An intelligent coal conveying method and system integrating anti-swing control and work order scheduling

Abstract

The present application relates to the technical field of coal transportation intelligence, and specifically discloses an intelligent coal conveying method and system integrating anti-swing control and work order scheduling, which comprises the following steps: firstly, constructing a three-dimensional model of the whole stockyard, and then planning the operation path and optimal speed curve of the large and small vehicles based on the model and the real-time coordinates of the grab bucket; then, converting the work order into a work order task in the form of a work order for execution by the execution unit; the execution unit imports the work order into a work order queue, and determines the execution order of the work order task based on the priority sorting rule; according to the planned operation path and the priority sorting rule, the anti-swing control logic is combined to control the hoisting, opening and closing of the coal conveying head sheave, and the decoupling operation of the large and small vehicle mechanisms; and the running state of the head sheave and the posture of the grab bucket are monitored in real time for fault diagnosis. The present application adopts the above-mentioned intelligent coal conveying method and system integrating anti-swing control and work order scheduling, solves the problems of dependence on manual operation, low efficiency and poor safety in the prior art, and is suitable for multi-bank working conditions in the coal conveying scene of the salt industry and heavy industry.

Description

Technical Field

[0001] This invention relates to the field of intelligent coal transportation technology, and in particular to an intelligent coal transportation method and system that integrates anti-sway control and work order scheduling. Background Technology

[0002] In the coal transportation sector, grab cranes are key equipment for coal conveying operations. With the development of intelligent technologies, intelligent manufacturing and intelligent logistics are driving industry transformations such as unmanned workshops and smart power plants, leading to a growing demand for intelligent cranes. While current intelligent cranes can achieve some automated operation functions, they still have many shortcomings: existing equipment relies heavily on manual intervention in automatic sensing, anomaly decision-making, and multi-task scheduling; it lacks effective means of controlling the swing of suspended loads; path planning accuracy is insufficient; and the prioritization of complex work orders is unreasonable, resulting in limited operational efficiency and significant safety hazards.

[0003] Specifically, existing technologies suffer from two major problems: First, the point-to-point path planning problem of intelligent grab buckets. Traditional cranes struggle to dynamically optimize the operating path based on the real-time status of the material pile, impacting operational efficiency and bucket fullness. Second, the task scheduling problem based on work orders. The lack of a scientific mathematical model to support multi-task queuing priority decisions leads to high energy consumption during idling and chaotic operation sequences. Furthermore, existing equipment has weak fault handling capabilities and lacks a comprehensive safety protection system. When accidents or malfunctions occur, it cannot automatically enter a safe state, posing a threat to personal and property safety.

[0004] Therefore, it is of great practical significance to develop an intelligent coal conveying method and system that can achieve fully automated and unmanned operation and has the ability to plan precise paths and schedule intelligently. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent coal conveying method and system that integrates anti-sway control and work order scheduling. This solves the technical problems of insufficient accuracy in point-to-point path planning of intelligent grab buckets and unreasonable work order task scheduling in existing coal conveying operations. At the same time, it overcomes the defects of existing equipment that rely on manual intervention, have low operating efficiency and poor safety, and realizes fully automatic unmanned intelligent control of coal conveying operations.

[0006] To achieve the above objectives, this invention provides an intelligent coal conveying method integrating anti-sway control and work order scheduling, comprising the following steps: S1. Construct a three-dimensional model of the entire stockyard; S2. Based on the overall three-dimensional model of the stockyard and the real-time three-dimensional coordinates of the grab bucket, plan the point-to-point operation path and optimal speed curve of the large and small vehicles; S3. Convert the point-to-point operation routes of large and small vehicles planned in S2 into work order tasks for the executing unit to execute. S4. After receiving multiple work orders, the execution unit imports the work orders into the work order queue and determines the execution order of the work order tasks based on the priority sorting rules constructed by the mathematical model. S5. Based on the operation path planned in S2 and the priority sorting rules in S4, and combined with the anti-sway control logic, control the decoupled operation of the lifting, opening and closing, and large and small trolley mechanisms of the coal conveying crane. S6. Real-time monitoring of the crane's operating status and the grab's attitude for fault diagnosis.

[0007] Preferably, in S1, the outline scanning data of the material pile is collected by a 3D laser scanning system, and the overall three-dimensional model of the stockpile is established by combining the length and width of a single coal stockpile, and the contour distribution point cloud data of the material in the material pool is obtained in real time. The material pile contour scan data includes the material pile spatial coordinate range, surface undulation characteristics, edge contour morphology, material properties, and material pile area division data.

[0008] Preferably, in S1, the 3D laser scanning system includes at least two PTZ cameras for the storage area and two key position gun cameras, and the material pile area is specifically divided as follows: The bulk material storage area is divided into multiple stockpile areas for storing materials of different qualities, including a uniform-sized coal area and a general coal area.

[0009] Preferably, in S2, the overall three-dimensional model of the stockpile and the real-time three-dimensional coordinates of the grab bucket established in S1 are used to generate a three-dimensional image of the stockpile through the image algorithm built into the WMS management system, thereby determining the bulk material status and coordinate position. Synchronously initiate the anti-sway control logic, plan the point-to-point operation path and optimal speed curve for both the large and small vehicles, specifically including the following steps: S21. Construct a physical model of a trolley with a single pendulum slider. Taking the vertical plane containing the trolley and the suspension rope as the research object, establish a two-dimensional nonlinear dynamic model of the trolley using Lagrange dynamics. The model variables include the displacement of the trolley and the velocities of the trolley and the suspension angle and the angular velocity of the suspended object. S22. Based on the target working condition of minimizing the swing angle of the suspended object during actual operation of the train, the two-dimensional nonlinear dynamic model established in S21 is simplified and linearized to obtain a linearized model. The linearized model is then transformed into the state equation of the train system to analyze the correlation between the swing angle change and the train motion. S23. Using the maximum value principle and variational method, based on the established state equations of the driving system and the cumulative swing angle from the initial acceleration state to the final state and the change in the cumulative swing angle as performance evaluation indicators, a system of differential equations is established to find the optimal theoretical trajectory.

[0010] Preferably, in S4, the work order includes the coordinates of the material pick-up point, the coordinates of the material placement point, the workload requirement, and the urgency parameter. After receiving multiple work orders, the executing unit imports the work orders into the work order queue, constructs a priority sorting rule based on a mathematical model, and optimizes the work order execution sequence by taking the urgency of the work, the distance of the material pile, and the energy consumption of the equipment as constraints.

[0011] Preferably, the decoupled operation of the large and small trolley mechanisms in S5 is as follows: The hoisting mechanism, opening and closing mechanism, trolley traveling mechanism, and trolley traveling mechanism of the coal conveying crane are independently controlled by a PLC program. Each mechanism receives an independent control signal to start, stop, or adjust its speed independently. During operation, the mechanism actions are combined according to the work order requirements, including simultaneous activation of the lifting and opening / closing mechanisms during the grabbing phase, simultaneous activation of the trolley and gantry mechanisms during the transfer phase, and separate control of the opening / closing mechanism during the unloading phase, to adapt to different working conditions.

[0012] Preferably, in S6, the crane's operating status and grab bucket attitude are monitored in real time through a fault diagnosis system. The crane's operating status includes current, voltage, and mechanism temperature. If a fault such as hook slippage, rail wear, or communication interruption is detected, an audio alarm will be triggered immediately, and a safety response will be executed simultaneously: if the fault can be repaired in real time, the operation parameters will be automatically adjusted and the operation will continue; if the fault affects safety, the operation will be switched to local manual operation mode immediately, and the grab bucket will be guided to a safe position.

[0013] Preferably, in S6, the fault diagnosis system collects data on hoisting mechanism current, trolley travel wheel pressure, and hoisting rope tension through sensors, and compares them with preset thresholds to determine abnormalities in real time; it automatically stores operating data for a certain period of time before the fault occurs through a black box; when a fault occurs, it triggers local voice alarm, remote pop-up alarm, and mobile APP push alarm functions, and displays fault codes and troubleshooting suggestions at the same time.

[0014] Preferably, a manual intervention switching step is included after S6: When dealing with situations such as material pile collapse and obstruction by foreign objects, the operator can switch to manual driving mode via the remote control center console handle or the local control room, suspend the execution of automatic work orders, manually control the grab bucket to complete the operation, and then switch back to automatic mode to continue the unfinished work orders.

[0015] This invention also provides an intelligent coal conveying system integrating anti-sway control and work order scheduling, comprising: The 3D inspection system consists of at least two high-definition pan-tilt cameras for the storage area, two high-definition bullet cameras for the storage area, and an image processing unit, used for material pile scanning and 3D modeling; The intelligent positioning system includes a lifting and opening / closing absolute encoder measurement system and a Gray busbar positioning system, used to generate the three-dimensional coordinates of the grab bucket and the opening / closing angle of the grab bucket in real time; The crane's electrical control system adopts full frequency conversion control for lifting, opening, closing, and trolley operations, and integrates automated crane operation programs; The anti-sway module is equipped with an open-loop anti-sway electronic module to achieve the anti-sway control function; The scheduling module is used to receive inbound / outbound plans from the upstream management system or manually input work plans, divide the material yard area, and build a work order priority queue. The intelligent control module communicates with each system module, generates control commands and sends them to the actuators to achieve interlocking control. The safety monitoring system includes at least two high-definition cameras installed on the vehicle, a Hikvision network video recorder and monitor in the central control room, as well as a fault diagnosis unit with remote status monitoring, fault diagnosis and black box storage functions. The network communication system consists of an independent industrial wireless communication system for the warehouse area and a wired communication system between the warehouse area and the central control room, using Ethernet cables or fiber optic cables for transmission. The remote operation center is equipped with a remote operating system for switching between three modes: fully automatic intelligent operation, remote operation, and local operation. The remote operating system includes an industrial computer, an operator console, and a PLC control substation.

[0016] Therefore, the present invention employs the above-mentioned intelligent coal conveying method integrating anti-sway control and work order scheduling, which has the following beneficial effects: (1) This invention improves the continuity of coal conveying crane operation and the stability of grabbing by anti-sway control and work order scheduling; at the same time, it reduces the manual intervention links and realizes the synergistic optimization of cost and efficiency.

[0017] (2) The present invention is equipped with a multi-dimensional fault diagnosis system to monitor key parameters of crane operation in real time. When a fault occurs, it can automatically trigger an alarm and safety guidance; it supports manual intervention and switching to avoid risks of high-altitude operations and equipment malfunctions, and ensure the safety of personnel and equipment throughout the entire process.

[0018] (3) This invention relies on mechanism decoupling control and three-dimensional modeling of material piles to accurately divide material quality zones to match production needs. It can be adapted to multi-warehouse collaborative operation scenarios and provides a scalable solution for intelligent coal transportation in the salt industry and heavy industry.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is an overall flowchart of an embodiment of an intelligent coal conveying method integrating anti-sway control and work order scheduling according to the present invention. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0023] like Figure 1 As shown, an intelligent coal conveying method integrating anti-sway control and work order scheduling includes the following steps: S1. Construct a three-dimensional model of the entire stockyard.

[0024] The 3D laser scanning system collects the outline scanning data of the stockpile, and combines the length and width of the single stockpile in the coal yard to establish a three-dimensional model of the overall stockpile. The contour distribution point cloud data of the material in the stockpile is obtained in real time. The outline scanning data of the stockpile includes the spatial coordinate range of the stockpile, surface undulation features, edge contour morphology, material properties, and stockpile area division data.

[0025] The 3D laser scanning system in this invention includes at least two PTZ cameras for the storage area and two key position laser cameras. The material pile area is specifically divided as follows: The bulk material storage area of ​​the coal storage silo is divided into multiple stockpile areas for storing materials of different qualities. The stockpile areas include a uniform-sized coal area and a general coal area to meet the needs of the new boiler.

[0026] S2, based on the overall three-dimensional model of the stockpile established by S1 and the real-time three-dimensional coordinates of the grab bucket obtained by the absolute encoder and Gray busbar positioning system, are used to generate a three-dimensional image of the stockpile through the image algorithm built into the WMS management system to determine the bulk material status and coordinate position.

[0027] Synchronously initiate the anti-sway control logic, plan the point-to-point operation path and optimal speed curve for both the large and small vehicles, specifically including the following steps: S21. Construct a physical model of a single pendulum slider for the overhead crane, simplifying the coal conveying crane system into a single pendulum slider system. This invention takes the vertical plane where the trolley and the hoisting rope are located as the research object, and uses Lagrange dynamics to establish a two-dimensional nonlinear dynamic model of the crane. The model variables include the displacement of the trolley and the trolley, the speed of the trolley and the hoisting object, the swing angle of the hoisting object, and the angular velocity of the hoisting object.

[0028] S22. Based on the target working condition of minimizing the swing angle of the suspended object during actual operation of the train, the two-dimensional nonlinear dynamic model established in S21 is simplified and linearized by ignoring nonlinear disturbance terms to obtain a linearized model. The linearized model is then transformed into the state equation of the train system to analyze the correlation between the swing angle change and the train motion.

[0029] S23. Using the maximum value principle and variational method in optimal control theory, based on the established state equations of the driving system and the cumulative swing angle from the initial acceleration state to the final state and the change in the cumulative swing angle as performance evaluation indicators, a system of differential equations is formed to find the optimal theoretical trajectory.

[0030] S3. Convert the point-to-point operation path of the large and small trolleys planned in S2 into work order tasks, and distribute them to the executing units for execution through the intelligent central control management system. The executing units are equipped with coal conveying crane control systems.

[0031] S4. After receiving multiple work orders, the executing unit imports the work orders into the work order queue. The work order includes the coordinates of the material pick-up point, the coordinates of the material placement point, the workload requirement, and the urgency parameter. Based on the mathematical model, a priority sorting rule is constructed. The execution sequence of the work orders is optimized and the execution order is determined by using the urgency of the work, the distance of the material pile, and the energy consumption of the equipment as constraints.

[0032] S5. Based on the work path planned in S2 and the priority sorting rules in S4, combined with the anti-sway control logic, the hoisting, opening and closing, and large and small trolley mechanisms of the coal conveying crane are decoupled and operated; the grab bucket is automatically deep-digging (by sinking and releasing the rope by its own weight), automatically tracking the rope (coordinating the hoisting and opening / closing ropes), and automatically grabbing and transferring. At the same time, the grab weight is collected in real time through the weighing system and fed back to the central control system to adjust the work parameters.

[0033] The control logic of the automatic deep digging function is as follows: when the grab bucket descends to 1m before reaching the surface of the material pile, the lifting mechanism automatically decelerates, and the opening and closing mechanism remains open. After the grab bucket touches the material, the lifting mechanism automatically releases the rope according to the weight change rate fed back by the weighing system. The length of the released rope is adjusted according to the softness of the material pile to ensure that the full bucket rate is ≥90%. The control logic of the automatic rope tracking function is as follows: during the closing process of the grab bucket, the lifting mechanism synchronously pulls the rope upward. The ratio of the rope pulling speed to the closing speed of the opening and closing mechanism is kept at 1:1.2 to avoid excessive stress on the hoisting rope when the bucket is closed.

[0034] Specifically, the decoupled operation of the large and small trolley mechanisms is as follows: The hoisting mechanism, opening and closing mechanism, trolley traveling mechanism, and trolley traveling mechanism of the coal conveying crane are independently controlled by a PLC program. Each mechanism receives an independent control signal to start, stop, or adjust its speed independently.

[0035] During operation, the mechanism actions are combined according to the work order requirements, including the simultaneous activation of the lifting and opening / closing mechanisms during the grabbing phase, the simultaneous activation of the trolley and gantry mechanisms during the transfer phase, and the separate control of the opening / closing mechanism during the unloading phase, to adapt to different working conditions, such as coal unloading in the storage area and material transfer from storage #2 to storage #1.

[0036] S6. During operation, the overhead crane's operating status and grab bucket's attitude are monitored in real time through the fault diagnosis system. The overhead crane's operating status includes current, voltage, and mechanism temperature. If faults such as hook slippage, rail biting, or communication interruption are detected, a voice alarm is immediately triggered, and a safety response is executed simultaneously. If the fault can be repaired in real time, the operation parameters are automatically adjusted and the operation continues. If the fault affects safety, the system immediately switches to local manual operation mode and guides the grab bucket to a safe position.

[0037] The fault diagnosis system includes the following functions: Real-time monitoring function: Collects data on hoisting mechanism current, trolley travel wheel pressure, and hoisting rope tension through sensors, and compares the data with preset thresholds to identify abnormalities in real time.

[0038] Black box storage function: Automatically stores operational data for a certain period of time before a failure occurs through the black box.

[0039] Multi-mode alarm function: When a fault occurs, the voice alarm function in the local crane control room, the remote pop-up alarm function of the industrial control computer in the central control room, and the push alarm function of the mobile APP are triggered, while displaying the fault code and troubleshooting suggestions.

[0040] Manual intervention switching steps: When special working conditions such as material pile collapse and foreign object obstruction need to be handled, the operator can switch to manual driving mode through the remote control center console handle or the local control room, suspend the execution of automatic work orders, and seamlessly switch back to automatic mode to continue the unfinished work orders after the grab bucket is completed manually.

[0041] After completing a single work order, the operation time, bucket full rate, and energy consumption data are recorded and fed back to the WMS management system to dynamically update the 3D model of the material pile. At the same time, the priority sorting rules for subsequent work orders and the anti-sway speed curve parameters are optimized.

[0042] This invention also provides an intelligent coal conveying system integrating anti-sway control and work order scheduling, comprising: The 3D inspection system consists of at least two high-definition pan-tilt PTZ cameras for each storage area, two high-definition bullet cameras for each storage area, and an image processing unit, and is used for material pile scanning and 3D modeling.

[0043] The intelligent positioning system includes an absolute encoder measurement system for lifting and opening / closing, and a Gray busbar positioning system, used to generate the three-dimensional coordinates of the grab bucket and the opening / closing angle of the grab bucket in real time.

[0044] The crane's electrical control system adopts full frequency conversion control for lifting, opening, closing, and trolley operations, and integrates automated crane operation programs.

[0045] The anti-sway module is equipped with an open-loop anti-sway electronic module to achieve anti-sway control function.

[0046] The scheduling module is used to receive inbound / outbound plans from the upstream management system or manually input work plans, divide the material yard area, and build a work order priority queue.

[0047] The intelligent control module communicates with each system module, generates control commands and sends them to the actuators to achieve interlocking control.

[0048] The safety monitoring system includes at least two high-definition cameras installed on the vehicle, a Hikvision network video recorder and monitor in the central control room, and a fault diagnosis unit with remote status monitoring, fault diagnosis and black box storage functions.

[0049] The network communication system consists of an independent industrial wireless communication system for the storage area and a wired communication system between the storage area and the central control room, using Ethernet cables or fiber optic cables for transmission.

[0050] The remote operation center is equipped with a remote operating system for switching between three modes: fully automatic intelligent operation, remote operation, and local operation. The remote operating system includes an industrial computer, an operator console, and a PLC control substation.

[0051] Example 1 The intelligent coal conveying system and method of this embodiment are applied to the coal storage warehouse workshop of a salt chemical company. Warehouse No. 1 is 96m long and 22.5m wide, and warehouse No. 2 is 96m long and 16.5m wide. It can store about 8,000 tons of coal and is equipped with one grab bucket crane for coal conveying operation.

[0052] The system hardware configuration includes: 3D Inspection System: Two Hikvision HD PTZ cameras are configured in the warehouse area to monitor the overall condition of the warehouse area, and two Hikvision HD bullet cameras monitor key locations. Data on the material pile is collected by a laser scanner.

[0053] Intelligent positioning system: Equipped with lifting and opening / closing absolute encoders and Gray busbar positioning devices to obtain the three-dimensional coordinates of the grab bucket in real time.

[0054] The crane body has been modified to adopt full frequency conversion control for lifting, opening and closing trolleys and overhead trolleys, and is equipped with automatic deep digging and automatic rope tracking functions, and integrates anti-collision function between the cranes.

[0055] Anti-sway module: An open-loop anti-sway electronic module is installed to achieve anti-sway control based on the vehicle's physical model.

[0056] Safety monitoring system: Two Hikvision high-definition cameras are installed on the vehicle to monitor the grab bucket and the trolley respectively. The central control room is equipped with one Hikvision network video recorder (2T hard drive) and one brand monitor.

[0057] Network communication: The warehouse area is equipped with an independent industrial wireless communication system for communication between the crane and the control room. The warehouse area and the control room are connected via Ethernet cables or fiber optic cables for wired communication.

[0058] Remote Operation Center: A central control room is set up, which is equipped with industrial control computers, operating consoles, PLC control substations and other equipment, and supports switching between three operation modes.

[0059] The software module is implemented as follows: As the core module, the intelligent central control management system interfaces with the upstream management system to receive inbound and outbound plans, and communicates with the warehouse area scanning system via TCP to obtain material pile data, thereby dividing the material yard area and selecting the optimal grab point.

[0060] The path planning module generates the optimal operating path for the grab bucket based on the 3D model of the material pile and AI algorithms, including the running trajectory and speed planning of the large and small trolleys.

[0061] The anti-sway control module calculates the optimal acceleration and deceleration curves by establishing a pendulum slider model of the traveling vehicle and the Lagrange dynamics equation, and controls the movement of the large and small vehicles to eliminate swaying.

[0062] After receiving multiple work orders, the scheduling module constructs a priority queue based on a mathematical model, sorts them by priority, and decomposes them into scheduling commands to be sent to the vehicle control system.

[0063] The data management module retains critical data for more than one year and general data for more than six months, and automatically backs up the database regularly.

[0064] In practice, 3D laser scanners are used to collect material pile data in real time. The intelligent central control management system then constructs and updates a 3D model of the material yard to determine the material distribution and coordinates. The intelligent central control management system receives inbound / outbound plans from the upstream management system or manually entered work plans, generating multiple work orders.

[0065] The scheduling module prioritizes work orders, determines the execution order, and optimizes the job timing. Based on the current stockpile model and work order tasks, the path planning module generates the optimal path for the grab bucket from the pick-up point to the unloading point.

[0066] The intelligent control module converts path planning and scheduling instructions into control signals to drive the action of the vehicle's actuators. At the same time, the anti-sway module adjusts the acceleration and deceleration parameters in real time. The vehicle control system feeds back the operation status, location information, and fault diagnosis results to the intelligent central control management system in real time for data recording and display.

[0067] The entire system has remote status monitoring and fault diagnosis functions. The operating status can be monitored in real time via mobile APP and computer. Automatic voice alarm will be triggered when a fault occurs. The permanent magnet direct drive lifting and opening mechanism has a start-up self-test function and black box storage function to store fault and operation data.

[0068] During operation, comprehensive safety protection measures are configured to ensure the safety of personnel and equipment during automatic operation, and in case of emergency, it can be switched to manual operation in the local control room.

[0069] Therefore, the present invention adopts the above-mentioned intelligent coal conveying method and system that integrates anti-sway control and work order scheduling, realizing fully automatic unmanned intelligent operation of the coal conveying system, solving the problems of intelligent grab bucket path planning and work order scheduling, improving operation efficiency and safety, reducing operating costs, and meeting production needs.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An intelligent coal conveying method integrating anti-sway control and work order scheduling, characterized in that, Includes the following steps: S1. Construct a three-dimensional model of the entire stockyard; S2. Based on the overall three-dimensional model of the stockpile and the real-time three-dimensional coordinates of the grab bucket established in S1, the three-dimensional image of the stockpile is generated by the image algorithm built into the WMS management system to determine the bulk material status and coordinate position. Synchronously initiate the anti-sway control logic, plan the point-to-point operation path and optimal speed curve for both the large and small vehicles, specifically including the following steps: S21. Construct a physical model of a trolley with a single pendulum slider. Taking the vertical plane containing the trolley and the suspension rope as the research object, establish a two-dimensional nonlinear dynamic model of the trolley using Lagrange dynamics. The model variables include the displacement of the trolley and the velocities of the trolley and the suspension angle and the angular velocity of the suspended object. S22. Based on the target working condition of minimizing the swing angle of the suspended object during actual operation of the train, the two-dimensional nonlinear dynamic model established in S21 is simplified and linearized to obtain a linearized model. The linearized model is then transformed into the state equation of the train system to analyze the correlation between the swing angle change and the train motion. S23. Using the maximum value principle and variational method, based on the established state equations of the driving system and the cumulative swing angle from the initial acceleration state to the final state and the change in the cumulative swing angle as performance evaluation indicators, a system of differential equations is established to find the optimal theoretical trajectory. S3. Convert the point-to-point operation path of the large and small vehicles planned in S2 into work order tasks for the execution unit to perform; the work order includes the coordinates of the material pick-up point, the coordinates of the material placement point, the workload requirement and the urgency parameter. S4. After receiving multiple work orders, the executing unit imports the work orders into the work order queue and optimizes the work order execution sequence based on the priority sorting rules constructed by the mathematical model, with constraints such as job urgency, material stack distance, and equipment energy consumption. S5. Based on the work path planned in S2 and the priority sorting rules in S4, the work order execution order is determined, and the anti-sway control logic is combined to control the decoupled operation of the coal conveying crane's hoisting, opening and closing, and large and small trolley mechanisms. S6. Real-time monitoring of the crane's operating status and the grab's attitude for fault diagnosis.

2. The intelligent coal conveying method integrating anti-sway control and work order scheduling according to claim 1, characterized in that, In S1, the outline scanning data of the material pile is collected by the 3D laser scanning system. Combined with the length and width of the single coal pile, a three-dimensional model of the overall pile is established, and the contour distribution point cloud data of the material in the material pool is obtained in real time. The material pile contour scan data includes the material pile spatial coordinate range, surface undulation characteristics, edge contour morphology, material properties, and material pile area division data.

3. The intelligent coal conveying method integrating anti-sway control and work order scheduling according to claim 2, characterized in that, In S1, the 3D laser scanning system includes at least two PTZ cameras for the storage area and two key position gun cameras. The material pile area is specifically divided as follows: The bulk material storage area is divided into multiple stockpile areas for storing materials of different qualities, including a uniform-sized coal area and a general coal area.

4. The intelligent coal conveying method integrating anti-sway control and work order scheduling according to claim 1, characterized in that, The decoupled operation of the large and small trolley mechanisms in S5 is specifically as follows: The hoisting mechanism, opening and closing mechanism, trolley traveling mechanism, and trolley traveling mechanism of the coal conveying crane are independently controlled by a PLC program. Each mechanism receives an independent control signal to start, stop, or adjust its speed independently. During operation, the mechanism actions are combined according to the work order requirements, including simultaneous activation of the lifting and opening / closing mechanisms during the grabbing phase, simultaneous activation of the trolley and gantry mechanisms during the transfer phase, and separate control of the opening / closing mechanism during the unloading phase, to adapt to different working conditions.

5. The intelligent coal conveying method integrating anti-sway control and work order scheduling according to claim 1, characterized in that, In S6, the crane's operating status and grab bucket attitude are monitored in real time through a fault diagnosis system. The crane's operating status includes current, voltage, and mechanism temperature. If a fault such as hook slippage, rail wear, or communication interruption is detected, an audio alarm will be triggered immediately, and a safety response will be executed simultaneously: if the fault can be repaired in real time, the operation parameters will be automatically adjusted and the operation will continue; if the fault affects safety, the operation will be switched to local manual operation mode immediately, and the grab bucket will be guided to a safe position.

6. The intelligent coal conveying method integrating anti-sway control and work order scheduling according to claim 5, characterized in that, In S6, the fault diagnosis system collects data on hoisting mechanism current, trolley travel wheel pressure, and hoisting rope tension through sensors, and compares them with preset thresholds to judge abnormalities in real time; it automatically stores the operating data for a certain period of time before the fault occurs through the black box; when a fault occurs, it triggers local voice alarm, remote pop-up alarm, and mobile APP push alarm functions, and displays the fault code and troubleshooting suggestions at the same time.

7. The intelligent coal conveying method integrating anti-sway control and work order scheduling according to claim 1, characterized in that, S6 also includes a manual intervention switching step: When dealing with situations such as material pile collapse and obstruction by foreign objects, the operator can switch to manual driving mode via the remote control center console handle or the local control room, suspend the execution of automatic work orders, manually control the grab bucket to complete the operation, and then switch back to automatic mode to continue the unfinished work orders.

8. An intelligent coal conveying system integrating anti-sway control and work order scheduling, used to implement the method described in any one of claims 1-7, characterized in that, include: 3D inspection system: including at least 2 high-definition PTZ cameras for each storage area, 2 high-definition bullet cameras for each storage area, and an image processing unit, used for material pile scanning and 3D modeling; Intelligent positioning system: including lifting and opening / closing absolute encoder measurement system and Gray busbar positioning system, used to generate real-time three-dimensional coordinates of the grab bucket and the grab bucket opening / closing angle; The crane's electrical control system adopts full frequency conversion control for lifting, opening, closing, and trolley systems, integrating automated crane operation programs; Anti-sway module: Equipped with an open-loop anti-sway electronic module to achieve anti-sway control function; The scheduling module is used to receive inbound / outbound plans from the upstream management system or manually input work plans, divide the material yard area, and build a work order priority queue. Intelligent control module: Communicates with various system modules, generates control commands and sends them to the actuators to achieve interlocking control; Safety monitoring system: includes at least two high-definition cameras installed on the vehicle, a Hikvision network video recorder and monitor in the central control room, and also includes a fault diagnosis unit with remote status monitoring, fault diagnosis and black box storage functions; Network communication system: It consists of an independent industrial wireless communication system for the warehouse area and a wired communication system between the warehouse area and the central control room, using Ethernet cables or fiber optic cables for transmission; Remote Operation Center: Configures a remote operating system for switching between three modes: fully automatic intelligent operation, remote operation, and local operation. The remote operating system includes an industrial computer, an operator console, and a PLC control substation.

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