Intelligent integrated calcium carbide carrying system based on multi-sensor fusion

Abstract

The invention relates to the technical field of calcium carbide carrying, in particular to an intelligent integrated calcium carbide carrying system based on multi-sensor fusion, which comprises a bridge crane unit, a grab bucket unit, a loading unit and a control unit, positioning mechanisms are arranged on the cart and the trolley, the grab bucket unit comprises a grab bucket, the grab bucket is installed on the lower side of the lifting mechanism and controls opening and closing of a clamping jaw through a hydraulic cylinder, the loading unit comprises a calcium carbide bin and a vehicle positioning recognition module, and an opening and closing mechanism is installed at the bottom of the calcium carbide bin. The system is reasonable and compact in structure and convenient to use, the driving control mode and the whole process are automatic, the loading unit generates the optimal path based on an algorithm, the loading time is shortened, the potential safety hazard problem that workers are exposed to the high-temperature and high-dust environment for a long time is avoided, the labor cost is reduced, the calcium carbide loss rate is reduced through self-adaptive grabbing and accurate loading, and the working efficiency is improved. Raw material loss is reduced.

Description

Technical Field

[0001] This invention relates to the field of calcium carbide handling technology, and is a calcium carbide intelligent integrated handling system based on multi-sensor fusion. Background Technology

[0002] In the entire process of calcium carbide production in the chemical industry, calcium carbide handling is the core link connecting "calcium carbide cooling" and "finished product transportation," and its operational efficiency and safety directly affect the overall production rhythm of the enterprise. At present, the mainstream calcium carbide handling mode in the industry is still mainly based on "manual dominance + traditional equipment assistance." The specific process is as follows: manual operation of a bridge crane (requiring climbing to the 10-15m high operating cab), binding calcium carbide lumps (each lump weighing 1-5 tons) with chains, and hoisting them to the cooling area for temporary storage; after cooling, manual operation of the crane again lifts the calcium carbide lumps to the loader's operating range, where the loader loads them onto transport vehicles, and finally, manual cleaning of the scattered calcium carbide slag.

[0003] This model has been used in the industry for over 30 years, relying on the operator's experience and judgment (such as crane positioning, control of tie-down tightness, and adjustment of loader loading angle). The supporting equipment mainly consists of traditional overhead cranes and wheel loaders. Some companies have attempted to add simple limit devices to the cranes, but a fully automated and collaborative system has not yet been formed. With the large-scale development of the chemical industry and the increasingly stringent national requirements for safety and environmental protection, the technical limitations of the traditional material handling model have gradually become apparent, making it difficult to adapt to the needs of modern production.

[0004] (II) Main Problems 1. Security risks remain high. The working environment is harsh: calcium carbide remains at a high temperature of 70℃-120℃ after cooling, and the concentration of calcium carbide dust often exceeds 15mg / m³ (the national limit is 10mg / m³). Workers are exposed to high temperature, high dust, flammable and explosive environment for a long time, and face risks such as burns, mechanical injuries, explosions and pneumoconiosis. The industry's average safety accident rate is 0.3 cases / year, and the occupational disease detection rate exceeds 8%.

[0005] 2. Risks of manual operation: When manually operating the crane from a height, the limited field of vision can easily lead to positioning deviation of the crane (error ≥ 50cm), which may cause calcium carbide to collide with the factory columns or equipment; the chain binding relies on manual knotting, and uneven tightness can easily cause calcium carbide lumps to fall, resulting in equipment damage and personal injury.

[0006] 3. Production efficiency is severely limited. Manual operation is inefficient: a single crane requires one operator, a loader requires one driver, and the cooling area requires 2-3 workers to assist with hooking and cleaning, with a total of 8-10 people per shift; loading a single vehicle requires manual coordination of the crane lifting and loader loading rhythm, with waiting time accounting for more than 30%, and the loading time for a single vehicle generally exceeds 30 minutes, with a maximum loading capacity of only 15-18 vehicles per shift, which is difficult to match the transportation needs of large-scale production.

[0007] Poor equipment coordination: Cranes, loaders, and transport vehicles operate independently without a data exchange mechanism, often resulting in idle waste such as "cranes waiting for loaders" or "loaders waiting for vehicles". The overall utilization rate of equipment is only 60%-70% (the advanced level in the industry is over 90%).

[0008] 4. High difficulty in cost control High annual labor costs and severe raw material losses: the chain binding process easily scratches the surface of the calcium carbide mass, and the loader loading process easily causes the calcium carbide to break, with a comprehensive loss rate of over 8%. Based on an annual production of 1 million tons of calcium carbide and a unit price of 3,000 yuan / ton, the annual raw material loss exceeds 24 million yuan; scattered calcium carbide slag needs to be cleaned manually, with an annual slag cleaning cost of over 500,000 yuan.

[0009] 5. Low level of automation and intelligence Lack of precise control technology: Traditional cranes lack high-precision positioning systems and rely on manual visual positioning, resulting in large errors; loaders lack path planning when loading vehicles and rely entirely on the driver's experience for control, which can easily lead to vehicle center of gravity shift (requiring secondary adjustment, taking 5-10 minutes per vehicle) or calcium carbide spillage (spillage rate exceeding 3%).

[0010] Lack of a comprehensive collaborative system: There is no unified control platform for each link, and manual intervention accounts for more than 40% of the process. It is impossible to achieve an automated closed loop of "grabbing-lifting-cooling-loading", which is difficult to adapt to the transformation needs of the chemical industry to "replace manpower with mechanization and reduce manpower with automation".

[0011] 6. Poor environmental adaptability Insufficient weather resistance of equipment: Traditional crane electrical components lack dustproof and high-temperature resistant design, resulting in a failure rate of over 15% in high-temperature and high-dust environments (mainly due to contactor adhesion and sensor failure). On average, the machine is shut down for maintenance 2-3 times per month, with each maintenance taking 4-6 hours, which seriously affects the continuity of production. Summary of the Invention

[0012] This invention provides a calcium carbide intelligent integrated handling system based on multi-sensor fusion, which overcomes the shortcomings of the above-mentioned prior art. It can effectively solve the problems of time-consuming and labor-intensive, low construction efficiency and safety hazards in the existing calcium carbide handling system that relies on manual labor and traditional equipment.

[0013] The technical solution of this invention is achieved through the following measures: a multi-sensor fusion-based intelligent integrated handling system for calcium carbide, comprising a bridge crane unit, a grab bucket unit, a loading unit, and a control unit. The bridge crane unit includes a trolley, a crane arm, and a lifting mechanism. A weighing sensor is installed at the base of the trolley hook drum. Positioning mechanisms are provided on both the trolley and the crane arm. The grab bucket unit includes a grab bucket installed on the lower side of the lifting mechanism. The grab bucket controls the opening and closing of the grippers via a hydraulic cylinder. The loading unit includes a calcium carbide bin and a vehicle positioning and identification module. An opening and closing mechanism is installed at the bottom of the calcium carbide bin. The vehicle positioning and identification module includes a vehicle positioning inductive loop coil set in the loading area. The bridge crane unit, grab bucket unit, and loading unit are all connected to the control unit.

[0014] The following are further optimizations and / or improvements to the above-mentioned technical solution: Preferably, the grab bucket unit also includes a force sensor and a pressure regulating valve. A force sensor for monitoring the clamping force is installed in the clamping area inside the grab bucket, and a pressure regulating valve for regulating the oil pressure is installed on the hydraulic cylinder oil line that controls the opening and closing of the gripper.

[0015] Preferably, the bridge crane unit positioning structure includes a laser rangefinder and an absolute encoder. The trolley track is fixed to the upper side of the foundation and can move back and forth. The laser rangefinder is installed above the trolley load-bearing beam. Reflective stickers are installed at the ends of the track. The trolley is installed on the trolley and can move left and right. Absolute encoders are installed at the wheel axle ends of the trolley and trolley. A lifting mechanism is installed on the lower side of the trolley. The lifting mechanism can control the lifting and lowering of the grab bucket. The laser rangefinder, absolute encoder, lifting mechanism and control unit are connected.

[0016] Preferably, the bottom opening and closing mechanism of the calcium carbide chamber includes a sealing plate and a hydraulic cylinder. Two sealing plates are hinged at the bottom of the calcium carbide chamber. The hydraulic cylinder is mounted on the calcium carbide chamber support. The extended end of the hydraulic cylinder is connected to the sealing plate. The hydraulic cylinder pulls the sealing plate to open or close. The hydraulic cylinder is connected to the control unit.

[0017] Preferably, the vehicle positioning and identification module also includes a vehicle identification camera, a photoelectric sensor, and an infrared camera. The vehicle identification camera and the infrared camera are connected to the control unit. The vehicle identification camera automatically identifies the size and load parameters of the transport vehicle. After the vehicle stops in the designated area, the photoelectric sensor sends a signal back to the control unit. The infrared camera monitors the vehicle position. When the vehicle is not accurately positioned or personnel mistakenly enter the loading area, the loading operation is stopped.

[0018] Preferably, it also includes an environmental monitoring module, which includes a temperature sensor, a dust concentration sensor, and an audible and visual alarm. The environmental monitoring module is connected to the control unit.

[0019] Preferably, the control unit includes an MCU-PLC controller for the bridge crane and a centralized control unit. The centralized control unit includes an industrial server, a data storage module, a human-machine interface, an industrial switch, and a 5G gateway, and connects to power and communication lines. The MCU-PLC controller is connected to the industrial server to achieve data exchange.

[0020] This invention features a reasonable and compact structure, is easy to use, and incorporates a vehicle control mode with full-process automation. The loading unit generates the optimal path based on an algorithm, shortening the loading time and avoiding the safety hazards of workers being exposed to high temperatures and high dust environments for extended periods. It also reduces labor costs. Adaptive grasping and precise loading reduce calcium carbide loss and raw material loss. Attached Figure Description

[0021] Appendix Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention.

[0022] Appendix Figure 2 This is a schematic diagram of the connection structure used in the control unit of the present invention.

[0023] Appendix Figure 3 This is the page for the gridded positioning system of the bridge crane unit in the centralized control unit.

[0024] Appendix Figure 4 This is the monitoring system page for the centralized control unit.

[0025] The codes in the attached diagram are as follows: 1 for the large vehicle, 2 for the small vehicle, 3 for the grab bucket, 4 for the enclosed plate, 5 for the loading area, and 6 for the calcium carbide bin. Detailed Implementation

[0026] The present invention is not limited to the following embodiments, and the specific implementation can be determined according to the technical solution of the present invention and the actual situation.

[0027] In this invention, for ease of description, the description of the relative positions of the components is based on the appendix to the specification. Figure 1 The layout is described using a diagrammatic method, such as front, back, top, bottom, left, right, etc. The positional relationships are determined based on the layout direction of the attached diagram in the instruction manual.

[0028] The present invention will be further described below with reference to embodiments and accompanying drawings: Example 1: As shown in the attached document Figure 1-4As shown, the intelligent integrated handling system for calcium carbide based on multi-sensor fusion includes a bridge crane unit, a grab bucket unit, a loading unit, and a control unit. The bridge crane unit includes a trolley 1, a trolley 2, and a lifting mechanism. A weighing sensor is installed at the base of the hook drum of the trolley 2. Both the trolley 1 and the trolley 2 are equipped with positioning mechanisms. The grab bucket unit includes a grab bucket 3, which is installed on the lower side of the lifting mechanism. The grab bucket 3 controls the opening and closing of the grippers through a hydraulic cylinder. The loading unit includes a calcium carbide bin 6 and a vehicle positioning and identification module. An opening and closing mechanism is installed at the bottom of the calcium carbide bin 6. The vehicle positioning and identification module includes a vehicle positioning inductive loop set in the loading area 5. The bridge crane unit, grab bucket unit, and loading unit are all connected to the control unit.

[0029] Based on requirements, an anti-sway module for the bridge crane is installed in the control unit. The acceleration curves of the trolley 1 and trolley 2 are adjusted to counteract the inertia's effect on the grab bucket 3, thereby reducing swaying and improving lifting stability and efficiency. Wear-resistant steel plates are installed on the inner side of the grippers to further enhance gripping stability. A dustproof heat dissipation cover is added to the electrical cabinet to prevent dust intrusion and component overheating. The hydraulic oil pipes of the grab bucket 3 are wrapped with a rock wool insulation layer (20mm thick) to prevent high temperatures from causing hydraulic oil deterioration. Explosion-proof sensors are equipped, reducing the overall equipment failure rate from 15% to below 8%. Inductive loops are buried under the road surface and generate an electromagnetic field when energized. When a vehicle passes by, the metal components change the coil inductance value. The system detects these changes in inductance to determine the vehicle's position, speed, or number—thus achieving vehicle detection and identification. A fence is installed in the loading area 5.

[0030] In the process of use, 1. Preparation stage: The calcium carbide blocks to be transported are placed at the grid positioning points in the cooling area and cooled to a temperature suitable for hoisting; 2. Grabbing Phase: The central control unit sends a grabbing command to the bridge crane unit. The bridge crane moves to the top of the target calcium carbide mass through the grid positioning mechanism. The grab bucket 3 adjusts the opening of the grippers according to the set calcium carbide mass grabbing size, starts the hydraulic drive module to clamp the calcium carbide, and at the same time, the weighing module measures the weight in real time and feeds it back to the central control unit. 3. Lifting Phase: The bridge crane unit carries the calcium carbide mass along a preset path to the calcium carbide bin 6 of the loading unit (depending on the load of the vehicle to be loaded, once the cumulative weight detected by the weighing sensor reaches the load capacity, the vehicle then travels to the bottom of the calcium carbide bin 6, and the calcium carbide bin 6 opens to fill the vehicle at once). The electronically controlled anti-sway technology ensures a stable lifting process and prevents calcium carbide from spilling. During the lifting process, the control unit monitors the position of the bridge crane unit and the status of the grab bucket 3 in real time. If any abnormality occurs, an alarm is immediately triggered and the speed is reduced (abnormal position, or abnormal opening of the grab bucket 3, etc.). 4. Loading stage: After the bridge crane unit unloads the calcium carbide blocks into the calcium carbide bin 6, the calcium carbide loading vehicle travels to the bottom of the calcium carbide bin 6 according to the route. When the vehicle stops at the designated position, the control unit remotely opens the opening and closing mechanism, and the calcium carbide blocks fall automatically from the calcium carbide bin 6 into the calcium carbide vehicle by gravity. 5. End Phase: After loading is completed, the control unit sends a release signal to the transport vehicle, and the vehicle leaves the loading area 5; the remote bridge crane and grab bucket 3 are reset to their initial positions, waiting for the next operation; the system automatically records the data of this operation, including the weight of calcium carbide, loading time, equipment operating status, etc.

[0031] This invention adopts a "full-process automation + centralized collaboration" model. Through the coordinated operation of remote bridge crane units, automatic grab buckets, loading units, etc., combined with a redundant 5G and industrial Ethernet network, it achieves a closed-loop operation of the entire process of "grabbing-lifting-cooling-loading". Operators only need to complete parameter settings and status monitoring through a human-machine interface in the central control room, without on-site intervention. Each link automatically triggers connection commands (such as automatically triggering overhead crane lifting after calcium carbide cooling is completed), with human intervention accounting for ≤5%, completely eliminating reliance on human experience. Remote operation allows workers to stay away from hazardous work areas. The automatic loading unit generates the optimal path based on the A* algorithm, reducing loading time to ≤30 minutes / vehicle and increasing the loading capacity per shift to 20-25 vehicles. It can adapt to transport vehicles with different load capacities of 20-50 tons and different lengths of 4-8 meters without the need to replace equipment or adjust mechanical structure. Each unit coordinates in real time through the communication network, reducing equipment idle rate to ≤10% and increasing the overall equipment utilization rate to ≥90%, fully meeting the transportation needs of a single plant's annual calcium carbide production of 2 million tons. By saving labor costs, adaptive gripping and precise loading technology reduces the calcium carbide loss rate to below 3%, reducing raw material losses by 15 million yuan per year, reducing dust emissions by more than 60%, and saving on environmental protection costs.

[0032] The above-mentioned intelligent integrated handling system for calcium carbide based on multi-sensor fusion can be further optimized and / or improved according to actual needs: Example 2: As shown in the attached document Figure 1 , 4As shown, the grab bucket unit also includes a force sensor and a pressure regulating valve. A force sensor is installed in the clamping area inside the grab bucket 3 to monitor the clamping force, and a pressure regulating valve is installed on the hydraulic cylinder oil line that controls the opening and closing of the grippers to adjust the oil pressure. For calcium carbide lumps with diameters of 1-1.5m and weights of 1-5 tons, the system can automatically adjust the gripping force according to its size by controlling the hydraulic oil pressure through the pressure regulating valve: the force is automatically adjusted to 10KN when the grab bucket 3 is open with a diameter of 1m, 20KN at 1.2m, and 50KN at 1.5m. The force sensor detects the clamping force after the grab bucket 3 has gripped the calcium carbide, promptly detecting slippage and re-grabbing it. The system supports custom parameter settings (such as gripping force thresholds) and can quickly adapt to different sizes of calcium carbide lumps (1-5 tons), solving the compatibility problem of traditional equipment that only supports one type of machine.

[0033] Example 3: As shown in the attached document Figure 1 , 4 As shown, the bridge crane unit positioning structure includes a laser rangefinder and an absolute encoder. The main trolley 1 is fixed to the upper side of the foundation and can move back and forth. The laser rangefinder is installed above the load-bearing beam of the main trolley 1, and reflective stickers are installed at the end of the track. The trolley 2 is installed on the main trolley 1 and can move left and right. Absolute encoders are installed at the wheel axle ends of the main trolley 1 and the trolley 2. A lifting mechanism is installed on the lower side of the trolley 2. The lifting mechanism can control the lifting and lowering of the grab bucket 3. The laser rangefinder, absolute encoder, lifting mechanism and control unit are connected.

[0034] The remote bridge crane unit is equipped with a grid-based positioning system that integrates laser rangefinders and absolute encoders, achieving a positioning accuracy of ±5cm, thus solving the problem of traditional manual positioning errors of ≥15cm.

[0035] Example 4: As shown in the appendix Figure 1 , 4 As shown, the bottom opening and closing mechanism of the calcium carbide silo 6 includes a sealing plate 4 and a hydraulic cylinder. Two sealing plates 4 are hinged to the bottom of the calcium carbide silo 6. The hydraulic cylinder is mounted on the bracket of the calcium carbide silo 6, and its extended end is connected to the sealing plate 4. The hydraulic cylinder pulls the sealing plate 4 to open or close. The hydraulic cylinder is connected to the control unit. The control unit controls the opening and closing of the calcium carbide silo 6 to achieve process linkage.

[0036] Example 5: As shown in the attached document Figure 1 , 4As shown, the vehicle positioning and identification module also includes a vehicle identification camera, a photoelectric sensor, and an infrared camera. The vehicle identification camera and the infrared camera are connected to the control unit. The vehicle identification camera automatically identifies the size and load parameters of the transport vehicle. After the vehicle stops in the designated area, the photoelectric sensor sends a feedback signal to the control unit, and the infrared camera monitors the vehicle's position. If the vehicle is not accurately positioned or personnel mistakenly enter the loading area 5, the loading operation stops. The vehicle identification camera can be set according to requirements; it is not necessary for vehicles with uniform load capacity. After the vehicle stops in place, the control unit can control the calcium carbide compartment 6 to open and load calcium carbide based on the feedback from the photoelectric sensor. The infrared camera can monitor the entire area, observe the real-time situation, and promptly detect abnormalities.

[0037] Example 6: As shown in the appendix Figure 4 As shown, it also includes an environmental monitoring module, which comprises a temperature sensor, a dust concentration sensor, and an audible and visual alarm. The environmental monitoring module is connected to the control unit. The temperature and dust concentration sensors detect the ambient temperature and dust concentration. When the temperature is ≥60℃ and the dust concentration is ≥10mg / m³, the audible and visual alarm (≥110dB) is immediately triggered, and a pop-up notification appears on the human-machine interface. In emergency situations (such as personnel accidentally entering the work area or equipment malfunction), the emergency braking module cuts off the power to the relevant equipment and locks moving parts within 0.5 seconds to ensure the safety of personnel and equipment.

[0038] Example 7: As attached Figure 4 As shown, the control unit includes an MCU PLC controller for the bridge crane and a centralized control unit. The centralized control unit includes an industrial server, a data storage module, a human-machine interface, an industrial switch, and a 5G gateway, and connects to the power supply and communication lines. The MCU PLC controller is connected to the industrial server to achieve data exchange.

[0039] The MCUPLC controller of the bridge crane interacts with the industrial server of the centralized control unit to transmit information such as the crane's position, speed, and status, and to receive motion control commands from the centralized control unit.

[0040] The centralized control unit internally connects to: 1. Industrial server and data storage module: connected via SATA interface, storing full-process operation data in real time, with a storage period of ≥1 year; 2. Industrial server and human-machine interface: connected via HDMI and USB interfaces, enabling screen display and operation command input; 3. Industrial server and fault diagnosis module: connected via internal bus, the fault diagnosis module analyzes equipment operation data in real time, generates early warning information, and pushes it to the industrial server. Communication network connections: 1. 5G module and industrial switch: connected via network cable, achieving wireless and wired network redundancy to ensure stable data transmission, automatically switching to industrial Ethernet when the 5G signal is weak; 2. Each unit controller and industrial switch: connected via network cable, forming a star network topology, with a communication rate of ≥100Mbps.

[0041] Centralized control unit: As the core of the system, it realizes full-process data acquisition, analysis, control and early warning. The human-machine interface facilitates remote monitoring and parameter setting by operators. The fault diagnosis module predicts equipment failure in advance and reduces the risk of downtime.

[0042] By deeply integrating TRIZ innovative methods (system integration, dynamic characteristics, and pre-action principle) with lean production theory into the calcium carbide handling scenario, this system breaks through the limitations of traditional "single-point automation" and constructs an intelligent system of "full-process collaboration + all-dimensional protection," filling a gap in the industry. Based on the TRIZ system integration principle and the lean production "continuous flow" concept, a fully automated closed loop of "grabbing-lifting-cooling-loading" is constructed, with no manual intervention required at each stage. Through 5G wireless communication and a redundant industrial Ethernet network, real-time data interaction and action coordination between the remote bridge crane unit, grab bucket 3, and loading unit are achieved, eliminating the delays and errors of traditional manual coordination. For example, after the calcium carbide is cooled, the system can automatically trigger the crane lifting command without manual notification, reducing the connection time from 15 minutes to less than 2 minutes.

[0043] The above technical features constitute various embodiments of the present invention, which have strong adaptability and implementation effect. Unnecessary technical features can be added or removed according to actual needs to meet the needs of different situations.

Claims

1. A calcium carbide intelligent integrated carrying system based on multi-sensor fusion, characterized by The crane unit, the grab unit, the loading unit and the control unit are connected.

2. The multi-sensor fusion based intelligent integrated carrying system for calcium carbide according to claim 1, characterized in that The grab unit further comprises a force sensor and a pressure regulating valve. 3.The intelligent integrated carrying system based on multi-sensor fusion of calcium carbide according to claim 1 or 2, characterized in that The crane unit positioning structure comprises a laser ranging sensor and an absolute value encoder.

4. The multi-sensor fusion based intelligent integrated carrying system for calcium carbide according to claim 1 or 2, characterized in that The vehicle positioning and identifying module further comprises a vehicle identifying camera, a photoelectric sensor and an infrared camera.

5. The multi-sensor fusion based intelligent integrated carrying system for calcium carbide according to claim 3, characterized in that The vehicle positioning and identifying module further comprises a vehicle identifying camera, a photoelectric sensor and an infrared camera.

6. The multi-sensor fusion based intelligent integrated carrying system for calcium carbide according to claim 1 or 2 or 5, characterized in that ​ 7. The multi-sensor fusion based intelligent integrated carrying system for calcium carbide according to claim 3, characterized in that ​ 8.The intelligent integrated carrying system based on multi-sensor fusion of calcium carbide according to claim 4, characterized in that The vehicle positioning and identifying module further comprises a vehicle identifying camera, a photoelectric sensor and an infrared camera, the vehicle identifying camera and the infrared camera are connected with the control unit, the vehicle identifying camera automatically identifies the size and load parameter of the transport vehicle, the photoelectric sensor feeds back a signal to the control unit after the vehicle stops in the designated area, and the infrared camera monitors the position of the vehicle; when the vehicle is not accurately positioned or personnel mistakenly enter the vehicle loading area, the vehicle loading operation is stopped.

9. The multi-sensor fusion based intelligent integrated carrying system for calcium carbide according to claim 1 or 2 or 5 or 7 or 8, characterized in that The environment monitoring module further comprises a temperature sensor, a dust concentration sensor and an audible and visual alarm, and the environment monitoring module is connected with the control unit; or / and, the control unit comprises an MCUPLC controller of the bridge crane and a centralized control unit, the centralized control unit comprises an industrial server, a data storage module, a man-machine interaction interface, an industrial switch and a 5G gateway, and is connected with a power supply and a communication line; the MCUPLC controller is connected with the industrial server to realize data exchange.

10. The multi-sensor fusion based intelligent integrated carrying system for calcium carbide according to claim 6, characterized in that The environment monitoring module further comprises a temperature sensor, a dust concentration sensor and an audible and visual alarm, and the environment monitoring module is connected with the control unit; or / and, the control unit comprises an MCUPLC controller of the bridge crane and a centralized control unit, the centralized control unit comprises an industrial server, a data storage module, a man-machine interaction interface, an industrial switch and a 5G gateway, and is connected with a power supply and a communication line; the MCUPLC controller is connected with the industrial server to realize data exchange.

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