Full-process automatic control method and system for coal wharf

Abstract

The invention discloses a full-process automatic control method and system for a coal wharf, and relates to the field of coal wharf automatic control, and the method comprises the steps: determining the workflow information corresponding to a workprocess when determining that a newly created workprocess exists; determining a flow type corresponding to the workflow so as to determine a target operation strategy corresponding to the flow type; and sending a control instruction to a target single machine execution module based on the target operation strategy, and interacting with the storage yard management module according to the workflow information and a preset automatic immigration and emigration strategy, so that the storage yard management module sends an automatic stack migration instruction corresponding to the target operation material pile to the target single machine execution module, and then the target single machine execution module completes operation corresponding to the workflow based on the automatic stack transfer instruction and the control instruction. According to the scheme, information barriers among the modules are broken through, full-process collaboration of the central control module, the storage yard management module and the single-machine execution module is achieved, corresponding operation of the work process can be efficiently completed, and full-process production operation can be achieved.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for coal terminals, and in particular to a fully automated control method and system for coal terminals. Background Technology

[0002] Currently, the development of fully automated terminal technology for coal terminals mainly focuses on the research and application of individual modules, such as the central control module and individual machine modules. However, significant information barriers still exist between these modules. Technical personnel typically need to communicate instructions in the production process via telephone or walkie-talkie. For example, the workload and material handling rate of the reclaimer require technical personnel to issue instructions or read work orders, and the actual stacking operations of the stacker and reclaimer require instructions from technical personnel. This increases communication time and requires repeated manual confirmation, which is not conducive to achieving true full-process automated production. Summary of the Invention

[0003] In view of this, the present invention provides a fully automated control method and system for a coal terminal, which breaks down information barriers between various modules, realizes full-process collaboration between modules, and facilitates the realization of full-process production operations.

[0004] To address the aforementioned technical problems, this application provides a fully automated control method for a coal terminal, applied to the central control module of a fully automated control system for a coal terminal. The fully automated control system further includes a yard management module and a single-machine execution module. The fully automated control method includes: When it is determined that a newly created workflow exists, the workflow information corresponding to the workflow is determined, and the workflow information is used to point to the target single-machine execution module and the target work material pile; Determine the process type corresponding to the workflow, so as to determine the target operation strategy corresponding to the process type from the preset operation strategies; Based on the target operation strategy, control commands are sent to the target stand-alone execution module, and the module interacts with the yard management module according to the workflow information and the preset automatic migration strategy, so that the yard management module sends an automatic relocation command corresponding to the target work stockpile to the target stand-alone execution module, thereby enabling the target stand-alone execution module to complete the corresponding operation of the workflow based on the automatic relocation command and the control commands.

[0005] Furthermore, the fully automated control system also includes a production management module; The workflow is created through the human-machine interaction module of the central control module, or generated and fed back by the production management module based on the work plan.

[0006] Furthermore, the process type is a turning line process type; the target single-machine execution module includes a first target tipping device and a target stacking device; Based on the target operation strategy, control commands are sent to the target standalone execution module, including: Send a first selection signal to the first target tipping device so that the first target tipping device can provide feedback on its current status information based on the first selection signal; A first pre-tipping request signal is sent to the first target tipping device based on the current status information of the first device and the first vehicle number confirmation information. A second selection signal is sent to the target stacking equipment so that the target stacking equipment can provide feedback on the current status information of the second equipment based on the second selection signal; When the target stacking equipment is determined to be idle based on the current status information of the second equipment, the step of interacting with the yard management module based on the workflow information and the preset automatic migration in and out strategy is entered, so that the yard management module can send the first automatic stacking instruction to the target stacking equipment. The relocation status of the target stacking equipment based on the first automatic relocation command is obtained and a first relocation signal is sent to it; Upon receiving the first success signal and the second success signal, the target tipping device and the target stacking device are controlled to enter normal working state; the first success signal is a signal indicating that the first target tipping device has operated based on the first pre-tilting request signal and pre-tilting has been completed, and the second success signal is a signal indicating that the target stacking device has completed stacking based on the first stacking signal.

[0007] Furthermore, the process type is a loading and unloading line process type; the target single-machine execution module includes a target material handling device and a first target loading device; Based on the target operation strategy, control commands are sent to the target standalone execution module, including: Send loading operation task information to the first target loading equipment so that the first target loading equipment can perform loading operation task matching for the target loading compartment based on the loading operation task information; A third selection signal is sent to the target material handling device so that the target material handling device can provide feedback on the current status information of the third device based on the third selection signal; When the target material handling device is determined to be idle based on the current status information of the third device, the process proceeds to the step of interacting with the yard management module based on the workflow information and the preset automatic migration in and out strategy, so that the yard management module can send a second automatic stacking instruction to the target material handling device. The system acquires the stacking status of the target material handling device based on the second automatic stacking command and sends a second stacking signal to it. Upon receiving the third and fourth success signals, the target material handling equipment and the first target loading equipment are controlled to enter normal operation. The third success signal indicates that the first target loading equipment has successfully aligned with the hold, and the fourth success signal indicates that the target material handling equipment has completed the alignment based on the second alignment signal.

[0008] Furthermore, after controlling the target material handling equipment and the first target loading equipment to enter normal working state, the method further includes: Determine whether a shift request signal has been received. The shift request signal is fed back by the first target loading equipment after it has determined that loading for the current target work compartment has been completed. If so, generate loading operation task information corresponding to the new target work compartment, and proceed to the step of sending the loading operation task information to the first target loading equipment.

[0009] Furthermore, the process type is a direct loading line process type; the target single-machine execution module includes a second target tipping device and a second target loading device, wherein the second target tipping device is directly connected to the second target loading device through a connection module; Based on the target operation strategy, control commands are sent to the target standalone execution module, including: A fourth selection signal is sent to the second target tipping device so that the second target tipping device can provide feedback on the current status information of the fourth device based on the fourth selection signal; Based on the current status information of the fourth device and the first vehicle number confirmation information, a second pre-tipping request signal is sent to the second target tipping device. Upon receiving a signal indicating that the second target tipping device has operated based on the second pre-tilting request signal and pre-tilting has been completed, the system controls the second tipping device and the second target loading device to enter normal operating status.

[0010] Furthermore, based on the workflow information and the preset automatic inbound / outbound strategy, the system interacts with the yard management module so that the yard management module sends an automatic stacking command corresponding to the target operational stockpile to the target stand-alone execution module, including: Obtain the verification result of the workflow information by the yard management module; When the verification result shows that the workflow information is valid, determine whether the yard management module is currently in the instruction processing state; If not, send an automatic move-in / move-out command to the yard management module, pointing to the target single-machine execution module and the target work stockpile, so that the yard management module can process the automatic move-in / move-out command to send an automatic stacking command corresponding to the target work stockpile to the target single-machine execution module.

[0011] Furthermore, after sending automatic in / out commands to the yard management module for the target single-machine execution module and the target working stockpile, the method further includes: Determine whether a first fault signal has been received. The first fault signal is a signal fed back by the yard management module when an error occurs during the processing based on the automatic move-in and move-out instructions. If so, the control alarm module outputs the first alarm information corresponding to the first fault signal.

[0012] Furthermore, after sending automatic in / out commands to the yard management module for the target single-machine execution module and the target working stockpile, the method further includes: Determine whether a fifth success signal is received within a preset processing time. The fifth success signal indicates that the yard management module has completed processing the automatic move-in and move-out command. If not, the control alarm module outputs a second alarm message indicating that the processing has timed out.

[0013] To address the aforementioned technical problems, this invention also provides a fully automated control system for a coal terminal, comprising a central control module, a yard management module, a single-machine execution module, and a production management module. The central control module is used to execute the steps of the fully automated control method for coal terminals as described above.

[0014] This application provides a fully automated control method and system for a coal terminal. The solution includes: upon determining the existence of a newly created workflow, identifying the corresponding workflow information, which points to the target single-machine execution module and the target work stockpile; determining the workflow type, and identifying the target operation strategy corresponding to the workflow type from preset operation strategies; sending control commands to the target single-machine execution module based on the target operation strategy; and interacting with the yard management module according to the workflow information and preset automatic migration strategies, so that the yard management module sends automatic relocation commands corresponding to the target work stockpile to the target single-machine execution module, thereby enabling the target single-machine execution module to complete the corresponding operation of the workflow based on the automatic relocation commands and control commands. It is evident that the yard management system in this solution facilitates stable and effective management and coordination of stockpiles and triggers automatic relocation, achieving full-process collaboration between the central control module, yard management module, and single-machine execution module, breaking down information barriers between modules, facilitating efficient completion of workflow-related operations, and enabling full-process production operations.

[0015] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart of a fully automated control method for a coal terminal provided by the present invention; Figure 2 This invention provides an interactive flow diagram corresponding to the turning line process; Figure 3 A schematic diagram illustrating the creation result of a turning line process provided by the present invention; Figure 4 This is a schematic diagram showing a stacker reaching a designated position according to a first automatic stacking instruction provided by the present invention; Figure 5 This is a schematic diagram showing the stacker receiving a first stacking signal, provided by the present invention. Figure 6 This invention provides an interactive flowchart corresponding to the loading and unloading line process. Figure 7 A schematic diagram illustrating the creation result of a loading / unloading line process provided by the present invention; Figure 8This invention provides a schematic diagram showing the stacking result executed according to a second automatic stacking instruction; Figure 9 A schematic diagram of the material handling process provided by the present invention; Figure 10 A schematic diagram illustrating the setup of two adjacent work tasks in response to a shift request signal, provided by the present invention; Figure 11 A schematic diagram illustrating the interaction process between the central control module and the yard management module provided by the present invention; Figure 12 This invention provides a schematic diagram of the structure of a fully automated control system for a coal terminal. Detailed Implementation

[0017] The core of this invention is to provide a fully automated control method and system for coal terminals, which breaks down information barriers between various modules, realizes full-process collaboration between modules, and facilitates the realization of full-process production operations.

[0018] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0019] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] Please refer to Figure 1 , Figure 1 The flowchart illustrates a fully automated control method for a coal terminal provided by this invention.

[0021] The fully automated control method for the coal terminal is applied to the central control module of the fully automated control system for the coal terminal. The fully automated control system also includes a yard management module and a single-machine execution module. This fully automated control method includes: S11: When it is determined that a newly created workflow exists, the workflow information corresponding to the workflow is determined. The workflow information is used to point to the target single-machine execution module and the target work material pile. S12: Determine the process type corresponding to the workflow, so as to determine the target operation strategy corresponding to the process type from the preset operation strategies; S13: Based on the target operation strategy, send control commands to the target single-machine execution module, and interact with the yard management module according to the workflow information and the preset automatic migration strategy, so that the yard management module sends the automatic stacking command corresponding to the target operation material pile to the target single-machine execution module, thereby enabling the target single-machine execution module to complete the corresponding operation of the workflow based on the automatic stacking command and control command.

[0022] In this embodiment, the central control module can be understood as a CCR (Central Control Room), or more specifically, a PLC (Programmable Logic Controller) within the CCR; the stockpile management module can be understood as an SMS (Stockpile Management System), or more specifically, a PLC within the SMS. Based on the stockpile management module, the occupancy management of the working stockpile can be realized, and corresponding automatic relocation commands can be sent according to workflow information to achieve automatic relocation in and out; the single-machine execution module can be various types of equipment, and the number of equipment under each type can also be multiple, for actual production applications. Specifically, the single-machine execution module can be various equipment that actually performs production work, such as loading equipment, material handling equipment, stack turning equipment, belt conveyors, transfer towers, etc., without special limitations, and more specifically, it can be the PLC within the aforementioned equipment. It is understood that the modules based on the PLC platform can be easily expanded and maintained according to future needs; in addition, this full-process automated control system may also include a production management module as described in the following embodiment, which can be understood as a TOM (Terminal Operations Management) module. The port operation management system (hereinafter referred to as the Management System) is described in the following embodiments and will not be repeated here. The fully automated control system may also include a berth control module, which can be used to receive the loading operation task information sent by the central control module and forward it to the loading equipment. It can also be used to store and calculate the real-time attitude of each vessel at each berth, such as vessel size data, position data and draft data, etc. There are no special limitations here. The setting of this module is conducive to better management of the loading equipment.

[0023] The workflow information in step S11 may include the identification information of the target single-machine execution module and the identification information of the target work pile. It may also include the workflow number, step number and production setting parameters (such as material picking quantity and picking rate), etc. There are no special limitations here. The target single-machine execution module can be one or more of many single-machine execution modules. Step S12 can determine the process type corresponding to the workflow. Pre-set operation strategies are set for each process type in advance to realize the production operation of each process type. Specifically, the process type corresponding to the workflow can be determined according to the target single-machine execution module occupied by the workflow information. The process type here may include the stacking line process, the loading and unloading line process and the direct loading line process.

[0024] The central control module sends control commands to the target single-machine execution module based on the target operation strategy, and also interacts with the yard management module (this interaction is implemented based on the interface program of CCR PLC and SMS PLC). This allows the yard management module to send automatic relocation commands corresponding to the target work stockpile to the target single-machine execution module. For example, in a loading and unloading line process, the automatic relocation command may include the location information of the target work stockpile and the material handling task information, which may include the material handling rate and the material handling quantity. In a turning line process, the automatic relocation command may include the location information of the target work stockpile (of course, it may also include other production data information, which is not specifically limited here). This enables the target single-machine execution module to complete the corresponding operation of the workflow based on the automatic relocation command and control commands.

[0025] In summary, this application provides a fully automated control method for a coal terminal. The setting of the stockpile management system in this scheme facilitates the stable and effective management and coordination of stockpiles and triggers automatic relocation, avoiding relocation conflicts. It realizes full-process collaboration among the central control module, stockpile management module, and single-machine execution module, breaks down information barriers between various modules, facilitates the efficient completion of corresponding operations in the workflow, improves operational efficiency, and facilitates the realization of full-process production operations.

[0026] Based on the above embodiments: In some embodiments, the fully automated control system also includes a production management module; The workflow is created through the human-machine interaction module of the central control module, or generated and fed back by the production management module based on the work plan.

[0027] In this embodiment, two methods for creating a new workflow are given. Specifically, the human-machine interface module can be an HMI (Human Machine Interface). Technicians can select (or manually input) the single-machine execution module, work stock, step number, and production path (the route from the source equipment to the end equipment, consisting of belt conveyors and flaps) required for the new workflow through the HMI to create a new workflow. The central control module (i.e., CCR PLC) can determine the workflow information based on the trigger button selected by the HMI. The workflow information may include the identification information of the target single-machine execution module and the identification information of the target work stock, and may also include the workflow number, step number, and production setting parameters (such as material picking quantity and picking rate).

[0028] This workflow can also be pushed by the production management module. That is, the production management module automatically generates the required workflow based on the work plan and pushes it to the central control module. The central control module (i.e., CCR PLC) can then calculate the label position and determine the corresponding workflow information.

[0029] It should be noted that workflows can be stored in a specified workflow cache tag group under the central control module. This way, even if multiple newly created workflows exist at the same time, they can all be processed sequentially (the first-in, first-out principle can be followed during processing, and the workflow can be retrieved from the workflow cache tag group). The workflow information corresponding to the workflow can serve as the basis for subsequent interaction with the yard management module and for realizing the relocation of material piles.

[0030] Please refer to Figure 2 , Figure 2 This invention provides an interactive flow diagram corresponding to the turning line process.

[0031] In some embodiments, the process type is a turning line process type; the target single-machine execution module includes a first target turning device and a target stacking device; Control commands are sent to the target standalone execution module based on the target operation strategy, including: S21: Send a first selection signal to the first target tipping device so that the first target tipping device can provide feedback on its current status information based on the first selection signal; S22: Send a first pre-tipping request signal to the first target tipping device based on the current status information of the first device and the first vehicle number confirmation information; S23: Send a second selection signal to the target stacking equipment so that the target stacking equipment can provide feedback on the current status information of the second equipment based on the second selection signal; S24: When it is determined that the target stacking equipment is in an idle state based on the current status information of the second equipment, the step of interacting with the yard management module based on the workflow information and the preset automatic migration strategy is entered, so that the yard management module can send the first automatic stacking instruction to the target stacking equipment. S25: Obtain the stacking status of the target stacking equipment based on the first automatic stacking command and send the first stacking signal to it; S26: Upon receiving the first success signal and the second success signal, control the target tipping device and the target stacking device to enter the normal working state; the first success signal is a signal indicating that the first target tipping device has operated based on the first pre-tilting request signal and pre-tilting has been completed, and the second success signal is a signal indicating that the target stacking device has completed stacking based on the first stacking signal.

[0032] In this embodiment, when the target single-machine execution module occupied by the workflow information is the first target tipper and the target stacking device, the process type at this time is determined to be a tipping line process. The input device in this process is the first target tipper, and the output device is the target stacking device. Here, the first target tipper can be a tipper machine, and the target stacking device can be a stacking machine. The tipping line process includes the selected tipper number and stacking machine number. Based on this, a signal indicating its selection (i.e., a first selection signal) is sent to the first target tipper. After receiving the first selection signal, the first target tipper can report its current status information to the central control module. The current status information may include tipper malfunction, waiting for technician confirmation to start pre-tilting, tipper pre-tilting in progress, tipper pre-tilting completed, and tipper operation in progress. Based on the current status information and the first vehicle number confirmation information, a first pre-tilting request signal can be sent to the first target tipper to automatically trigger the pre-tilting process. The first target tipper can then perform pre-tilting based on the first pre-tilting request signal. Specifically, this can be done in the... The HMI of the target rollover device displays the first pre-rollover request signal and prompts the first car number confirmation information. The automatic pre-rollover process can be set as follows: First, check whether the key signals are met. The key signals include empty car signal, railway operation permission signal, process selection signal, and first car number confirmation signal. Then, confirm the car model. For example, the automatic pre-rollover operation for C80 car model can include closing wheel clamp No. 1, positioning car automatically finding the coupler, confirmation feedback, and automatic arm lowering. The automatic pre-rollover operation for C64 car model can include positioning car until automatic preparation, closing wheel clamp No. 1, confirmation feedback, automatic arm lowering, and locking the push arm. In order to ensure safety, after the technician confirms that the site is normal, he can confirm the start of the automatic pre-rollover process on the HMI before performing the pre-rollover. Of course, if there are other reasons that prevent the automatic pre-rollover from being met, it can be canceled and manual operation can be performed later. It should also be noted that the first target rollover device can send a first success signal to the central control module after the pre-rollover is completed. The central control module can display the pre-rollover result on its HMI.

[0033] A signal indicating that the target stacking equipment has been selected (i.e., the second selection signal) is sent to the target stacking equipment. After receiving the second selection signal, the target stacking equipment can report its current status information to the central control module. The current status information of the second equipment can include equipment zeroing (used to indicate whether the equipment is in an idle state), equipment in stacking, equipment stacking completed, equipment automatically stacking, equipment automatically ready, and the stack position number of the work pile that the equipment is working on. The central control module will wait for the target stacking equipment to complete the previous task and be in the equipment zeroing state based on the current status information of the second equipment. At this time, it will determine that the target stacking equipment is in an idle state. At this time, it will enter the step of interacting with the yard management module according to the workflow information and the preset automatic migration in and out strategy, so that the yard can... The management module sends a first automatic relocation instruction to the target stacking equipment to automatically move the target work material pile required by the workflow to the target stacking equipment. For example, the first automatic relocation instruction may include the location information of the target work material pile. The central control module obtains the relocation status of the target stacking equipment and sends a first repositioning signal to it to request the equipment to automatically reposition. The HMI of the target stacking equipment can display the first repositioning signal. In order to ensure safety, technicians can also click to execute immediately or cancel according to the actual production situation. It should also be noted that the target stacking equipment can send a second success signal to the central control module when the repositioning is completed, so that the central control module can know the situation in time and know that the target stacking equipment is in the correct working position.

[0034] Upon receiving the first and second success signals, the central control module controls the target tipping device and the target stacking device to enter normal working state. Specifically, the CCR PLC sends control signals indicating the start of the workflow to these two devices, namely, sending a request signal to the target stacking device for automatic stacking and a tipping permission signal to the first target tipping device. At this time, the cantilever belt of the target stacking device automatically starts and enters working state, and the first target tipping device receives the tipping permission and begins normal operation. It can be understood that after this operation is completed, the central control module confirms the cessation of the workflow, the above-mentioned devices stop operating, and the target stacking device stops the cantilever belt and returns to the equipment reset state.

[0035] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram illustrating the creation result of a material turning line process provided by the present invention. It can be seen that the selected tipper CD1, stacker S3, and target material pile are stack position D2. Please refer to... Figure 4 , Figure 4 This is a schematic diagram showing a stacker reaching a designated position according to a first automatic stacking instruction provided by the present invention; Figure 5 This is a schematic diagram showing the stacker receiving the first stacking signal, provided by the present invention.

[0036] Please refer to Figure 6 , Figure 6 This invention provides an interactive flowchart corresponding to the loading and unloading line process.

[0037] In some embodiments, the process type is a loading and unloading line process type; the target single-machine execution module includes a target material handling device and a first target loading device; Control commands are sent to the target standalone execution module based on the target operation strategy, including: S31: Send loading operation task information to the first target loading equipment so that the first target loading equipment can perform loading operation task matching for the target loading compartment based on the loading operation task information; S32: Send a third selection signal to the target material handling device so that the target material handling device can provide feedback on the current status information of the third device based on the third selection signal; S33: When it is determined that the target material handling equipment is idle based on the current status information of the third equipment, the step of interacting with the yard management module based on the workflow information and the preset automatic migration in and out strategy is entered, so that the yard management module can send the second automatic stacking instruction to the target material handling equipment. S34: Obtain the stacking status of the target material handling equipment based on the second automatic stacking instruction and send a second stacking signal to it; S35: Upon receiving the third success signal and the fourth success signal, control the target material handling equipment and the first target loading equipment to enter normal working state. The third success signal is a signal indicating that the first target loading equipment has successfully aligned with the hold, and the fourth success signal is a signal indicating that the target material handling equipment has completed the alignment based on the second alignment signal.

[0038] In this embodiment, when the target single-machine execution module occupied by the workflow information is the target material picking device and the first target loading device, the process type at this time is determined to be a picking and loading line process. Here, the first target loading device can be a ship loader, and the target material picking device can be a material picking machine. Loading operation task information is sent to the first target loading device. The loading operation task information may include the operation berth, operation hold number, and operation round information, so that the first target loading device can perform dock alignment for the target operation hold based on the loading operation task information to reach the designated position. After the dock alignment is completed, the first target loading device can send a third success signal to the central control module so that the central control module can be aware of the situation in a timely manner. The central control module can also display the successful dock alignment result on the HMI.

[0039] A signal indicating that the target material handling equipment has been selected (i.e., the third selection signal) is sent to the target material handling equipment. After receiving the third selection signal, the target material handling equipment can report its current status information to the central control module. The current status information of the third equipment can include equipment zeroing (used to indicate whether the equipment is in an idle state), equipment stacking in progress, equipment stacking completed, equipment automatic material handling in progress, equipment automatic preparation ready, and the stack position number of the work pile that the equipment is working on. The central control module will wait for the target material handling equipment to complete the previous task and be in the equipment zeroing state based on the current status information of the third equipment. At this time, it will determine that the target material handling equipment is in an idle state. At this time, it will enter the step of interacting with the yard management module according to the workflow information and the preset automatic migration and migration strategy, so that the yard management module can send the second automatic relocation instruction to the target stacking equipment. The system automatically moves the target work material pile required by the workflow to the target picking device. For example, the second automatic relocation instruction may include the location information of the target work material pile and the picking task information, including the picking rate and the picking work quantity corresponding to the target work compartment. The central control module obtains the relocation status of the target picking device and sends a second relocation signal to it to request the device to automatically relocate. The HMI of the target picking device can display the second relocation signal. In order to ensure safety, technicians can also click to confirm according to the actual production situation before relocation. It should also be noted that the target picking device can send a fourth success signal to the central control module when the relocation is completed, so that the central control module can know the situation in time and know that the target picking device is in the correct working position.

[0040] Upon receiving the third and fourth success signals, the central control module controls the target material handling equipment and the first target loading equipment to enter normal working status. Specifically, the central control module confirms the start of the material handling line process, sends a material handling permission signal to the target material handling equipment to request automatic material handling (this material handling permission signal can be displayed on the HMI of the target material handling equipment; more specifically, for operational safety, the material handling permission signal can be confirmed by technicians before automatic material handling is started, but this is not specifically limited here), and sends a loading permission signal to the first target loading equipment to start the cantilever conveyor belt. The target material handling equipment handles the material and transports it to the loading machine belt via the belt and transfer tower. The loading machine loads the material into the ship hold via the belt. When the target material handling equipment completes the material handling operation, it automatically stops handling. Subsequently, it can handle the material again according to the new material handling quantity request command and material handling rate request command issued by the central control module, or enter the equipment zeroing state, or start working on a new material pile in a new operation cycle.

[0041] Please refer to Figure 7 , Figure 7This is a schematic diagram illustrating the creation result of a loading / unloading line process provided by the present invention. It can be seen that, at this point, reclaimers R2-1 and R2-2 are selected, with the target work pile for reclaimer R2-1 being stack position C3 and the target work pile for reclaimer R2-2 being stack position C6; ship loader SL1 is selected, and the target work compartment is compartment 2; please refer to... Figure 8 , Figure 8 This invention provides a schematic diagram showing the stacking result executed according to the second automatic stacking instruction; please refer to... Figure 9 , Figure 9 This is a schematic diagram of a material handling process provided by the present invention.

[0042] In some embodiments, after the target material handling equipment and the first target loading equipment have entered normal operating status, the system further includes: Determine whether a shift request signal has been received. The shift request signal is fed back by the first target loading equipment after it has determined that loading for the current target work compartment has been completed. If so, generate loading operation task information corresponding to the new target work compartment, and proceed to the step of sending the loading operation task information to the first target loading equipment.

[0043] Specifically, considering that the loading and unloading line process may correspond to the loading of multiple work compartments, the loading of one work compartment can be regarded as a round of work tasks. When the first target loading equipment completes the loading work of the current work compartment, it can send a shift request signal to the central control module to trigger the work task update. The central control module can generate loading work task information corresponding to the new target work compartment and enter the step of sending the loading work task information to the first target loading equipment to restart the work task (this new work task can also be prompted on the HMI of the first target loading equipment). It is understood that the material handling task information (i.e., material handling rate and material handling volume) for the new target work compartment will also be updated synchronously. After the first target loading equipment completes the shift and is in the working position, the shift request signal is cleared.

[0044] Please refer to Figure 10 , Figure 10 The diagram provided by the present invention illustrates the setup of two adjacent work tasks in response to a shift request signal. It can be seen that the work berths of the previous task are berths 13, 14 and 15, and the target work cabin is cabin number 5. The work berths of the next task are berths 13, 14 and 15, and the target work cabin is cabin number 2. The number of work rounds is 2 (i.e., two rounds of work are carried out for this loading and unloading line process).

[0045] In some embodiments, the process type is a direct loading line process type; the target single-machine execution module includes a second target tipping device and a second target loading device, and the second target tipping device is directly connected to the second target loading device through a connection module; Control commands are sent to the target standalone execution module based on the target operation strategy, including: Send a fourth selection signal to the second target tipping device so that the second target tipping device can provide feedback on the current status information of the fourth device based on the fourth selection signal; Based on the current status information of the fourth device and the first vehicle number confirmation information, a second pre-tipping request signal is sent to the second target tipping device; Upon receiving a signal indicating that the second target tipping device has operated based on the second pre-tilting request signal and pre-tilting has been completed, the control system will bring the second tipping device and the second target loading device into normal operating status.

[0046] In this embodiment, when the target single-machine execution module occupied by the workflow information is the second target tipping device and the second target loading device, the process type at this time is determined to be a direct loading line process. Under this process, the input device is the second target tipping device and the output device is the second target loading device. The second target tipping device can be a tipping machine, and the second target loading device can be a loading machine. The second target tipping device is directly connected to the second target loading device through a connection module, which can be a belt conveyor. Under the direct loading line process, the interaction and control between the central control module and the second target tipping device are the same as the interaction and control between the central control module and the first target tipping device in the above-mentioned turning line process, and will not be described in detail here. It can be understood that under the direct loading line process, after the second target tipping device and the second target loading device enter the normal working state, the second target tipping device directly tipps the material onto the belt conveyor, and then loads it into the second target loading device via the belt conveyor.

[0047] As can be seen, the above settings enable the central control module to reliably manage and control each workflow. Furthermore, it can control the start, stop, and cancellation of each workflow. Through the reasonable information flow paths, triggers, and feedback set for each workflow, comprehensive information barriers are broken down, facilitating the effective extraction and forwarding of information, instructions, or data between modules, as well as the stable triggering of different operations. From production scheduling to workflow allocation, and then to automatic pre-flipping based on workflow type, automatic stacking and stacking of stackers, automatic stacking and retrieving of materials by reclaimers, and automatic corresponding issuance of tasks by ship loaders, it is conducive to achieving fully automated production.

[0048] Please refer to Figure 11 , Figure 11 This is a schematic diagram illustrating the interaction process between the central control module and the yard management module provided by the present invention.

[0049] In some embodiments, the system interacts with the yard management module based on workflow information and a preset automatic inbound / outbound strategy, so that the yard management module sends an automatic stacking instruction corresponding to the target operational stockpile to the target stand-alone execution module, including: S41: Obtain the verification result of the workflow information from the yard management module; S42: When the verification result shows that the workflow information is valid, determine whether the yard management module is currently in the instruction processing state; if not, proceed to S43. S43: Send automatic in / out instructions to the yard management module for the target single-machine execution module and the target work stockpile, so that the yard management module can process the automatic in / out instructions to send an automatic stacking instruction corresponding to the target work stockpile to the target single-machine execution module.

[0050] Specifically, the central control module can proactively send the identification information of the target single-machine execution module and the target work stockpile from the workflow information parsed for the workflow process to the yard management module (if there are multiple workflows, the central control module can process the workflow information corresponding to each workflow in a polling scan manner). This allows the yard management module to verify whether the identification information of the target single-machine execution module and the target work stockpile is correct (if there is an error, the workflow information is invalid; if there is no error, the workflow information is valid), and provide the corresponding verification result. Of course, the yard management module can also proactively verify the workflow information in the central control module in real time, without any particular limitation. In addition, the verification result can be displayed intuitively on the central control module's HMI, and when the verification result shows that the workflow information is invalid, a prompt can be made on the HMI so that technicians can promptly confirm and handle the issue.

[0051] The determination of whether the yard management module is in the instruction processing state aims to determine whether the yard management module is currently processing other instructions. If it is in the instruction processing state, it can simply wait; if it is not in the instruction processing state, step S43 is executed. Specifically, the central control module can detect the occupancy flag of the yard management module to determine whether the yard management module is in the instruction processing state based on the value of the occupancy flag. When the yard management module is idle and there are multiple pending workflow information at the same time, it can process them according to the first-in-first-out principle and generate automatic migration-in and migration-out instructions in sequence. The automatic migration-in and migration-out instructions may include the command type, the label of the target single-machine execution module, and the label of the target work stockpile.

[0052] In addition, the central control module and the yard management module can verify each other's heartbeat signals according to a preset cycle to determine whether their communication is normal. In the event of a communication failure, an alarm will be issued in a timely manner (such as displaying a communication failure on the HMI) so that technicians can handle it promptly.

[0053] It should also be noted that the yard management module receives the automatic move-in and move-out instructions, and the central control module reads the feedback information from the yard management module to ensure that the yard management module receives the correct instructions and to ensure the consistency of communication between the two parties. Under the condition of consistency, the ready flag is triggered to indicate that the yard management module has started processing the automatic move-in and move-out instructions. At this time, the occupancy flag of the yard management module is triggered.

[0054] In addition, for multiple workflows, when a workflow information under the workflow cache tag group is processed, the corresponding cache can be cleared and the next workflow information can be retrieved. The yard management module can also obtain the execution progress and / or execution results of automatic relocation commands and feed them back to the central control module. For example, the HMI of the central control module may display: Equipment XX successfully relocated the selected stockpile YY; Equipment XX failed to relocate the selected stockpile YY and requires manual confirmation by the equipment operator; Equipment XX is relocating stockpile YY; Equipment XX relocation parsing error, requiring manual confirmation by the equipment operator; The stockpile YY required by Equipment XX is occupied by other equipment; Equipment XX is currently using stockpile YY and is waiting to relocate stockpile ZZ after relocation; Equipment XX is waiting to relocate stockpile YY after zeroing; Equipment XX is waiting to relocate stockpile YY, but the waiting time has expired and requires login to the yard management system for confirmation; Equipment XX successfully relocated the selected stockpile YY and is waiting for operator confirmation for automatic relocation; Equipment XX is automatically relocating stockpile YY; Equipment XX has reached the working position of stockpile YY; Equipment XX is already operating automatically in stockpile YY; Equipment XX successfully relocated the selected stockpile YY, but the automatic mode is not ready; Equipment XX is waiting to relocate stockpile YY after stopping. In some embodiments, after sending an automatic move-in / move-out command to the yard management module for pointing to the target single-machine execution module and the target working stockpile, the method further includes: Determine whether the first fault signal has been received. The first fault signal is the signal fed back by the yard management module when an error occurs during the processing of automatic move-in and move-out instructions. If so, the control alarm module outputs the first alarm information corresponding to the first fault signal.

[0055] Specifically, the first fault signal can be a fault code fed back by the yard management module when an error occurs during the processing of automatic move-in and move-out commands; the alarm module here includes, but is not limited to, the HMI of the central control module, to visually display the fault.

[0056] In some embodiments, after sending an automatic move-in / move-out command to the yard management module for pointing to the target single-machine execution module and the target working stockpile, the method further includes: Determine whether a fifth success signal has been received within the preset processing time. The fifth success signal indicates that the yard management module has completed the processing of the automatic move-in and move-out command. If not, the control alarm module outputs a second alarm message indicating that the processing has timed out.

[0057] Specifically, the preset processing time can be flexibly set according to the actual application needs. If the fifth success signal is not received within the preset processing time, it means that the yard management module has timed out the processing of the automatic migration in / out command. To avoid occupying the processing logic for a long time, the alarm module can be controlled to output the second alarm information. More specifically, the alarm module here can be the HMI of the central control module to intuitively display the timeout situation. In addition, the workflow information corresponding to the current automatic migration in / out command under the workflow cache tag group can also be cleared.

[0058] If the fifth success signal is received, the central control module can display the successful relocation result on the HMI. In addition, the usage status of the equipment can be further displayed on the HMI.

[0059] Please refer to Figure 12 , Figure 12 This invention provides a schematic diagram of the structure of a fully automated control system for a coal terminal.

[0060] The fully automated control system of the coal terminal includes a central control module 1, a yard management module 2, a single-machine execution module 3, and a production management module 4. The central control module 1 is used to execute the steps of the fully automated control method for the coal terminal as described above.

[0061] For a description of the fully automated control system for the coal terminal provided in this application, please refer to the above-described embodiment of the fully automated control method for the coal terminal; it will not be repeated here. It is understood that the central control module 1 is connected to the yard management module 2, the single-machine execution module 3, and the production management module 4, respectively. The yard management module 2 is also connected to the single-machine execution module 3, as follows: Figure 12 As shown.

[0062] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. Relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fully automated control method for a coal terminal, characterized in that, The central control module is applied in a fully automated control system for coal terminals, the fully automated control system also including a yard management module and a single-machine execution module; the fully automated control method includes: When it is determined that a newly created workflow exists, the workflow information corresponding to the workflow is determined, and the workflow information is used to point to the target single-machine execution module and the target work material pile; Determine the process type corresponding to the workflow, so as to determine the target operation strategy corresponding to the process type from the preset operation strategies; Based on the target operation strategy, control commands are sent to the target stand-alone execution module, and the module interacts with the yard management module according to the workflow information and the preset automatic migration strategy, so that the yard management module sends an automatic relocation command corresponding to the target work stockpile to the target stand-alone execution module, thereby enabling the target stand-alone execution module to complete the corresponding operation of the workflow based on the automatic relocation command and the control commands.

2. The fully automated control method for a coal terminal as described in claim 1, characterized in that, The fully automated control system also includes a production management module; The workflow is created through the human-machine interaction module of the central control module, or generated and fed back by the production management module based on the work plan.

3. The fully automated control method for a coal terminal as described in claim 1, characterized in that, The process type is a turning line process type; The target single-machine execution module includes a first target tipping device and a target stacking device; Based on the target operation strategy, control commands are sent to the target standalone execution module, including: Send a first selection signal to the first target tipping device so that the first target tipping device can provide feedback on its current status information based on the first selection signal; A first pre-tipping request signal is sent to the first target tipping device based on the current status information of the first device and the first vehicle number confirmation information. A second selection signal is sent to the target stacking equipment so that the target stacking equipment can provide feedback on the current status information of the second equipment based on the second selection signal; When the target stacking equipment is determined to be idle based on the current status information of the second equipment, the step of interacting with the yard management module based on the workflow information and the preset automatic migration in and out strategy is entered, so that the yard management module can send the first automatic stacking instruction to the target stacking equipment. The relocation status of the target stacking equipment based on the first automatic relocation command is obtained and a first relocation signal is sent to it; Upon receiving the first success signal and the second success signal, the target tipping device and the target stacking device are controlled to enter normal working state; the first success signal is a signal indicating that the first target tipping device has operated based on the first pre-tilting request signal and pre-tilting has been completed, and the second success signal is a signal indicating that the target stacking device has completed stacking based on the first stacking signal.

4. The fully automated control method for a coal terminal as described in claim 1, characterized in that, The process type is a loading and unloading line process type; the target single-machine execution module includes a target material handling device and a first target loading device; Based on the target operation strategy, control commands are sent to the target standalone execution module, including: Send loading operation task information to the first target loading equipment so that the first target loading equipment can perform loading operation task matching for the target loading compartment based on the loading operation task information; A third selection signal is sent to the target material handling device so that the target material handling device can provide feedback on the current status information of the third device based on the third selection signal; When the target material handling device is determined to be idle based on the current status information of the third device, the process proceeds to the step of interacting with the yard management module based on the workflow information and the preset automatic migration in and out strategy, so that the yard management module can send a second automatic stacking instruction to the target material handling device. The system acquires the stacking status of the target material handling device based on the second automatic stacking command and sends a second stacking signal to it. Upon receiving the third and fourth success signals, the target material handling equipment and the first target loading equipment are controlled to enter normal operation. The third success signal indicates that the first target loading equipment has successfully aligned with the hold, and the fourth success signal indicates that the target material handling equipment has completed the alignment based on the second alignment signal.

5. The fully automated control method for a coal terminal as described in claim 4, characterized in that, After controlling the target material handling equipment and the first target loading equipment to enter normal working state, the system further includes: Determine whether a shift request signal has been received. The shift request signal is fed back by the first target loading equipment after it has determined that loading for the current target work compartment has been completed. If so, generate loading operation task information corresponding to the new target work compartment, and proceed to the step of sending the loading operation task information to the first target loading equipment.

6. The fully automated control method for a coal terminal as described in claim 1, characterized in that, The process type is a direct loading line process type; the target single-machine execution module includes a second target tipping device and a second target loading device, and the second target tipping device is directly connected to the second target loading device through a connection module; Based on the target operation strategy, control commands are sent to the target standalone execution module, including: A fourth selection signal is sent to the second target tipping device so that the second target tipping device can provide feedback on the current status information of the fourth device based on the fourth selection signal; Based on the current status information of the fourth device and the first vehicle number confirmation information, a second pre-tipping request signal is sent to the second target tipping device. Upon receiving a signal indicating that the second target tipping device has operated based on the second pre-tilting request signal and pre-tilting has been completed, the system controls the second tipping device and the second target loading device to enter normal operating status.

7. The fully automated control method for a coal terminal as described in any one of claims 1 to 6, characterized in that, The system interacts with the yard management module based on the workflow information and preset automatic inbound / outbound strategies, so that the yard management module sends automatic stacking instructions corresponding to the target operational stockpile to the target stand-alone execution module, including: Obtain the verification result of the workflow information by the yard management module; When the verification result shows that the workflow information is valid, determine whether the yard management module is currently in the instruction processing state; If not, send an automatic move-in / move-out command to the yard management module, pointing to the target single-machine execution module and the target work stockpile, so that the yard management module can process the automatic move-in / move-out command to send an automatic stacking command corresponding to the target work stockpile to the target single-machine execution module.

8. The fully automated control method for a coal terminal as described in claim 7, characterized in that, After sending automatic in / out commands to the yard management module for the target single-machine execution module and the target working stockpile, the method further includes: Determine whether a first fault signal has been received. The first fault signal is a signal fed back by the yard management module when an error occurs during the processing based on the automatic move-in and move-out instructions. If so, the control alarm module outputs the first alarm information corresponding to the first fault signal.

9. The fully automated control method for a coal terminal as described in claim 7, characterized in that, After sending automatic in / out commands to the yard management module for the target single-machine execution module and the target working stockpile, the method further includes: Determine whether a fifth success signal is received within a preset processing time. The fifth success signal indicates that the yard management module has completed processing the automatic move-in and move-out command. If not, the control alarm module outputs a second alarm message indicating that the processing has timed out.

10. A fully automated control system for a coal terminal, characterized in that, It includes a central control module, a yard management module, a single-machine execution module, and a production management module; The central control module is used to execute the steps of the fully automated control method for a coal terminal as described in any one of claims 1 to 9.

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