CN113311751A - Remote control system and method for slag remover under furnace - Google Patents
Remote control system and method for slag remover under furnace Download PDFInfo
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- CN113311751A CN113311751A CN202110566540.6A CN202110566540A CN113311751A CN 113311751 A CN113311751 A CN 113311751A CN 202110566540 A CN202110566540 A CN 202110566540A CN 113311751 A CN113311751 A CN 113311751A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The invention provides a remote control system and a method for a slag remover under a furnace, wherein the system comprises: the system comprises: a remote cockpit end, a cloud end and a slag remover; the remote cockpit end is used for sending a vehicle control command to the cloud end; the cloud end is used for forwarding the vehicle control instruction to the slag cleaning machine; and the slag remover is used for carrying out corresponding operation based on the vehicle control command. The invention discloses a remote control system and a remote control method for a slag remover under a furnace, which are used for remotely controlling the slag remover to remove slag and transport slag under the furnace.
Description
Technical Field
The invention relates to the technical field of slag removers, in particular to a remote control system and method for an under-furnace slag remover under the condition that a converter does not stop a furnace process.
Background
With the development of the smelting industry, the revolution and development of domestic metallurgical large logistics equipment, and the high specification requirements of national environmental protection on metallurgy and smelting slag transportation, especially the improvement of equipment, personnel safety, occupational health and technical level, the technology of the internet of things is more and more applied to civil use and industrial sites.
The slag removal equipment of Chinese metallurgy Bao steel technology service company has research, development and manufacturing experience for more than ten years, wherein the intelligent ZYJ-65 remote control loader has a very high market public praise and is widely applied to the market. However, the slag removal operation under the furnace has a plurality of pain points all the time: the problems of frequent safety accidents, severe operating environment, high management and operation cost, risk of falling of converter slag, serious noise pollution and the like are caused. With the development of networking and intelligent technologies, the sight distance and beyond sight distance remote control driving technology is greatly developed, so that it is possible for operators to be far away from a one-line working environment. If the over-the-horizon remote control driving of the loader can be realized, various risks can be greatly reduced, meanwhile, the operating environment of operators is improved, the driving control difficulty is reduced, and the problem that a driver is difficult to recruit is greatly relieved.
The beyond-visual-distance control system of the under-furnace slag remover is matched with the under-furnace slag remover, so that under-furnace red hot steel slag removing operation can be realized under the condition of non-stopping operation process of the steel smelting converter. The over-the-horizon control technology is applied to control the slag removal operation under the converter and the control operation of the converter in an operation chamber, so that the operation control communication is more direct; the intelligent multi-machine combined control system has long-time operation and multi-machine combined control operation (one machine is used for multiple controls, and multiple machines are used for simultaneous control), is close to intelligent and unmanned factory construction, and further improves operation safety and occupational health control in high-risk areas.
Therefore, it is desirable to solve the problem of how to remotely control the slag remover.
Disclosure of Invention
In view of the above-mentioned disadvantages of the prior art, an object of the present invention is to provide a remote control system and method for a slag remover under a furnace, which is used to solve the problem of how to remotely control the slag remover in the prior art.
To achieve the above and other related objects, the present invention provides a remote control system for an under-furnace slag remover, the system comprising: a remote cockpit end, a cloud end and a slag remover; the remote cockpit end is used for sending a vehicle control command to the cloud end; the cloud end is used for forwarding the vehicle control instruction to the slag cleaning machine; and the slag remover is used for carrying out corresponding operation based on the vehicle control command.
In order to achieve the above object, the present invention further provides a method for remotely controlling a slag remover under a furnace, comprising: sending a vehicle control instruction to a cloud terminal based on a remote cockpit terminal; forwarding the vehicle control instruction to a slag removal machine based on the cloud end; and performing corresponding operation based on the vehicle control command based on the slag remover.
As mentioned above, the remote control system and method for the slag remover under the furnace have the following beneficial effects: the remote control slag removing machine is used for remotely controlling the slag removing machine to remove slag under the furnace and convey the slag.
Drawings
FIG. 1a is a schematic view of a remote control system for an under-furnace slag remover according to an embodiment of the present invention;
FIG. 1b is a schematic view of a remote control system for an under-furnace slag remover according to another embodiment of the present invention;
FIG. 1c is a schematic view of a remote control system of an under-furnace slag remover according to an embodiment of the present invention;
FIG. 1d is a schematic view of the slag remover of the present invention in an embodiment of a remote control system for an under-furnace slag remover;
FIG. 1e is a schematic view of a remote control system for an under-furnace slag remover according to another embodiment of the present invention;
FIG. 2 is a flow chart illustrating a remote control method of the slag remover under the furnace according to an embodiment of the present invention.
Description of the element reference numerals
11 remote cockpit end
111 cabin end VCU
112 cabin end control unit
113 cabin end gateway equipment
12 cloud
13 slag remover
131 vehicle-mounted gateway equipment
132 vehicle control unit
133 vehicle VCU
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, so that the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, the type, quantity and proportion of the components in actual implementation can be changed freely, and the layout of the components can be more complicated.
The remote control system and the method of the slag remover under the furnace are used for remotely controlling the slag remover to remove slag and transport slag under the furnace.
As shown in FIG. 1a, in one embodiment, the remote control system of the slag remover 13 under the furnace of the present invention comprises: the remote control cabin end 11, the cloud end 12 and the slag remover 13; the remote cockpit end 11 is configured to send a vehicle control instruction to the cloud end 12; the cloud end 12 is used for forwarding the vehicle control instruction to the slag cleaning machine 13; and the slag cleaning machine 13 is used for carrying out corresponding operation based on the vehicle control instruction.
Specifically, as shown in fig. 1b, in an embodiment, the remote cockpit end 11 is configured to send a vehicle control command to the cloud end 12, and includes: the remote cockpit end 11 comprises a cockpit end VCU111, a cockpit end control unit 112 and a cockpit end gateway device 113; the cabin end VCU111 is configured to send vehicle control information to the cabin end control unit 112; the cabin end control unit 112 is configured to generate a vehicle control instruction based on the vehicle control information and forward the vehicle control instruction to the cabin end gateway device 113; the cabin gateway device 113 is configured to send the vehicle control command to the cloud 12. The cabin end VCU111 is a vehicle control unit for processing and forwarding vehicle control commands, and the cabin end control unit 112 is a main control computer, i.e., a cabin end APU, for controlling the vehicle control unit to process and forward vehicle control commands.
Specifically, the remote cockpit end 11 is configured to send audio and video information to the cloud end 12, so that the cloud end 12 forwards the audio and video information to the slag cleaning machine 13; the slag cleaning machine 13 is configured to send the audio and video information to the cloud 12, so that the cloud 12 forwards the audio and video information to the remote cockpit end 11. The remote control cabin end 11 or the slag cleaning machine 13 further comprises a communication terminal, and the communication terminal is used for communication between the remote control cabin end 11 and the slag cleaning machine 13. The remote cockpit end 11 further comprises a communication terminal, and the communication terminal is used for sending audio and video information to a cloud end, so that the cloud end forwards the audio and video information to the remote cockpit end. The remote cockpit end is used for sending the audio and video information to the cloud end, so that the cloud end forwards the audio and video information to the slag cleaning machine. The communication terminal comprises an interphone, a mobile phone and the like and is used for receiving audio and video information, the audio and video information comprises voice or video instructions for controlling the specific operation of the slag cleaning machine or audio and video for carrying out common communication, and the voice or video instructions for the specific operation of the slag cleaning machine are used for realizing remote voice or video control. The slag cleaning machine 13 further comprises a communication terminal, and the communication terminal is used for sending the audio and video information to a cloud end so that the cloud end can forward the audio and video information to a remote cockpit end. And the voice or video instruction for controlling the specific operation of the slag cleaning machine is audio/video talkback information.
Specifically, as shown in fig. 1c, the remote cockpit end further includes: the system comprises an operating mechanism, a display system and cabin gateway equipment; the operating mechanism comprises any one or more of the following: a seat, an operating handle, an operating panel and a foot pedal; the operation panel includes: the remote control device comprises a lighting control device, an engine control device, an accelerator control device, a remote control machine walking motion control device, a remote control machine arm control device, an operation table brake device and a loudspeaker control device. The operating handle is used for enabling an operator to give operating instructions. The operation instructions of the operation handle comprise: forward, backward, left turn, right turn, bucket up turn, bucket down turn, boom down, boom up. The vehicle control instruction refers to a remote operation instruction for the slag removal machine. The control panel is also used for enabling an operator to give out vehicle control instructions. The operation panel includes: the remote control device comprises a lighting control device, an engine control device, an accelerator control device, a remote control machine walking motion control device, a remote control machine arm control device, an operation table brake device and a loudspeaker control device. The vehicle control instructions include: lighting instructions, throttle instructions, motion instructions, horn control instructions, braking instructions, and horn turn-on or turn-off instructions. The lighting control device is used for letting operating personnel issue the illumination instruction, the illumination instruction includes: a headlight switch, a rear switch, etc. The engine control device is used for enabling an operator to give an engine instruction, and the engine instruction is engine flameout, engine ignition and engine connection. The accelerator control device is used for enabling an operator to give an accelerator instruction, and the accelerator instruction refers to an accelerator size instruction, for example, the accelerator is sequentially increased from a number 0 to a number 10. Remote-control machine walking motion controlling means is used for letting operating personnel issue the motion instruction to the scarfing cinder machine, the motion instruction includes: forward, backward, left turn, right turn. Remote control horn controlling means is used for letting operating personnel issue the horn control command to scarfing cinder machine, the horn control command includes: the bucket is turned up, the bucket is turned down, the machine arm is descended and the machine arm is ascended. Operation panel arresting gear is used for letting operating personnel issue the braking instruction, the braking instruction includes: parking brake and brake release. The horn control device is used for enabling an operator to give a horn opening or closing instruction. The pedal is used for enabling an operator to give a braking instruction or an accelerator instruction.
The display system comprises any one or more of the following: display screen, instrument and pilot lamp. The indicator light comprises any one or more of the following: alarm lamp, pilot lamp and indicator. The display screen is used for displaying the video shot by the slag remover. The instrument is used for displaying the operating state of the slag cleaning machine, and the operating state comprises the following steps: engine state, throttle state, motion state, horn state. The engine state refers to a state of the slag cleaning machine in which an engine is currently located, and comprises the following steps: engine off state, engine ignition state, engine on state. The throttle state refers to the state of a throttle of the slag cleaning machine. The motion state refers to that the motion state of the slag cleaning machine comprises the following steps: forward state, backward state, left turn state, right turn state. The horn state means that the horn state of the slag removal machine includes: a bucket-up state, a bucket-down state, a boom-down state, and a boom-up state. The pilot lamp is used for instructing the light state of scarfing cinder machine, the light state includes: the switching condition of the front light and the switching condition of the rear light.
The cabin end gateway equipment comprises any one or more of the following components: CAN gateway, 5G module, wireless AP, switch and network adapter.
Specifically, the operating mechanism is used for acquiring vehicle control information, the operating mechanism is used for forwarding the vehicle control information to a cabin end VCU, and the display system is used for acquiring audio and video information sent by the cabin end control unit for displaying.
Specifically, as shown in fig. 1d, in an embodiment, the slag remover includes: a vehicular VCU133, a vehicular control unit 132, a camera device, a radar device, an onboard gateway device 131, a sensor, a valve, an arm, a bucket, a light, or a horn. The vehicle gateway device 131 is a switch. The radar device is a laser radar. The radar device is used for emitting electromagnetic waves to irradiate a target by the radar and receiving the echo of the target, so that information such as the distance from the target to an electromagnetic wave emitting point, the distance change rate (radial speed), the azimuth, the altitude and the like is obtained. The sensor includes: the system comprises a working mechanism sensor, a vehicle speed sensor and an IMU sensor. The working mechanism sensor is used for acquiring the working state of the slag cleaning machine, the vehicle speed sensor is used for acquiring the vehicle speed of the slag cleaning machine, and the IMU sensor is used for acquiring the acceleration of the slag cleaning machine, namely the Inertial Measurement Unit (IMU), and is a device for measuring the three-axis attitude angle and the acceleration of an object. Typical IMUs include three-axis gyroscopes and three-axis accelerometers. The slag remover further comprises a controller VCU for controlling the sensors and valves. The valve comprises: and the walking proportional valve and the steering proportional valve are used for controlling the walking and steering of the slag removing machine. The machine arm is a mechanical arm for controlling the bucket, and the movement of the machine arm comprises the descending of the machine arm and the ascending of the machine arm. The bucket movement includes a bucket tip up, a bucket tip down. How specifically valves, arms, buckets, lights or horns are operated is done based on the vehicle control commands. The camera device is used for acquiring audio and video information around the slag remover in real time and transmitting the audio and video information to the remote cockpit end through the cloud end.
Specifically, the slag cleaning machine is further used for sending vehicle data information to a cloud end, so that the cloud end forwards the vehicle data information to the remote control cabin end; the remote cockpit displays the vehicle data information based on a display system. The vehicle data information comprises information detected by a sensor and a radar and current state information of the slag cleaning machine. The status information includes vehicle speed, light on/off, and horn information. The remote control cabin end can be controlled in real time conveniently for the slag removal machine.
Specifically, the vehicle-mounted gateway device 131 is configured to receive audio and video information and a vehicle control instruction, and forward the audio and video information and the vehicle control instruction to the vehicle control unit 132; the vehicle control unit 132 parses the vehicle control command to generate vehicle control information, and forwards the vehicle control information to the vehicular VCU 133; such that the vehicle VCU133 controls the corresponding sensor, valve, boom, bucket, light, or horn based on the vehicle control information. The invention is provided with a multi-view camera, a radar and an induction sensor, and can warn and correct improper operation or dangerous behaviors of an operator in time.
As shown in fig. 1e, in an embodiment, the remote control system of the slag remover under the furnace of the present invention comprises: remote cockpit end, high in the clouds and scarfing cinder machine. Cloud: the cloud end is composed of a communication network and an beyond-the-horizon control system platform. The network adopts two communication modes of 5G \ industrial WIFI communication network according to the field industrial environment so as to be suitable for various industrial and network coverage environments. The beyond visual range control system platform is a cabin-end and vehicle-end data interaction, processing and management platform, and realizes low-delay and high-efficiency remote vehicle taking over by establishing a vehicle-end-cabin-end architecture flow, a control instruction processing flow and a video processing flow. In a factory covered by a 5G network or industrial wifi, the data interaction between a cabin end and a vehicle end is realized under the condition of complex working conditions, and the unmanned slag removal and unloading operation without furnace shutdown is realized.
The remote cockpit end is used for sending a vehicle control command to the cloud end. The remote cockpit end includes: the system comprises an operating mechanism, a display system, cabin gateway equipment and an input component, wherein the display system is a curved screen or a matrix large screen; the cabin end gateway equipment is a network switch; the input component is a acrobatic component, such as a acrobatic simulation steering gear, a acrobatic brake and a clutch pedal.
The cloud end is used for forwarding the vehicle control instruction to the slag cleaning machine; the cloud is a cabin server.
The slag remover is used for carrying out corresponding operation based on the vehicle control command, and the slag remover comprises a vehicle VCU, a vehicle control unit, a camera device, a radar device, vehicle-mounted gateway equipment, a sensor, a valve, a machine arm, a bucket, a lamp or a loudspeaker. The camera device is a vehicle-mounted camera. The slag cleaning machine further comprises a display device, and the display device is used for displaying the audio and video information; the display device is a display screen and a loudspeaker. The remote control device is used for carrying out voice or video communication with a remote control cabin end, so that a worker positioned in the slag cleaning machine is remotely controlled. The invention realizes the full-line control technology, can realize the fault diagnosis and early warning of a whole vehicle engine system, a walking system, a hydraulic working system, an electric control system and other multi-systems, and simultaneously feeds back an operation console and an equipment intelligent management platform in real time through a network to inform operation personnel, equipment owners of information such as operation, early warning, fault, to-be-maintained reminding and the like in time. The operation mode of the slag removal robot under the remote control furnace is changed, so that the operating personnel is far away from the operation site, the problems of occupational health and production safety caused by site complex working conditions, high temperature, dust and high humidity are solved, and the comfort and environmental safety of the operating personnel are improved. Provides a new scheme for the safety management of personnel and equipment using customers. Meanwhile, the invention can realize the slag removal without stopping the converter, and the slag removal process without stopping the converter can save a great deal of time for blowing out the converter and the heat loss in the blowing out process for the steel smelting. Not only saves a large amount of reheating energy of the converter, but also greatly reduces the carbon emission.
As shown in fig. 2, in an embodiment, the method for remotely controlling the slag remover under the furnace of the present invention comprises the following steps: step S21, sending a vehicle control command to a cloud terminal based on a remote cockpit terminal; step S22, forwarding the vehicle control instruction to a slag cleaning machine based on the cloud end; and step S23, performing corresponding operation based on the vehicle control command based on the slag remover.
Specifically, the sending of the vehicle control command to the cloud based on the remote cockpit side includes: the remote cockpit end comprises a cockpit end VCU, a cockpit end control unit and cockpit end gateway equipment; the cabin end VCU is used for sending vehicle control information to the cabin end control unit; the cabin end control unit is used for generating a vehicle control instruction based on the vehicle control information and forwarding the vehicle control instruction to cabin end gateway equipment; and the cabin gateway equipment is used for sending the vehicle control command to the cloud end.
The communication terminal is used for sending audio and video information to a cloud end, so that the cloud end forwards the audio and video information to a remote cockpit end.
Specifically, the remote cockpit side is used for sending audio and video information to the cloud side, so that the cloud side forwards the audio and video information to the slag cleaning machine.
Specifically, the remote cockpit end further includes: the system comprises an operating mechanism, a display system and cabin gateway equipment; the operating mechanism comprises any one or more of the following: a seat, an operating handle, an operating panel and a foot pedal; the display system comprises any one or more of the following: display screen, instrument and pilot lamp; the cabin end gateway equipment comprises any one or more of the following components: CAN gateway, 5G module, wireless AP, switch and network adapter.
Specifically, the operating mechanism is used for acquiring vehicle control information, the operating mechanism is used for forwarding the vehicle control information to a cabin end VCU, and the display system is used for acquiring audio and video information sent by the slag remover for displaying.
Specifically, the slag remover comprises: a vehicular VCU, a vehicular control unit, a camera device, a radar device, an onboard gateway device, a sensor, a valve, a boom, a bucket, a light, or a horn.
Specifically, the vehicle-mounted gateway device is used for receiving audio and video intercom information and a vehicle control instruction, and forwarding the audio and video intercom information and the vehicle control instruction to the vehicle control unit; the vehicle control unit analyzes the audio and video intercom information or the vehicle control instruction to generate vehicle control information and forwards the vehicle control information to the vehicle VCU; such that the vehicle VCU controls the corresponding sensor, valve, boom, bucket, light, or horn based on the vehicle control information. The audio and video intercommunication information belongs to audio and video information which is sent by a communication terminal and used for controlling the slag remover. Namely, the audio-video intercommunication information used for controlling the concrete slag removal machine is also used besides the audio-video information used for common communication. The audio and video intercommunication information can be applied to audio and video communication when the slag cleaning machine is manually maintained.
Specifically, the slag cleaning machine is further used for sending vehicle data information and vehicle end peripheral environment audio and video information to a cloud end, so that the cloud end forwards the vehicle data information to the remote cockpit end; and the remote cockpit displays the vehicle data information and/or the vehicle end surrounding environment audio and video information on the basis of a display system. And the audio and video information of the surrounding environment of the vehicle end is shot and acquired by a camera device. Therefore, the remote cockpit end can conveniently know the condition of the surrounding environment where the slag remover is located in real time.
It should be noted that the principle of the above method corresponds to the structure of the remote control system of the slag remover under the furnace one by one, and therefore, the description thereof is omitted.
In conclusion, the remote control system and the method for the lower furnace slag remover are used for remotely controlling the slag remover to remove slag and transport slag under the furnace, and the remote control of the slag remover is realized under the condition that the converter is not stopped. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A remote control system for a slag remover under a furnace, the system comprising: a remote cockpit end, a cloud end and a slag remover;
the remote cockpit end is used for sending a vehicle control command to the cloud end;
the cloud end is used for forwarding the vehicle control instruction to the slag cleaning machine;
and the slag remover is used for carrying out corresponding operation based on the vehicle control command.
2. The remote control system of the underfloor slag removal machine according to claim 1, wherein: the remote cockpit end is used for sending vehicle control instructions to the cloud end includes:
the remote cockpit end comprises a cockpit end VCU, a cockpit end control unit and cockpit end gateway equipment;
the cabin end VCU is used for sending vehicle control information to the cabin end control unit;
the cabin end control unit is used for generating a vehicle control instruction based on the vehicle control information and forwarding the vehicle control instruction to cabin end gateway equipment;
and the cabin gateway equipment is used for sending the vehicle control command to the cloud end.
3. The remote control system of the underfloor slag removal machine according to claim 1, wherein: the remote control cabin end or the slag cleaning machine further comprises a communication terminal, and the communication terminal is used for communicating the remote control cabin end with the slag cleaning machine.
4. The remote control system of the underfloor slag removal machine according to claim 1, wherein: the remote cockpit end is used for sending audio and video information to the cloud end so that the cloud end can forward the audio and video information to the slag cleaning machine; the slag cleaning machine is used for sending the audio and video information to the cloud end, so that the cloud end forwards the audio and video information to a remote cockpit end.
5. The remote control system of the underfloor slag removal machine according to claim 1, wherein: the remote cockpit end further comprises: the system comprises an operating mechanism, a display system and cabin gateway equipment;
the operating mechanism comprises any one or more of the following: a seat, an operating handle, an operating panel and a foot pedal;
the display system comprises any one or more of the following: display screen, instrument and pilot lamp;
the cabin end gateway equipment comprises any one or more of the following components: CAN gateway, 5G module, wireless AP, switch and network adapter.
6. The remote control system of the under-furnace slag remover according to claim 5, characterized in that: the operating mechanism is used for acquiring vehicle control information, the operating mechanism is used for forwarding the vehicle control information to a cabin end VCU, and the display system is used for acquiring audio and video information sent by the slag remover for display.
7. The remote control system of the underfloor slag removal machine according to claim 1, wherein: the scarfing cinder machine includes: a vehicular VCU, a vehicular control unit, a camera device, a radar device, an onboard gateway device, a sensor, a valve, a boom, a bucket, a light, or a horn.
8. The remote control system of the under-furnace slag remover according to claim 7, characterized in that: the vehicle-mounted gateway equipment is used for receiving audio and video talkback information and vehicle control instructions and forwarding the audio and video talkback information and the vehicle control instructions to the vehicle control unit; the vehicle control unit analyzes the audio and video intercom information or the vehicle control instruction to generate vehicle control information and forwards the vehicle control information to the vehicle VCU; such that the vehicle VCU controls the corresponding sensor, valve, boom, bucket, light, or horn based on the vehicle control information.
9. The remote control system of the underfloor slag removal machine according to claim 1, wherein: the slag cleaning machine is also used for sending vehicle data information and vehicle end peripheral environment audio and video information to a cloud end so that the cloud end can forward the vehicle data information to the remote cockpit end; and the remote cockpit displays the vehicle data information and/or the vehicle end surrounding environment audio and video information on the basis of a display system.
10. A remote control method of a slag remover under a furnace is characterized by comprising the following steps:
sending a vehicle control instruction to a cloud terminal based on a remote cockpit terminal;
forwarding the vehicle control instruction to a slag removal machine based on the cloud end;
and performing corresponding operation based on the vehicle control command based on the slag remover.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110566540.6A CN113311751A (en) | 2021-05-24 | 2021-05-24 | Remote control system and method for slag remover under furnace |
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| CN202110566540.6A CN113311751A (en) | 2021-05-24 | 2021-05-24 | Remote control system and method for slag remover under furnace |
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| CN113311751A true CN113311751A (en) | 2021-08-27 |
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| CN202110566540.6A Pending CN113311751A (en) | 2021-05-24 | 2021-05-24 | Remote control system and method for slag remover under furnace |
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