spray door crane and the metallurgical crane to enable active avoidance of low-level equipment, and the anti-collision mechanism includes anti-collision between spray door cranes and anti-collision between the spray door crane and the metallurgical crane.

[0060] In an embodiment of the present application, the electric flat car and rail shifting car control module 123 is mainly composed of a remote operation unit, a video processing display module, a core control unit, and an on-board controller located in a remote control center. Among them, the remote operation unit is responsible for collecting the instruction encapsulation processing from the control interface. The video processing display module is responsible for processing and displaying the monitoring information of the status and faults, etc. The core control unit is responsible for automatically controlling the start and stop / operation, forward and backward, and emergency avoidance instructions of the electric flat car according to the instructions of the console or the business process needs. The on-board controller is responsible for collecting the load information, fault information, equipment status information of the electric flat car and controlling the start and stop / operation of the vehicle according to the instructions. The electric flat car and rail shifting car control module 123 is divided into an electric flat car part and a rail shifting car part. Positioning algorithm and control technology are used to realize the accurate positioning and distance monitoring of the electric flat car and rail shifting car on the running track, and further realize the automated coordination of the electric flat car and the crane according to the operation logic.

[0061] Exemplarily, the electric flat car and rail transfer car control module 123 is used to continuously display the third designated monitoring video collected by the video monitoring subsystem and the equipment operation status data uploaded by the electric flat car equipment PLC on the operator station terminal at the remote control center end. Among them, the third designated control video includes videos of multiple position points corresponding to the slag transportation route and videos before and after the electric flat car. Furthermore, the electric flat car and rail transfer car control module 123 is also used to call the decision layer of the slow cooling field equipment end, determine the target electric flat car and the designated docking position according to the control instructions issued by the operator station terminal, generate the equipment movement path according to the position information of the target electric flat car and the designated docking position, call the execution layer of the slow cooling field equipment end, control the target electric flat car to move according to the equipment movement path, and after the target electric flat car arrives at the designated docking position, send a positioning signal to the metallurgical gantry crane control module 121, so that the metallurgical gantry crane control module 121 receives the positioning signal and controls the target metallurgical crane to move to the designated docking position for bag picking or bagging operations.

[0062] Exemplarily, the electric flat car and rail transfer car control module 123 is also used to receive the transportation signal sent by the metallurgical gantry crane control module 121, call the decision layer of the slow cooling field equipment end, determine the slag receiving port according to the control instruction, and generate the equipment movement path according to the position information of the target electric flat car indicated by the transportation signal and the position information of the slag receiving port, call the execution layer of the slow cooling field equipment end, and control the target electric flat car to move to the slag receiving point according to the equipment movement path to receive the slag.

[0063] Exemplarily, the electric flat car and rail shifting car control module 123 is also used to control the rail shifting car to stop at a specified position through a positioning sensor. After detecting that the electric flat car runs onto the rail shifting car, it controls the rail shifting car to run to another track and notifies the electric flat car to leave the rail shifting car.

[0064] In the embodiment of the present application, monitoring cameras are also installed on the electric flat car, crane, and other equipment. The video monitoring subsystem 11 is also used to capture corresponding driver-perspective videos based on the cameras installed on the electric flat car and metallurgical crane, so that the operator can remotely and manually operate the electric flat car and metallurgical crane based on the driver-perspective videos. The driver-perspective videos include front and rear videos of the electric flat car, front and rear videos of the metallurgical crane, and videos of the main and auxiliary hooks. By simulating the driver's perspective and supporting perspectives, the front and rear conditions of the electric flat car, the front and rear conditions of the crane, and the main and auxiliary hooks can be clearly seen, giving the remote operator a better experience than on-site operation.

[0065] In the embodiment of the present application, the slag cooling equipment control system further includes: a fault monitoring subsystem 13 and a communication subsystem 14 .

[0066] The fault monitoring subsystem 13 is used to continuously detect the working status, working data, location information and fault information of mobile equipment in the slag cooling yard, as well as the status of slag bags in the slag cooling yard, the status of spray water valves, and the monitoring video of the gantry crane trolley and hook, slag yard, and electric flat car operating area, and transmit the detection results to the operator station terminal at the remote control center for display.

[0067] The communication subsystem 14 is used to transmit control commands issued by the operator station terminal at the remote control center to the slow cooling equipment via wireless receiving modules installed on each metallurgical crane, spray gantry crane, electric flat car, and rail shifter, using 5G+Wi-Fi6 redundant communication. This transmits control commands to the slow cooling equipment at the corresponding target slag slow cooling equipment. The communication subsystem includes both wired and wireless networks, with the wireless network consisting of wireless controllers and wireless base stations. The wireless base stations typically cover a range of tens to hundreds of meters, and wireless connections can be established between wireless base stations to extend the network's coverage.

[0068] The embodiment of the present application provides a slag slow cooling field equipment control method applicable to a slag slow cooling field equipment control system, such as Figure 7 As shown, the method includes:

[0069] S10. The video monitoring subsystem collects monitoring videos based on the camera equipment configured at multiple locations in the slag cooling yard and transmits the monitoring videos to the operator station terminal at the remote control center.

[0070] S20. The equipment control subsystem visualizes the monitoring video corresponding to the corresponding target slag slow cooling field equipment, and determines the location information of the corresponding target slag slow cooling field equipment according to the control instruction issued by the operator station terminal.

[0071] S30. The equipment control subsystem generates an equipment movement path according to the location information and the monitoring video, and performs collaborative operation control operations according to the equipment movement path, wherein the collaborative operation control operations are one or more operations of the collaborative operation control operations of the spray gantry crane and the metallurgical crane, the collaborative operation control operations of the electric flat car and the metallurgical crane, and the collaborative operation control operations of the electric flat car and the rail-changing car. The target slag slow cooling equipment includes but is not limited to the target metallurgical crane, the target spray gantry crane, the target electric flat car and the target rail-changing car.

[0072] Specifically, the communication subsystem uses 5G+WIFI6 redundant communication through the wireless receiving module configured on each metallurgical crane, spray gantry crane, electric flat car, and rail transfer car to transmit the control instructions issued by the operator station terminal at the remote control center end to the slow cooling field equipment end, so as to control the corresponding target slag slow cooling field equipment to perform slow cooling operations.

[0073] When empty slag ladle needs to be connected, the operator station terminal sends a loading control instruction, and the metallurgical crane control module calls the decision layer of the slow cooling yard equipment end. According to the control instruction sent by the operator station terminal, it determines the target slag ladle and the target metallurgical crane. According to the position information of the target metallurgical crane and the target slag ladle, it generates the equipment movement path. It calls the execution layer of the slow cooling yard equipment end to control the target metallurgical crane to move according to the equipment movement path and lift the target slag ladle. The electric flat car and rail transfer car control module calls the decision layer of the slow cooling yard equipment end. According to the control instruction sent by the operator station terminal, it determines the target electric flat car and the designated docking position. According to the position information of the target electric flat car and the designated docking position, it generates the equipment movement path. It calls the execution layer of the slow cooling yard equipment end to control the target electric flat car to move according to the equipment movement path. After the target electric flat car reaches the designated docking position, it sends a positioning signal to the metallurgical gantry crane control module. The metallurgical crane control module receives the in-position signal initiated by the electric flat car and rail transfer car control module, calls the decision layer of the slow cooling field equipment side, regenerates the equipment movement path according to the position information of the target electric flat car and the target metallurgical crane indicated by the in-position signal, calls the execution layer of the slow cooling field equipment side, controls the target metallurgical crane to move according to the regenerated equipment movement path, and controls the hook to lower in stages to place the target slag bag on the target electric flat car, and sends a transportation signal to the electric flat car and rail transfer car control module after the placement is completed. The electric flat car and rail transfer car control module receives the transportation signal sent by the metallurgical gantry crane control module, calls the decision layer of the slow cooling field equipment side, determines the slag connection port according to the control instruction, and generates the equipment movement path according to the position information of the target electric flat car and the position information of the slag connection port indicated by the transportation signal, calls the execution layer of the slow cooling field equipment side, controls the target electric flat car to move to the slag connection point according to the equipment movement path to connect the slag. It should be noted that in the process of going to the slag receiving point to receive slag, it is necessary to judge whether it is necessary to use a rail shifter to change tracks based on the current running track and the position of the slag receiving point. If necessary, the electric flat car and rail shifter control module control the rail shifter to stop at the designated position through the positioning sensor. After detecting that the electric flat car has run onto the rail shifter, the rail shifter is controlled to run to another track and the electric flat car is notified to leave the rail shifter.

[0074] Furthermore, after receiving the full amount of hot slag, the operator station terminal issues a bag removal control instruction, and the metallurgical crane control module calls the decision layer of the slow cooling yard equipment end, and determines the target bag position, target slag bag, and target metallurgical crane according to the control instruction issued by the operator station terminal. The electric flat car and rail transfer car control module calls the decision layer of the slow cooling yard equipment end, determines the target electric flat car and the designated docking position according to the control instruction issued by the operator station terminal, generates the equipment movement path based on the position information of the target electric flat car and the designated docking position, calls the execution layer of the slow cooling yard equipment end, controls the target electric flat car to move according to the equipment movement path, and sends a positioning signal to the metallurgical gantry crane control module after the target electric flat car reaches the designated docking position. The metallurgical crane control module receives the in-position signal initiated by the electric flat car and the rail shift car control module, calls the decision layer of the slow cooling field equipment end, generates the equipment movement path according to the position information of the target electric flat car and the position information of the target metallurgical crane indicated by the in-position signal, calls the execution layer of the slow cooling field equipment end, controls the target metallurgical crane to move according to the equipment movement path and lifts the target slag bag loaded by the target electric flat car, and calls the decision layer of the slow cooling field equipment end to regenerate the equipment movement path according to the position information of the target bag position and the position information of the target metallurgical crane, calls the execution layer of the slow cooling field equipment end to control the target metallurgical crane to move according to the regenerated equipment movement path and control the hook to descend in stages to place the target slag bag on the target bag position.

[0075] It should be noted that during the packaging and unpacking process, the metallurgical crane control module continuously displays the operating data obtained by calling the perception layer of the slow cooling equipment end and the first designated monitoring video collected by the video monitoring subsystem on the operator station terminal of the remote control center end. The operating data includes the package position status data and the equipment operation status data uploaded by the PLC of the metallurgical crane equipment. The first designated control video includes the overall bird's-eye view video of the slag slow cooling yard, the monitoring video around the metallurgical crane, and the hook monitoring video.

[0076] Furthermore, after the hot bag air cooling time reaches the preset time interval, the operator station terminal issues a spray control instruction. The spray gate control module calls the decision layer of the slow cooling field equipment end, determines the target bag position and target spray gate according to the control instruction issued by the operator station terminal, generates the equipment movement path based on the location information of the target spray gate and target bag position, calls the execution layer of the slow cooling field equipment end, controls the target spray gate to move according to the equipment movement path, and controls the corresponding spray water ball valve to spray water cooling on the slag bag on the target bag position.

[0077] It should be noted that during the spraying operation, the spray door crane control module continuously displays slag ladle status data, a second designated monitoring video collected by the video surveillance subsystem, and equipment operation status data uploaded by the mobile spray vehicle PLC on the operator station terminal at the remote control center. The module also continuously determines whether to activate the avoidance mechanism and / or anti-collision mechanism based on the acquired second designated monitoring video. The avoidance mechanism is used to determine the operating priority between the spray door crane and the metallurgical crane, thereby actively avoiding the lower-level equipment. The anti-collision mechanism includes anti-collision between the spray door cranes and between the spray door crane and the metallurgical crane. The second designated control video includes the front and rear views of the mobile spray vehicle and the slag ladle monitoring video.

[0078] Finally, after the water cooling is completed, the operator station terminal issues a bag flipping control instruction, and the metallurgical crane control module calls the decision layer of the slow cooling field equipment end, and determines the bag flipping point, target slag bag and target metallurgical crane according to the control instruction issued by the operator station terminal. According to the position information of the target metallurgical crane and the target slag bag, the equipment movement path is generated, and the execution layer of the slow cooling field equipment end is called to control the target metallurgical crane to move according to the equipment movement path and lift the target slag bag, and the decision layer of the slow cooling field equipment end is called to regenerate the equipment movement path according to the position information of the target metallurgical crane and the position information of the bag flipping point, and the execution layer of the slow cooling field equipment end is called to control the target metallurgical crane to move to the bag flipping point according to the regenerated equipment movement path to perform the bag flipping operation.

[0079] During the above-mentioned slow cooling operation, the fault monitoring subsystem continuously detects the working status, working data, location information and fault information of the mobile equipment in the slag slow cooling area, as well as the status of the slag bag position in the slag slow cooling area, the status of the spray water valve, and the monitoring video of the gantry crane trolley and hook, slag yard, and electric flat car operation area, and transmits the detection results to the operator station terminal at the remote control center for display.

[0080] In the method provided in the embodiments of the present application, a video monitoring subsystem captures surveillance video using cameras deployed at multiple locations within the slag cooling area and transmits the surveillance video to an operator station terminal at a remote control center. Next, the equipment control subsystem continuously visualizes the surveillance video corresponding to the target slag cooling equipment and determines the location information of the target slag cooling equipment based on control instructions issued by the operator station terminal. Furthermore, the equipment control subsystem generates an equipment movement path based on the location information and the surveillance video. Finally, the equipment control subsystem controls the movement of the target slag cooling equipment based on the equipment movement path, performs collaborative operation control operations, and continuously determines whether to pause movement and perform avoidance operations based on the surveillance video during movement. The collaborative operation control operations include one or more of the following: a spray gantry crane and a metallurgical crane, an electric flat car and a metallurgical crane, or an electric flat car and a rail-switching vehicle. The target slag cooling equipment includes, but is not limited to, a target metallurgical crane, a target spray gantry crane, a target electric flat car, and a target rail-switching vehicle. This application uses a video surveillance subsystem to capture real-time video streams of equipment operation and transmits them to a remote control center. The equipment control subsystem continuously plans collision-free movement paths for the equipment based on the video and the equipment's position, eliminating the visual error in judging the distance between devices by the human eye and reducing the risk of trajectory conflicts in densely populated areas. The multi-module collaborative mechanism effectively solves the collaborative control challenges of multiple equipment in dynamic operation scenarios in the slag cooling field, ensuring safe and efficient operation of the slag cooling field.

[0081] To solve the above technical problems, the embodiment of the present invention also provides a computer device. Figure 8 , Figure 8 This is a basic structural block diagram of the computer device in this embodiment.

[0082] like Figure 8 As shown, a schematic diagram of the internal structure of a computer device. The computer device includes a processor, a non-volatile storage medium, a memory and a network interface connected via a system bus. Among them, the non-volatile storage medium of the computer device stores an operating system, a database and computer-readable instructions, and the database may store a control information sequence. When the computer-readable instructions are executed by the processor, the processor can implement a data relationship reconstruction method. The processor of the computer device is used to provide computing and control capabilities to support the operation of the entire computer device. The memory of the computer device may store computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor can execute a data relationship reconstruction method. The network interface of the computer device is used to connect and communicate with the terminal. Those skilled in the art will understand that Figure 8The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0083] The memory stores the program code and various data required to execute the aforementioned modules. The network interface is used to transmit data between user terminals or servers. In this embodiment, the memory stores the program code and data required to execute all submodules in the data relationship reconstruction device. The server can call the server's program code and data to execute the functions of all submodules.

[0084] The present invention also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the data relationship reconstruction method in any of the above embodiments.

[0085] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0086] The present invention also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the data relationship reconstruction method in any of the above embodiments.

[0087] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0088] Those skilled in the art will appreciate that the steps, measures, and schemes in the various operations, methods, and processes discussed in this application may be interchanged, modified, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this application may also be interchanged, modified, rearranged, decomposed, combined, or deleted. Furthermore, steps, measures, and schemes in the prior art that are similar to those disclosed in this application may also be interchanged, modified, rearranged, decomposed, combined, or deleted.

[0089] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A slag slow cooling equipment control system, characterized in that: The slag slow cooling equipment control system includes: a video acquisition subsystem and an equipment control subsystem; The video monitoring subsystem is used to collect monitoring videos based on camera equipment configured at multiple locations in the slag slow cooling area, and transmit the monitoring videos to the operator station terminal at the remote control center end; The equipment control subsystem is used to continuously visualize the monitoring video corresponding to the corresponding target slag cooling field equipment, and determine the position information of the corresponding target slag cooling field equipment according to the control instructions issued by the operator station terminal, and generate the equipment movement path according to the position information and the monitoring video, and control the movement of the corresponding target slag cooling field equipment according to the equipment movement path, perform collaborative operation control operations, and continuously judge whether to pause the movement and perform avoidance operations according to the monitoring video during the movement process, wherein the collaborative operation control operation is one or more operations of the collaborative operation control operation of the spray door crane and the metallurgical crane, the collaborative operation control operation of the electric flat car and the metallurgical crane, and the collaborative operation control operation of the electric flat car and the rail-changing car. The target slag cooling field equipment includes but is not limited to the target metallurgical crane, the target spray door crane, the target electric flat car and the target rail-changing car.

2. The slag slow cooling equipment control system according to claim 1, characterized in that: The equipment control subsystem includes: a metallurgical crane control module; The metallurgical crane control module is used to continuously display the operating data acquired by the perception layer of the slow cooling yard equipment and the first designated monitoring video collected by the video monitoring subsystem on the operator station terminal of the remote control center, wherein the operating data includes the package status data and the equipment operation status data uploaded by the PLC of the metallurgical crane equipment, and the first designated control video includes the overall bird's-eye view video of the slag slow cooling yard, the surrounding monitoring video of the metallurgical crane, and the hook monitoring video; The metallurgical crane control module is further used to call the decision layer of the slow cooling field equipment end, determine the target slag slow cooling field equipment for performing the slow cooling operation and generate the equipment movement path according to the control instructions issued by the operator station terminal, and call the execution layer of the slow cooling field equipment end, and control the target slag slow cooling field equipment to move according to the equipment movement path and perform the slow cooling operation through the control protocol and interface corresponding to the target slag slow cooling field equipment.

3. The slag slow cooling equipment control system according to claim 2, characterized in that: The metallurgical crane control module is used to call the decision layer of the slow cooling yard equipment end, determine the bag turning point, the target slag ladle and the target metallurgical crane according to the control instruction issued by the operator station terminal, generate an equipment movement path according to the position information of the target metallurgical crane and the target slag ladle, call the execution layer of the slow cooling yard equipment end, control the target metallurgical crane to move according to the equipment movement path and lift the target slag ladle, and call the decision layer of the slow cooling yard equipment end, regenerate the equipment movement path according to the position information of the target metallurgical crane and the position information of the bag turning point, call the execution layer of the slow cooling yard equipment end, control the target metallurgical crane to move to the bag turning point according to the regenerated equipment movement path to perform the bag turning operation; The metallurgical crane control module is also used to call the decision layer of the slow cooling field equipment end, determine the target slag bag and the target metallurgical crane according to the control instruction issued by the operator station terminal, generate an equipment movement path according to the position information of the target metallurgical crane and the target slag bag, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the equipment movement path and lift the target slag bag, and receive the in-position signal initiated by the electric flat car and rail shifter control module, call the decision layer of the slow cooling field equipment end, regenerate the equipment movement path according to the position information of the target electric flat car and the position information of the target metallurgical crane indicated by the in-position signal, call the execution layer of the slow cooling field equipment end, control the target metallurgical crane to move according to the regenerated equipment movement path and control the hook to descend in stages to place the target slag bag on the target electric flat car, and send a transportation signal to the electric flat car and rail shifter control module after the placement is completed; The metallurgical crane control module is further used to call the decision layer of the slow cooling yard equipment end, determine the target bag position, target slag bag and target metallurgical crane according to the control instruction issued by the operator station terminal, and receive the in-position signal initiated by the electric flat car and rail shifter control module, call the decision layer of the slow cooling yard equipment end, generate an equipment movement path according to the position information of the target electric flat car indicated by the in-position signal and the position information of the target metallurgical crane, call the execution layer of the slow cooling yard equipment end, control the target metallurgical crane to move according to the equipment movement path and lift the target slag bag loaded by the target electric flat car, and call the decision layer of the slow cooling yard equipment end, regenerate the equipment movement path according to the position information of the target bag position and the position information of the target metallurgical crane, call the execution layer of the slow cooling yard equipment end to control the target metallurgical crane to move according to the regenerated equipment movement path and control the hook to descend in stages to place the target slag bag on the target bag position; Wherein, during the movement of the target metallurgical crane, the metallurgical crane control module continuously determines whether to perform an avoidance operation according to the acquired first designated monitoring video.

4. The slag slow cooling equipment control system according to claim 2, characterized in that: The equipment control module also includes: a spray door machine control module; The spray door machine control module is used to continuously display the slag ladle status data, the second designated monitoring video collected by the video monitoring subsystem, and the equipment operation status data uploaded by the mobile spray vehicle equipment PLC on the operator station terminal of the remote control center. The second designated control video includes the front and rear videos of the mobile spray vehicle and the slag ladle monitoring video. The spray door machine control module is further used to call the decision layer of the slow cooling field equipment end, determine the target bag position and the target spray door machine according to the control instruction issued by the operator station terminal, generate the equipment movement path according to the position information of the target spray door machine and the target bag position, call the execution layer of the slow cooling field equipment end, control the target spray door machine to move according to the equipment movement path and control the corresponding spray water ball valve switch to spray water cooling on the slag bag on the target bag position; Among them, when the target spray door crane is moving, the spray door crane control module continuously determines whether to start the avoidance mechanism and / or anti-collision mechanism based on the acquired second designated monitoring video. The avoidance mechanism is used to determine the operating priority between the spray door crane and the metallurgical crane to enable active avoidance of low-level equipment. The anti-collision mechanism includes anti-collision between spray door cranes and anti-collision between spray door cranes and metallurgical cranes.

5. The slag slow cooling equipment control system according to claim 2, characterized in that: The equipment control subsystem also includes: an electric flat car and a rail shifter control module; The electric flat car and rail shifter control module is used to continuously display the third designated monitoring video collected by the video monitoring subsystem and the equipment operation status data uploaded by the electric flat car equipment PLC on the operator station terminal of the remote control center end, wherein the third designated control video includes videos of multiple position points corresponding to the slag transportation route and videos before and after the electric flat car; The electric flat car and rail transfer car control module is further used to call the decision layer of the slow cooling yard equipment end, determine the target electric flat car and the designated docking position according to the control instruction issued by the operator station terminal, generate the equipment movement path according to the position information of the target electric flat car and the designated docking position, call the execution layer of the slow cooling yard equipment end, control the target electric flat car to move according to the equipment movement path, and after the target electric flat car reaches the designated docking position, send a positioning signal to the metallurgical gantry crane control module, so that the metallurgical gantry crane control module receives the positioning signal and controls the target metallurgical crane to move to the designated docking position to take or put the package; The electric flat car and rail shifter control module is further used to receive the transportation signal sent by the metallurgical gantry crane control module, call the decision layer of the slow cooling field equipment end, determine the slag receiving port according to the control instruction, and generate an equipment movement path according to the position information of the target electric flat car indicated by the transportation signal and the position information of the slag receiving port, call the execution layer of the slow cooling field equipment end, and control the target electric flat car to move to the slag receiving point according to the equipment movement path to receive slag; The electric flat car and rail shifting car control module is also used to control the rail shifting car to stop at a specified position through a positioning sensor. After detecting that the electric flat car has run onto the rail shifting car, it controls the rail shifting car to run to another track and notifies the electric flat car to leave the rail shifting car.

6. The slag slow cooling equipment control system according to claim 1, characterized in that: The video monitoring subsystem is also used to collect corresponding driver's perspective videos based on the camera equipment installed on the electric flat car and metallurgical crane equipment, so that the operator can remotely operate the electric flat car and the metallurgical crane based on the driver's perspective video. The driver's perspective video includes front and rear videos of the electric flat car, front and rear videos of the metallurgical crane, and videos of the main and auxiliary hooks.

7. The slag slow cooling equipment control system according to claim 1, characterized in that: The system further comprises: a fault monitoring subsystem and a communication subsystem; The fault monitoring subsystem is used to continuously detect the working status, working data, location information and fault information of the mobile equipment in the slag slow cooling area, as well as the status of the slag ladle in the slag slow cooling area, the status of the spray water valve, and the monitoring video of the gantry crane trolley and hook, the slag yard, and the electric flat car operation area, and transmit the detection results to the operator station terminal of the remote control center for display; The communication subsystem is used to transmit the control instructions issued by the operator station terminal of the remote control center to the slow cooling field equipment end through the wireless receiving module configured on each metallurgical crane, spray door crane, electric flat car, and rail shift car, using 5G+WIFI6 redundant communication, so as to control the corresponding target slag slow cooling field equipment to perform slow cooling operations. The communication subsystem includes a wired network and a wireless network, and the wireless network is composed of a wireless controller and a wireless base station.

8. A slag slow cooling field equipment control method applicable to a slag slow cooling field equipment control system, characterized in that: include: The video monitoring subsystem collects monitoring videos based on the camera equipment configured at multiple locations in the slag cooling area and transmits the monitoring videos to the operator station terminal at the remote control center. The equipment control subsystem continuously visualizes the monitoring video corresponding to the corresponding target slag slow cooling field equipment, and determines the location information of the corresponding target slag slow cooling field equipment according to the control instructions issued by the operator station terminal; The equipment control subsystem generates an equipment movement path according to the position information and the monitoring video, and controls the movement of the corresponding target slag cooling field equipment according to the equipment movement path, performs collaborative operation control operations, and continuously determines whether to pause the movement and perform avoidance operations according to the monitoring video during the movement. The collaborative operation control operations are one or more operations of the collaborative operation control operations of the spray door crane and the metallurgical crane, the collaborative operation control operations of the electric flat car and the metallurgical crane, and the collaborative operation control operations of the electric flat car and the rail-changing car. The target slag cooling field equipment includes but is not limited to a target metallurgical crane, a target spray door crane, a target electric flat car, and a target rail-changing car.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to claim 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 8 are implemented.

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