Intelligent stockyard system

Abstract

This application discloses a smart material yard system, comprising: a cabin end, an industrial control equipment cluster, a vehicle end, and a 5G multi-sensor access terminal; the cabin end is connected to the industrial control equipment cluster and the 5G multi-sensor access terminal via Ethernet interfaces and is configured to collect environmental sensing signals of the material yard; the industrial control equipment cluster is communicatively connected to the 5G multi-sensor access terminal for receiving and executing control commands; the vehicle end is communicatively connected to the 5G multi-sensor access terminal and is configured to receive network commands, convert them into electronic control signals, and drive the vehicle; the 5G multi-sensor access terminal is communicatively connected to the cabin end, the industrial control equipment cluster, and the vehicle end, and is configured to collect physical signals, identify the spatial coordinates of materials on site, and analyze the distribution location of materials and terrain environment information in real time. This application can improve the operating efficiency and safety of engineering machinery equipment in material yard environments.

Description

Technical Field

[0001] This application relates to the field of metallurgical technology, and in particular to a smart material yard system. Background Technology

[0002] Smart manufacturing aims to improve production efficiency and reduce energy consumption by applying new information and communication technologies to enable the entire production and management process to have deep self-sensing, self-decision-making, and self-execution capabilities.

[0003] In the steel plant production process, construction machinery, transport vehicles, and related production equipment are key elements in major production processes. To achieve the goal of intelligent manufacturing, these elements are beginning to utilize information and communication technologies, electrical automation technologies, and new energy technologies. Since 2020, research and implementation of new intelligent material yard control technologies have been underway. However, with the upgrading of environmental protection facilities and the advancement of production processes in the metallurgical industry, some new problems have also emerged.

[0004] For example, the main problems are as follows:

[0005] (1) The material yard is usually a fully enclosed factory building with a roof, and some material yards have a spherical fully enclosed roof structure. The ground inside the material yard has a turtle-back shape with a high center and low edges, resulting in a dark working environment. Drivers often experience dizziness, nausea, vomiting and other physical discomfort when loading materials in this environment. According to data, 50% of drivers experience adverse reactions such as nausea, vomiting and weakness after working continuously for 1 hour.

[0006] (2) The coal powder and other materials piled up in the material yard will produce a pungent odor during the loading and transportation process. Due to the closed structure of the factory, these odors will permeate the air for a long time, which will have an adverse effect on the health of the workers.

[0007] Therefore, in order to solve the above problems, this application provides a smart material yard system that can improve the operating efficiency and safety of engineering machinery and equipment in the material yard environment, reduce driver discomfort, improve the working environment, and thus achieve the goals of green, low-carbon and intelligent manufacturing. Utility Model Content

[0008] This application provides a smart material yard system to address the technical challenges of traditional enclosed material yards, which are limited by physical constraints (spatial structure, ventilation conditions) and manual operation modes, making it difficult to meet the green production requirements (reducing carbon emissions and pollution) under the goal of carbon neutrality, as well as the unmanned and precise operation requirements of intelligent manufacturing.

[0009] Firstly, this application provides a smart material yard system, comprising: a compartment end, an industrial control equipment cluster, a vehicle end, and a 5G multi-sensor access terminal; the compartment end is connected to the industrial control equipment cluster via a network port and to the 5G multi-sensor access terminal via an Ethernet interface; the input end of the compartment end is fixedly connected to a material yard scanning sensor group via a slot, and the output end is connected to an actuator using an optocoupler isolation circuit; the industrial control equipment cluster is connected to the 5G multi-sensor access terminal via an Ethernet interface; wherein, the communication chip in the industrial control equipment cluster is connected to a host computer via a bus, and the communication chip is connected to a positioning base station via a bus. Electrically connected to the relay control board, the communication chip is connected to the industrial camera via a camera serial interface. The physical emergency stop switch is connected to the relay control board via a double-break contact hard wire and connected to the actuator power circuit. The vehicle end is connected to the 5G multi-sensor access terminal via an Ethernet interface through the vehicle end controller. It is configured to receive network commands and convert them into electrical control signals, and execute the electrical control signals through the vehicle end controller to drive the vehicle to move. The 5G multi-sensor access terminal is connected to the cabin end, the industrial control equipment cluster, and the vehicle end via Ethernet interface wires. It is configured to collect physical signals and identify the spatial coordinates of materials on site, and analyze the material distribution location and terrain environment information in real time.

[0010] In one embodiment of this application, the industrial control equipment cluster includes: a raw material yard scanning sensor group, a microcontroller, a server, and vehicle-mounted sensors; the raw material yard scanning sensor group is disposed on the top of the raw material yard and is used to collect real-time physical signals of the material piles in the raw material yard, and generate operation instructions and material pile data; the input terminal of the microcontroller is electrically connected to the output terminal of the raw material yard scanning sensor group and is configured to receive the operation instructions, monitor and provide feedback on the operation progress; the server is connected to the microcontroller via an Ethernet interface, and the raw material yard scanning sensor group is signal-connected to the microcontroller and is used to collect material location information; the vehicle-mounted sensors are connected to the raw material yard scanning sensor group via a vehicle bus and are signal-connected to the server and the microcontroller respectively, and are used to collect vehicle information and operation status information.

[0011] In one embodiment of this application, the industrial control equipment cluster further includes: a firewall device, a router, and a backbone network core switch; the firewall device is located between the external cloud platform core switch and the backbone network core switch, and the firewall device is connected to the microcontroller via an Ethernet interface for receiving work instructions and providing feedback on work progress via an industrial bus interface; the router is connected to the access switch of the server cluster via a fiber optic patch cable, and is also connected to the backbone network core switch via a photoelectric converter, and connected to the microcontroller via an Ethernet interface.

[0012] In one embodiment of this application, the server further includes: the vehicle-mounted sensor disposed on the vehicle end for monitoring the environment around the vehicle; and the vehicle-mounted bus disposed on the vehicle end and electrically connected to the vehicle-mounted equipment for aggregating vehicle data and transmitting vehicle data to the server.

[0013] In one embodiment of this application, the vehicle-side component includes: an attitude fusion controller, a vehicle motion controller, a radar controller, a video encoder, a CANFD bus, and a gateway. The attitude fusion controller is connected to the vehicle motion controller and the transport and engineering vehicles respectively via bus ports, and is used to measure the rotation angle of the engineering vehicles and the tilt angle of the engineering vehicles relative to the horizontal plane. The vehicle motion controller is detachably connected to the input terminal of the DC power supply via wires to the CANFD bus and a relay. The vehicle motion controller is connected to the loader via the relay. The radar controller is detachably connected to the output terminal of the DC power supply via wires. The video encoder is detachably connected to the radar controller via wires and is connected to the gateway via an Ethernet interface. The CANFD bus is connected to the video encoder via a bus interface and to the 5G multi-sensor access terminal via a network interface. The gateway is connected to the vehicle operation controller via a DC power line.

[0014] In one embodiment of this application, the attitude fusion controller includes an angle encoder and an inclinometer; the angle encoder is mounted on the engineering vehicle and is used to measure the rotation angle of relevant components of the engineering vehicle; the inclinometer is mounted on the engineering vehicle and is configured to measure the tilt angle of the engineering vehicle relative to the horizontal direction.

[0015] In one embodiment of this application, the cockpit includes: a steering wheel controller, a display terminal, a control signal generator, a data storage device, a data acquisition card, and a touch screen display, all disposed within the cockpit; the steering wheel controller is connected to the vehicle main controller via a bus interface of an Ethernet controller; the display terminal is connected to a display screen controller via a device serial interface, and the display screen controller is detachably connected to the vehicle main controller via a communication interface; the data storage device is detachably connected to the input port of an image processor via an output port; the input port of the data acquisition card is connected to vehicle sensors via an Ethernet communication interface; the touch screen display is detachably connected to a UI controller via a bus, and the UI controller is connected to the vehicle main controller via a communication interface.

[0016] In one embodiment of this application, the cabin end further includes: an Ethernet controller and a UDP communication board; the Ethernet controller is connected to an external network via a network interface; the output port of the Ethernet controller is detachably connected to the input port of the display terminal; the input port of the UDP communication board is connected to the output port of the control signal generator, and the output port of the UDP communication board is connected to the input port of the data acquisition card.

[0017] In one embodiment of this application, the 5G multi-sensor access terminal includes: a user terminal, a 5G base station, and an environmental sensing facility; the input terminal of the user terminal is connected to the output terminal of a video encoder via an Ethernet interface; the user terminal is connected to a CANFD bus via a network interface; the 5G base station is connected to the user terminal via a network interface; and the output terminal of the environmental sensing facility is connected to the 5G base station via an Ethernet interface.

[0018] In one embodiment of this application, the environmental sensing facility includes: a camera group, a radar, an electronic fence array, and a guide light group; the camera group is deployed around the yard and connected to the industrial control equipment cluster via an Ethernet interface; the radar is deployed in conjunction with the camera group around the yard and connected to the roadside unit via an Ethernet interface; the electronic fence array is spaced apart on both sides of the vehicle lane; the electronic fence array is connected to a loudspeaker array via an Ethernet interface; and the guide light group is fixedly installed at the intersection of the vehicle lanes.

[0019] As described above, the intelligent material yard system of this application has the following beneficial effects:

[0020] The intelligent material yard system provided in this application can realize cross-material yard and multi-material group joint control of engineering machinery in the material yard by applying information and communication technology, electrical automation technology and new energy technology, so as to improve production efficiency, reduce energy consumption, improve the working environment and reduce environmental pollution.

[0021] The intelligent material yard system provided in this application improves the coordination efficiency between loaders and other equipment, thereby reducing transportation costs; this device can also provide real-time operation data and analysis reports to help enterprises conduct visual management and optimize decision-making, further improving operational efficiency;

[0022] The intelligent material yard system proposed in this application has strong versatility and a wide range of applications. Attached Figure Description

[0023] Figure 1 The diagram shown is a structural schematic of the intelligent material yard system described in an embodiment of this application.

[0024] Figure 2The diagram shows the structural diagrams of the various modules of the intelligent material yard system described in this application embodiment.

[0025] Figure 3 The diagram shows a schematic of the physical connection structure in the smart material yard system described in this application embodiment.

[0026] Figure 4 The diagram shows a cluster structure of industrial control equipment in an implementation of the smart material yard system described in this application.

[0027] Figure 5 The diagram shows a modular structure of an industrial control equipment cluster in an implementation of the smart material yard system described in this application embodiment.

[0028] Figure 6 The diagram shows the layout of the communication and sensing facilities and electronic fence structure of the smart material yard system described in this application embodiment.

[0029] Figure 7 The diagram shown is a schematic diagram of a smart material yard system described in this application embodiment, illustrating a full-scene smart control system.

[0030] Explanation of icon numbers

[0031] Serial Number Name

[0032] 1. Intelligent material yard structure

[0033] 110 Central Control Room

[0034] 120 material yard vehicles

[0035] 130 Factory Area Main Network

[0036] 111 Computer Gateway

[0037] 112 Monitoring Station

[0038] 113 Control Panel

[0039] Serial Number Name 121 CPE Gateway

[0040] 122 CAN bus 123 VCU controller

[0041] 2. Intelligent material yard system 210 bin end

[0042] 220 Industrial Control Equipment Clusters 230 Vehicle Terminals

[0043] 240 5G Multi-Sensor Access Terminal 211 Steering Wheel Controller

[0044] 212 Display Terminal

[0045] 213 Control signal generator 214 Data storage

[0046] 215 Data Acquisition Card

[0047] 216 Touchscreen Display

[0048] 217 Ethernet Controller

[0049] 218 UDP Communication Board

[0050] 221 Raw material yard scanning sensor group; 222 Microcontroller

[0051] 223 server

[0052] 224 Firewall Device

[0053] 225 Router

[0054] 226 Backbone network core switch 227 Vehicle-mounted sensor

[0055] 228 Vehicle Bus

[0056] 231 Attitude Fusion Controller; 232 Vehicle Motion Controller; 233 Radar Controller

[0057] 234 Video Encoder 235 CANFD Bus Serial Number Name

[0058] 236 Gateway

[0059] 237 Optical Spectrum Camera Group

[0060] 2311 Angle Encoder

[0061] 2312 Inclinometer

[0062] 241 User Terminal

[0063] 242 5G base stations

[0064] 243 Environmental Sensing Facilities

[0065] 2431 Identify Camera Groups

[0066] 2432 Radar

[0067] 2433 Electronic Fence Array

[0068] 2434 Guide Light Assembly

[0069] 2435 Enclosed Electronic Fence

[0070] 300 Cockpit Detailed Implementation

[0071] The present application will be further described below with reference to the accompanying drawings, but the scope of protection of the present application is not limited to the following description.

[0072] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0073] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0074] The intelligent material yard system provided in the following embodiments of this application solves the technical problems of traditional enclosed material yards, which are limited by physical constraints (spatial structure, ventilation conditions) and manual operation modes, making it difficult to meet the green production needs (reduce carbon emissions and reduce pollution) under the carbon neutrality goal, as well as the unmanned and precise operation requirements of intelligent manufacturing.

[0075] This application provides a smart material yard system that enables loaders to operate autonomously or remotely, avoiding operator fatigue and errors, and improving operational efficiency and accuracy. This reduces working time and human resource costs, and increases the loader's operational capacity and output. The system enhances data stream reliability through a dual information channel of Ethernet interface and 5G surround sensing. Real-time data stream, vehicle status synchronization control, and network latency exceeding 50Mbps or network outages enable the vehicle to enter an emergency braking process and parking state to ensure driving safety. Furthermore, this system has a simple structure, saves maintenance costs, and extends service life.

[0076] The following will describe in detail the implementation principle of a smart material yard system according to the accompanying drawings.

[0077] Please see Figure 1 The diagram shows a structural schematic of the intelligent material yard system described in an embodiment of this application. Figure 1As shown, the intelligent material yard structure 1 includes: a central control room 110 for centralized control of equipment and vehicles within the plant area; material yard vehicles 120, located at various positions within the plant area for material handling and transportation; a computer gateway 111, located within the central control room 110, for converting control commands from the central control room 110 into network signals and sending them to the plant's 5G backbone network; a CPE (Customer Premises Equipment) gateway 121, located on the material yard vehicles 120, for converting network signals from the plant's 5G backbone network into signals that the vehicles can recognize; a monitoring console 112, located within the central control room 110, for real-time monitoring of the operating status of equipment and vehicles within the plant area; an operating console 113, located within the central control room 110, for operators to manually control the central control room 110; and a CAN (Controller Area Network) bus 122, connected to the CPE gateway 121 and the VCU (Vehicle Control Unit). The unit (vehicle controller) is used between the controllers 121 and 123 to realize data communication between the CPE gateway 121 and the VCU controller 123; the VCU controller 123 is installed on the material yard vehicle 120 and is used to control the driving and operation of the vehicle.

[0078] The central control room 110 houses the gateway computer communication equipment, remote control console 113, and dispatch command console. The computer is equipped with the relevant systems and software of the intelligent material yard intelligent joint control cloud platform. The remote control console 113 is only used in emergency situations. The dispatch command console includes a work instruction issuance terminal and a dispatch command and monitoring terminal. The intelligent joint control central control room 110 exchanges data and connects with external systems through the plant's main network 130.

[0079] Through the above structure, the central control room 110 connects to the plant's 5G backbone network via computer gateway 111, and transmits control commands to the material yard vehicles 120 via CPE gateway 121, realizing remote centralized control. Simultaneously, the monitoring station 112 can monitor the operating status of equipment and vehicles within the plant in real time, ensuring the smooth operation of the production process. Furthermore, data communication between the CPE gateway 121 and the VCU controller 123 is achieved via CAN bus 122, ensuring the control accuracy and stability of the vehicles.

[0080] Please see Figures 2 to 5 The diagrams shown are: schematic diagrams of the modules of the smart material yard system described in the embodiments of this application; schematic diagrams of the physical connection structure of the smart material yard system described in the embodiments of this application; schematic diagrams of the industrial control equipment cluster structure of the smart material yard system described in the embodiments of this application in an implementation; and schematic diagrams of the module structure of the industrial control equipment cluster of the smart material yard system described in the embodiments of this application in an implementation.

[0081] In one embodiment, the smart material yard system 2 includes: a cabin end 210, an industrial control equipment cluster 220, a vehicle end 230, and a 5G multi-sensor access terminal 240.

[0082] In one embodiment, the cabin end 210 is connected to the industrial control equipment cluster 220 via a network port and to the 5G multi-sensor access terminal 240 via an Ethernet interface; the input end of the cabin end 210 is fixedly connected to the raw material yard scanning sensor group 221 via a slot, and the output end is connected to the actuator using an optocoupler isolation circuit.

[0083] The industrial control equipment cluster 220 is connected to the 5G multi-sensor access terminal 240 via a local area network. The communication chip in the industrial control equipment cluster is connected to the host computer via a bus, and also to the positioning base station via a bus. The communication chip is electrically connected to the relay control board and to an industrial camera via a camera serial interface. The physical emergency stop switch is connected to the relay control board via a double-break contact hardwire and is connected to the actuator power circuit. The industrial control equipment cluster 220 is configured to receive control commands through the communication chip, collect three-dimensional position data in conjunction with the positioning base station, drive the actuator via the relay control board, and utilize the industrial camera and physical emergency stop switch to achieve operation monitoring and intervention.

[0084] The vehicle terminal 230 is connected to the 5G multi-sensor access terminal 240 via an Ethernet interface through the vehicle terminal controller. It is configured to receive network commands and convert them into electronic control signals, and execute the electronic control signals through the vehicle terminal controller to drive the vehicle to move.

[0085] The 5G multi-sensor access terminal 240 is connected to the cabin end 210, the industrial control equipment cluster 220, and the vehicle end 230 via wires, and is configured to collect physical signals and identify the spatial coordinates of materials on site, and analyze the distribution location of materials and terrain environment information in real time.

[0086] Please continue reading. Figures 2 to 5 .

[0087] The cockpit 210 includes, but is not limited to: a steering wheel controller 211, a display terminal 212, a control signal generator 213, a data storage device 214, a data acquisition card 215, and a touch screen display 216, all located within the cockpit 300.

[0088] In this embodiment, the steering wheel controller 211 is connected to the vehicle main controller via the bus interface of the Ethernet controller 217; the display terminal 212 is connected to the display screen controller via a device serial interface, and the display screen controller is detachably connected to the vehicle main controller via a communication interface; the data storage 214 is detachably connected to the input port of the image processor via an output port; the input terminal of the data acquisition card 215 is connected to the vehicle sensor via an Ethernet communication interface; and the touch screen display 216 is detachably connected to the UI controller via a bus, and the UI controller is connected to the vehicle main controller via a communication interface.

[0089] The cabin end 210 further includes an Ethernet controller 217 and a UDP communication board 218. The Ethernet controller 217 is connected to an external network via a network interface; the output port of the Ethernet controller 217 is detachably connected to the input port of the display terminal 212; the input port of the UDP communication board 218 is connected to the output port of the control signal generator 213, and the output port of the UDP communication board 218 is connected to the input port of the data acquisition card 215.

[0090] Specifically, the cabin end 210 integrates a multi-sensor array (such as temperature, humidity / dust sensors, etc.), and its output end is connected to the control terminal of the cab 300 through a customized interface circuit; the non-line-of-sight loader has a built-in dedicated data processing chipset, whose input end is connected to the terminal, and whose output end can communicate with the vehicle end 230 through a 5G communication interface (including a multi-antenna array).

[0091] The steering wheel controller 211 is connected to the control mechanism of the cockpit control terminal via a bus interface.

[0092] The control signal generator 213 further includes a main processor and a communication coprocessor. The main processor is connected to the communication coprocessor via a PCIe (Peripheral Component Interconnect Express) bus. The communication coprocessor integrates a TCP / IP protocol stack and an Ethernet PHY (Physical Layer) chip.

[0093] The database storage 217 uses an embedded storage chip and is connected to the main processor via an SDIO (Secure Digital Input Output, a functional extension of the SD memory card standard) interface.

[0094] The cabin end 210 also includes a TCP (Transmission Control Protocol) coprocessor and a UDP (User Datagram Protocol) data transceiver.

[0095] The touchscreen display 216 is connected via the TCP coprocessor; the UDP transceiver sends control data to the control signal generator 213 of the reinforced cabin via the User Datagram Protocol.

[0096] For example, the steering wheel controller 211 is connected to the cockpit control mechanism 300 via a CAN bus interface and uses a Hall sensor matrix to collect steering wheel angle and control panel operation signals in real time.

[0097] The camera system uses dual vehicle-mounted cameras to capture video data, which is then transmitted to the video decoding chip via a hardware interface.

[0098] The main processor connects to the communication coprocessor via the PCIe bus and is responsible for device scheduling and data processing. The communication coprocessor integrates an Ethernet chip and a hardware TCP / IP protocol stack to implement network communication functions.

[0099] The data storage module can use a storage chip, which is connected to the main processor through a chip interface.

[0100] The interactive UI module uses GPU (Graphics Processing Unit) to render the interface.

[0101] The vehicle control interface is connected to the vehicle ECU (Electronic Control Unit) via a second CAN bus.

[0102] The TCP coprocessor / UDP transceiver is based on the Ethernet controller 217 and supports Gigabit Ethernet communication; the wireless communication module connects to the main processor via a USB interface.

[0103] As can be seen from the above, when the device is working, the data from the steering wheel and camera is acquired by the acquisition module and then transmitted to the main processor for processing through the corresponding interface. The processing results are presented through the display module, and the device interacts with external modules through the communication module. Vehicle control commands are transmitted to the actuators through the CAN FD bus.

[0104] Please continue reading. Figures 2 to 5 .

[0105] The industrial control equipment cluster 220 includes: a raw material yard scanning sensor group 221, a microcontroller 222, a server 223, a firewall device 224, a router 225, and a backbone network core switch 226, etc.

[0106] The raw material yard scanning sensor group 221 is installed on the top of the raw material yard to collect real-time physical parameter signals of the material piles in the raw material yard and generate operation instructions and material pile data. Among them, the physical parameter signals of the material pile include data such as material type and tonnage, pile location, and external dimensions.

[0107] Specifically, the raw material yard scanning sensor group 221 is used to collect physical parameter signals of the stockpile in real time. After analysis by the data processing unit, it automatically generates operation control commands and three-dimensional data of the stockpile, realizing intelligent monitoring and management of the raw material yard. The raw material yard scanning sensor group 221 can be a sensor array; and through the sensor array, signal processing module, and command output module, physical signal acquisition and operation control are performed.

[0108] The input terminal of the microcontroller 222 is electrically connected to the output terminal of the raw material field scanning sensor group 221, and is configured to receive the operation instructions, monitor and provide feedback on the operation progress.

[0109] Specifically, the input terminal of the microcontroller 222 is directly connected to the signal output terminal of the raw material yard scanning sensor group 221 through an electrical interface, and is used to receive digital operation instructions generated by the sensor group; the microcontroller 222 can adopt a built-in progress monitoring program to process the operation instruction data in real time and feed back the current operation progress status through the communication interface to form a closed-loop control.

[0110] The server 223 is connected to the microcontroller 222 via an Ethernet interface, and collects material location information, vehicle information, and operation status information through the backbone core switch 226, vehicle-mounted sensor 227, vehicle-end bus 228, and raw material yard scanning sensor group 221, respectively. Specifically, the raw material yard scanning sensor group 221 is signal-connected to the microcontroller 222 and is used to collect material location information; the vehicle-mounted sensor 227 is connected to the raw material yard scanning sensor group 221 via the vehicle-mounted bus 228, and is also signal-connected to the server 223 and the microcontroller 222, respectively, and is used to collect vehicle information and operation status information.

[0111] Specifically, the server 223 establishes a wired connection with the raw material yard scanning sensor through the core switch 226 of the plant backbone network. The raw material yard scanning sensor is interconnected with the vehicle sensor 227 through the physical layer interface unit. The vehicle sensor 227 is connected to the vehicle control module through the vehicle-side bus.

[0112] Server 223 is connected to vehicle-mounted sensors 227 via the plant's main backbone network core switch 226 to collect information such as operational status (e.g., operational progress) and communication status; it also collects vehicle information via vehicle-mounted sensors 227 and vehicle bus 228; and it collects material location information (e.g., material location tonnage, material type) via raw material yard scanning sensor group 221. Server 223 can also collect real-time weather information from the plant's meteorological monitoring station. The meteorological monitoring station includes sensors for temperature, humidity, wind speed, and dust concentration, and establishes a data connection with server 223 via an Industrial Internet of Things (IIoT) protocol.

[0113] In one embodiment, the firewall device 224 is located between the external cloud platform core switch and the backbone network core switch 226. The firewall device 224 is connected to the microcontroller 222 via an Ethernet interface and is used to receive work instructions and provide feedback on work progress via an industrial bus interface. The router 225 is connected to the access switch of the server cluster via a fiber optic patch cable, and is also connected to the backbone network core switch 226 via a photoelectric converter, and is connected to the microcontroller 222 via an Ethernet interface.

[0114] The server 223 further includes: an on-board sensor 227 and an on-board bus 228. The on-board sensor 227 is installed on the vehicle end 230 and is used to monitor the environment around the vehicle; the on-board bus 228 is installed on the vehicle end 230 and is electrically connected to the on-board equipment, used to collect vehicle data and transmit vehicle data to the server 223.

[0115] Please continue reading. Figures 2 to 5 .

[0116] In one embodiment, the vehicle-mounted unit 230 includes: an attitude fusion controller 231, an optical spectrum camera group 237, a vehicle motion controller 232, a radar controller 233, a video encoder 234, a CANFD bus 235, and a gateway 236, all disposed in the cockpit.

[0117] In this embodiment, the attitude fusion controller 231 is connected to the vehicle motion controller 232 and the transport and engineering vehicle, respectively, and is used to measure the rotation angle of the engineering vehicle and the tilt of the engineering vehicle relative to the horizontal plane.

[0118] The attitude fusion controller 231 may employ an angle encoder 2311 and an inclinometer 2312. The angle encoder 2311 is detachably connected to the vehicle motion controller 232 via a wire; the angle encoder 2311 is mounted on the engineering vehicle and is used to measure the rotation angle of relevant components of the engineering vehicle. The inclinometer 2312 is electrically connected to the vehicle motion controller 232 via a wire; the inclinometer 2312 is mounted on the engineering vehicle and is configured to measure the tilt angle of the engineering vehicle relative to the horizontal. The engineering vehicle in this application may be a transport vehicle, a loading vehicle, etc.

[0119] The optical spectrum camera unit is deployed around the yard and is connected to the industrial control equipment cluster 220 via an Ethernet interface.

[0120] Specifically, the optical spectrum imaging unit can be a multispectral industrial camera array, covering the entire area of ​​the material yard and scanning the basic parameters of the material pile; the basic parameters of the material pile include: material pile volume, density, and surface morphology.

[0121] The vehicle motion controller 232 is detachably connected to the DC input terminal via wires to the CANFD (Controller Area Network with Flexible Data-Rate) bus and relays; the vehicle motion controller 232 is connected to the loader via relays.

[0122] The vehicle motion controller 232 is installed on transport and engineering vehicles; it is connected to the vehicle's power system and steering system via a CAN bus and is used to receive task instructions issued by the data processing unit.

[0123] The radar controller 233 is detachably connected to the output of the DC power supply via a wire, and is used to detect the surrounding environment through radar sensors, including data such as the location of obstacles and materials.

[0124] The video encoder 234 is detachably connected to the radar controller 233 via a wire. The video encoder 234 is connected to the gateway via a local area network and is used to collect video of the work site to provide monitoring images for operators.

[0125] The CANFD bus 235 is connected to the video encoder 234 and the 5G multi-sensor access terminal 240 via twisted-pair cables.

[0126] The gateway is connected to the vehicle operation controller via a DC power supply line.

[0127] Please see Figure 6 and Figure 7The images shown are schematic diagrams of the communication and sensing facilities and electronic fence structure layout in an implementation of the smart material yard system described in this application embodiment, and a schematic diagram of the smart joint control full-scene implementation of the smart material yard system described in this application embodiment.

[0128] In one embodiment, the 5G multi-sensor access terminal 240 includes: a user terminal 241, a 5G base station 242, and an environmental sensing facility 243. The input terminal of the user terminal 241 is connected to the output terminal of the video encoder 234 via an Ethernet interface; the user terminal 241 is connected to the CANFD bus 235 via a network interface; the 5G base station 242 is connected to the user terminal 241 via a network interface; and the output terminal of the environmental sensing facility 243 is connected to the 5G base station 242 via an Ethernet interface.

[0129] In this embodiment, the environmental sensing facility 243 includes: a camera group 2431, a radar 2432, an electronic fence array 2433, and a guide light group 2434. The camera group 2431 is deployed around the perimeter of the yard and connected to the industrial control equipment cluster 220 via an Ethernet interface; the radar 2432 is deployed in conjunction with the camera group 2431 around the perimeter of the yard and connected to the roadside unit via an Ethernet interface; the electronic fence array 2433 is spaced out on both sides of the vehicle lanes; the electronic fence array 2433 is connected to a loudspeaker array via an Ethernet interface; and the guide light group 2434 is fixedly installed at the intersections of the vehicle lanes.

[0130] Specifically, the electronic fence array 2433 (e.g., a primary fence) is set on both sides of the vehicle lane in the target area, and the identification camera groups for personnel and vehicles are set at intervals on both sides of the vehicle lane; a loudspeaker array is connected to the electronic fence array 2433 via an Ethernet interface; and a traffic guidance light group 2434 is set at the intersection of the vehicle lane.

[0131] The electronic fence array 2433 includes an electronic fence host and a front-end detection fence, forming a barrier through a pulse generator in the electronic fence host; the output end of the pulse generator is connected to the input end of the front-end detection fence through a wire; the output end of the front-end detection fence is connected to a grounding end.

[0132] In addition, the environmental sensing facility 243 also includes a closed electronic fence 2435 surrounding the stockyard. The high-voltage output terminal of the pulse generator of the closed electronic fence 2435 is connected to the front fence via a wire; the closed electronic fence 2435 is connected to the identification camera group 2431 via a wire, and the output terminal of the closed electronic fence 2435 is connected to the 5G base station 242 via an Ethernet port such as RS485, and uploads the alarm location and alarm type via Ethernet / IP protocol. Meanwhile, compared with the electronic fence array 2433, the stockyard system needs to strengthen tension monitoring, lightning protection level, mechanical protection, and intelligent linkage to cope with the special challenges of the open industrial environment.

[0133] Specifically, the transport and engineering vehicle access lanes are managed in a closed manner. Environmental sensing facilities are added at the entrance of the storage yard and on both sides of the road. Cameras and radar 2432 sensors are used to identify vehicles and personnel within the electronic fence and voice loudspeakers are used for control. Traffic guidance lights are set up at intersections. Real-time data is transmitted to the microcontroller via optical fiber. When a vehicle or person enters the closed passage and touches the electronic fence, it triggers the nearest camera and voice loudspeaker to monitor it. At the same time, the camera will upload the location image information of the external vehicle and personnel to the microcontroller.

[0134] Therefore, the device provided in this application improves the reliability of data streams through a dual information channel of Ethernet interface and 5G surround sensing. When real-time data streams, vehicle status synchronization control, and network latency exceed 50Mbps or a network outage occur, the device enables the vehicle to enter an emergency braking process and parking state to ensure driving safety. This device detects the environment around the loader through a sensor array and monitors the loader's status and operation in real time, promptly identifying and avoiding potential safety hazards. This helps reduce the occurrence of accidents and unexpected events, lower maintenance costs, and improve equipment reliability and service life.

[0135] As can be seen from the above, the intelligent material yard system of this application, through the coordinated control of various devices within the system, enables loaders to operate under unmanned or remote control conditions, avoiding operator fatigue and operational errors, and improving operational efficiency and accuracy. This will reduce working time and human resource costs, and increase the loader's operational capacity and output. The device of this application realizes intelligent operation of material yard transportation and engineering vehicle operations with reduced manpower, digitalization, and low carbon emissions.

[0136] Currently, the intelligent stockyard system proposed in this application has been put into trial operation in the OF (Ore Fine Stockyard) and DB (Blending Bed Stockyard) stockyard areas of Zhanjiang Iron and Steel Plant. Testing includes the intelligent control cloud platform for the intelligent stockyard, the autonomous process recognition of the intelligent stockyard's 3D model, 5G communication environmental sensing facilities, vehicle-mounted environmental sensing equipment, the intelligent control central control room, the collaborative control of wire-controlled transportation and engineering vehicles, the inter-module control, process efficiency, and equipment reliability. This has achieved intelligent operation of stockyard transportation and engineering vehicle operations with reduced manpower, digitalization, and low carbon emissions. During the trial run, the device operated reliably and met the requirements, and the process-related parameters met the design standards.

[0137] Based on practical applications, this application structurally improves operational capabilities, realizing intelligent operation of material yard transportation and engineering vehicle operations with reduced manpower, digitalization, and low carbon emissions. At the same time, it reduces "3D" operation positions, and carbon emissions are reduced by 100% after the vehicles are converted to electric drive and drive-by-wire. The efficiency of transportation and engineering vehicle operations is improved by 5% after intelligent operation.

[0138] In summary, the intelligent material yard system provided in this application enables cross-yard, multi-material group control of construction machinery within a material yard, thereby improving production efficiency, reducing energy consumption, improving the working environment, and reducing environmental pollution. The intelligent material yard system provides intelligent scheduling and collaborative work, improving the coordination efficiency between loaders and other equipment, thus reducing transportation costs. This device can also provide real-time operational data and analysis reports, helping enterprises to conduct visual management and optimize decision-making, further improving operational efficiency. The intelligent material yard system of this application has strong versatility, a wide range of applications, and high practical value.

[0139] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A smart yard system, characterized by, The intelligent material yard system includes: a cabin end, an industrial control equipment cluster, a vehicle end, and a 5G multi-sensor access terminal; The cabin end is connected to the industrial control equipment cluster via a network port and to the 5G multi-sensor access terminal via an Ethernet interface; the input end of the cabin end is fixedly connected to the raw material yard scanning sensor group via a slot, and the output end is connected to the actuator using an optocoupler isolation circuit; The industrial control equipment cluster and the 5G multi-sensor access terminal are connected via an Ethernet interface; wherein, the communication chip in the industrial control equipment cluster is connected to the host computer via a bus, the communication chip is connected to the positioning base station via a bus, the communication chip is electrically connected to the relay control board, the communication chip is connected to the industrial camera via a camera serial interface, and the physical emergency stop switch is connected to the relay control board via a double-break contact hard wire and connected to the actuator power supply circuit; The vehicle-mounted device is connected to the 5G multi-sensor access terminal via an Ethernet interface through a vehicle-mounted controller. It is configured to receive network commands and convert them into electronic control signals, and execute the electronic control signals through the vehicle-mounted controller to drive the vehicle to move. The 5G multi-sensor access terminal is connected to the cabin end, the industrial control equipment cluster, and the vehicle end via wires, and is configured to collect physical signals and identify the spatial coordinates of materials on site, and analyze the distribution location of materials and terrain environment information in real time.

2. The smart yard system of claim 1, wherein, The industrial control equipment cluster includes: a raw material yard scanning sensor group, a microcontroller, a server, and vehicle-mounted sensors; The raw material yard scanning sensor group is installed on the top of the raw material yard to collect real-time physical signals of the material piles in the raw material yard and generate operation instructions and material pile data. The input terminal of the microcontroller is electrically connected to the output terminal of the raw material field scanning sensor group, and is configured to receive the operation instructions, monitor and provide feedback on the operation progress; The server is connected to the microcontroller via an Ethernet interface, and the raw material yard scanning sensor group is connected to the microcontroller via a signal connection to collect material location information; the vehicle-mounted sensor is connected to the raw material yard scanning sensor group via a vehicle bus, and is also connected to the server and the microcontroller via a signal connection to collect vehicle information and operation status information.

3. The smart yard system according to claim 2, wherein, The industrial control equipment cluster also includes: firewall equipment, routers, and backbone network core switches; The firewall device is located between the external cloud platform core switch and the backbone network core switch. The firewall device is connected to the microcontroller via an Ethernet interface and is used to receive work instructions and feedback on work progress via an industrial bus interface. The router is connected to the access switch of the server cluster via fiber optic patch cord, and is also connected to the backbone core switch via an optoelectronic converter, and to the microcontroller via an Ethernet interface.

4. The smart yard system of claim 2, wherein, The server also includes: The vehicle-mounted sensor is installed on the vehicle end and is used to monitor the environment around the vehicle; The vehicle bus is installed on the vehicle and electrically connected to the vehicle equipment. It is used to collect vehicle data and transmit vehicle data to the server.

5. The smart yard system of claim 1, wherein, The vehicle-mounted components include: an attitude fusion controller, a vehicle motion controller, a radar controller, a video encoder, a CANFD bus, and a gateway; The attitude fusion controller is connected to the vehicle motion controller, the transport vehicle, and the engineering vehicle via a bus port, and is used to measure the rotation angle of the engineering vehicle and the tilt of the engineering vehicle relative to the horizontal plane. The vehicle motion controller is detachably connected to the DC input terminal via wires to the CANFD bus and relays; the vehicle motion controller is connected to the loader via relays. The radar controller is detachably connected to the output of the DC power supply via a wire. The video encoder is detachably connected to the radar controller via a wire, and the video encoder is connected to the gateway via an Ethernet interface; The CANFD bus is connected to the video encoder via a bus interface and to the 5G multi-sensor access terminal via a network interface. The gateway is connected to the vehicle operation controller via a DC power supply line.

6. The smart yard system according to claim 5, wherein, The attitude fusion controller includes an angle encoder and an inclinometer; The angle encoder is detachably connected to the vehicle motion controller via a wire; the angle encoder is installed on the engineering vehicle and is used to measure the rotation angle of relevant components of the engineering vehicle. The inclinometer is electrically connected to the vehicle motion controller via a wire; the inclinometer is mounted on the engineering vehicle and configured to measure the tilt angle of the engineering vehicle relative to the horizontal.

7. The smart yard system of claim 1, wherein, The cockpit includes: a steering wheel controller, a display terminal, a control signal generator, a data storage device, a data acquisition card, and a touch screen display, all located within the cockpit. The steering wheel controller is connected to the vehicle's main controller via the bus interface of the Ethernet controller; The display terminal is connected to the display controller via a device serial interface, and the display controller is detachably connected to the vehicle main controller via a communication interface. The data storage device is detachably connected to the input port of the image processor via an output port; The input terminal of the data acquisition card is connected to the vehicle sensor via an Ethernet communication interface; The touchscreen display is detachably connected to the UI controller via a bus, and the UI controller is connected to the vehicle's main controller via a communication interface.

8. The smart yard system according to claim 7, wherein, The cabin end also includes: an Ethernet controller and a UDP communication board; The Ethernet controller is connected to an external network via a network interface; the output port of the Ethernet controller is detachably connected to the input port of the display terminal. The input port of the UDP communication board is connected to the output port of the control signal generator, and the output port of the UDP communication board is connected to the input port of the data acquisition card.

9. The smart yard system of claim 1, wherein, The 5G multi-sensor access terminal includes: a user terminal, a 5G base station, and environmental sensing facilities; The input terminal of the user terminal is connected to the output terminal of the video encoder via an Ethernet interface; the user terminal is connected to the CANFD bus via a network interface. The 5G base station is connected to the user terminal via a network interface; The output of the environmental sensing facility is connected to the 5G base station via an Ethernet interface.

10. The smart yard system according to claim 9, wherein, The environmental sensing facilities include: a group of identification cameras, radar, an electronic fence array, and a group of guide lights; The identification camera group is deployed around the yard and connected to the industrial control equipment cluster via an Ethernet interface; The radar and the identification camera group are deployed together around the yard and connected to the roadside unit via an Ethernet interface; The electronic fence array is spaced out on both sides of the vehicle lane; the electronic fence array is connected to the loudspeaker array via an Ethernet interface; The guide light assembly is fixedly installed at the intersection of the vehicle lanes.

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