CN113885427A - Unmanned vehicle control system based on cement raw material combined storage - Google Patents
Unmanned vehicle control system based on cement raw material combined storage Download PDFInfo
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- 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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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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
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
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Abstract
The invention discloses an unmanned vehicle control system based on a cement raw material combined storage, which comprises: the laser scanning device is used for scanning the field of the cement raw materials to obtain data, and is arranged on the travelling crane carrying system; the soot blower is used for blowing falling ash around the laser scanning head and is arranged in the laser scanning device; the traveling crane carrying system is used for automatically carrying cement raw materials and comprises a cart, a trolley, a grab bucket and a ground track; the system software comprises three-dimensional landform scanning and identifying software, data processing software and repository management software. This based on unmanned vehicle control system of cement raw materials joint storehouse utilizes laser scanning device, soot blower, driving handling system and system software to realize unmanned automatic transport cement raw materials, has effectively improved handling efficiency and storehouse managerial efficiency, avoids the dust to influence workman's healthy.
Description
Technical Field
The invention relates to the technical field related to cement raw material transportation, in particular to an unmanned crane control system based on a cement raw material combined storage.
Background
In traditional cement industry, when the freight train transports cement raw materials to cement manufacture factory building, the freight train is unloaded the back artifical raw materials that need to drive the forklift and will feed tank and is beaten the heap, need the manual work to drive the forklift and carry out the material loading when feed bin material loading, these operations all can produce very big dust problem, and current dust collecting equipment is difficult to effectively restrain the dust, lead to the manual work environment abominable, visual scope is less, to forklift material loading with beat and pile the operation and increase certain degree of difficulty, therefore need two post workers at the scene and pay close attention to the operation condition constantly when carrying out the operation, so that in time contact the workman of driving the forklift and adjust, but manual operation inevitable has some misoperation, this will lead to the storehouse managerial inefficiency.
Disclosure of Invention
The invention provides an unmanned driving control system based on a cement raw material combined storage house in order to make up for market blank.
The invention aims to provide an unmanned vehicle control system based on a cement raw material combined storage to solve the problems of excessive dust in the environment of cement raw material carrying sites, low manual carrying efficiency and low storage management efficiency in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned vehicle control system based on cement raw materials combined storage comprises:
the system comprises a laser scanning device, a data acquisition device and a data acquisition device, wherein the laser scanning device is used for scanning cement raw materials to obtain data on site and is installed on a travelling crane carrying system and comprises a two-dimensional laser scanner and a servo motor;
the soot blower is used for sweeping dust falling around the laser scanning head and is arranged in the laser scanning head, and the soot blower comprises an arc-shaped air pipe and a double-rod air cylinder;
the traveling crane carrying system is used for automatically carrying cement raw materials and comprises a cart, a trolley, a grab bucket, a ground track, a pulley block, a driving motor, a PLC (programmable logic controller), a frequency converter, a position input module, an encoder, a code reader and a wireless transceiving module;
the system software comprises three-dimensional landform scanning and identifying software, data processing software and storage management software, and is connected with the laser scanning device and the travelling crane carrying system.
Further, the laser scanning head is installed in the casing, the top of casing covers there is mounting plate, the fluting has been seted up at the leading flank middle part of casing, just it has rubber edge strip to bond on the casing around the fluting, and the laser scanning head with the fluting is corresponding, install the rubber pipe strap on the wall of the left and right sides of casing.
Further, the mounting base plate below be provided with first fixed plate in the casing, the mounting base plate with first fixed plate is parallel to each other, install the sensor on the bottom surface of first fixed plate, the left and right sides symmetry of mounting base plate is provided with the angle steel, the mounting base plate with the angle steel passes through the screw and links together with the nut, the screw runs through angle steel, flat wire spring, mounting base plate, gasket and nut from bottom to top in proper order, the flat wire spring is located mounting base plate with between the angle steel, the nut with the gasket all is located mounting base plate's top.
Further, the arc trachea comprises outlet duct, second fixed plate and intake pipe, the outlet duct with the junction of intake pipe is provided with the second fixed plate, the double-rod cylinder passes through the second fixed plate and connects the outlet duct, the mouth of pipe department of intake pipe is connected with the pagoda joint, the arc trachea with the double-rod cylinder is all installed in the casing.
Further, the outlet duct includes pipe and straight tube, the both ends mouth department of pipe all is provided with the straight tube, the contained angle is one hundred forty-five degrees between the connecting wire of pipe both ends mouth to the centre of a circle, the through-hole has evenly been seted up on the interior cambered surface of pipe, and the contained angle is five degrees between the connecting wire of two adjacent through-holes to the centre of a circle.
Furthermore, the cart is slidably mounted on the ground track, the cart is movably connected with the trolley, the grab bucket is mounted at the bottom of the trolley and moves up and down along the steel wire rope, the cart and the driving motor of the trolley are both provided with encoders, the encoders are connected with the code reader and the position input module, and the encoders, the code reader and the position input module jointly form a driving position detection system.
Furthermore, drive modules of the cart, the trolley and the grab bucket are connected with the PLC through the Ethernet, the output end of the drive module is connected with the drive motor, the PLC is communicated with the wireless transceiver module through the Ethernet, the wireless transceiver module is in two-way communication with the warehouse management software, and the PLC, the frequency converter and the wireless transceiver module jointly form a driving control system.
Further, the three-dimensional landform scanning and identifying software receives coordinate information obtained by scanning of the laser scanning device, processes the coordinate information by using an algorithm to obtain a three-dimensional point cloud model of the cement raw material storage area, and transmits point cloud coordinates to the data processing software.
Further, the data processing software receives the three-dimensional data of the whole cement material pool transmitted by the three-dimensional geomorphology scanning and identifying software, screens out the position coordinates of three highest points and three lowest points of each virtual material area through algorithm processing, and transmits the obtained data to the storage management software.
Further, the storage management software is communicated with the three-dimensional landform scanning and identifying software and the data processing software, and overall planning is carried out on a cement raw material site.
Compared with the prior art, the invention has the beneficial effects that: the unmanned vehicle control system based on the cement raw material combined storage has reasonable structure arrangement, realizes unmanned automatic cement raw material conveying by utilizing the laser scanning device, the soot blower, the vehicle conveying system and system software, effectively improves the conveying efficiency and the storage management efficiency, and avoids dust from influencing the body health of workers;
1. the laser scanning device is arranged on the travelling crane, when the travelling crane moves in the x direction, the laser scanning device can realize walking scanning on the cement raw material storage area, a two-dimensional laser scanner and a servo motor are arranged in the laser scanning device, the two-dimensional laser scanner can rotate at 145 degrees in the y direction under the action of the servo motor, and the two laser scanners can realize covering scanning on the material area by overlapping;
2. the radian of an arc-shaped air pipe in the soot blower is 145 degrees, and the arc-shaped air pipe and the laser scanning head rotate at the same angle, so that the scanning head is always in the working range of the soot blower, the dust falling on the laser scanning head can be effectively prevented, and the influence of field dust on the laser scanning result is avoided;
3. the system software comprises three-dimensional landform scanning and identifying software, data processing software and storage management software, the three-dimensional landform scanning and identifying software monitors the landform and the landform of the cement raw material site in real time, the data processing software screens out a feeding point and a discharging point by utilizing an algorithm to ensure that the raw material is grabbed most at each time, and the storage management software can reasonably give feeding and discharging instructions according to the site conditions to realize the site optimal storage management of the cement raw material.
Drawings
FIG. 1 is a structural block diagram of an unmanned vehicle control system based on a cement raw material combined storage house according to the invention;
FIG. 2 is a general schematic view of a laser scanning apparatus according to the present invention;
FIG. 3 is a topological diagram of a laser scanning device of the present invention;
FIG. 4 is a schematic front view of a laser scanning device according to the present invention;
FIG. 5 is a schematic cross-sectional view taken along plane A-A of FIG. 4 in accordance with the present invention;
FIG. 6 is a front view of the arcuate trachea of the present invention;
FIG. 7 is a side view of the arcuate trachea of the present invention;
FIG. 8 is a schematic view of the present invention;
FIG. 9 is a system control schematic of the architecture of the present invention;
FIG. 10 is a flow chart of the loading operation of the inventive structure.
In the figure: 1. a laser scanning device; 11. a laser scanning head; 12. mounting a bottom plate; 13. a first fixing plate; 14. a sensor; 15. a housing; 16. rubber pipe clamps; 17. angle steel; 18. grooving; 19. a rubber edge protection strip; 121. a screw; 122. a nut; 123. a flat wire spring; 124. a gasket; 2. a soot blower; 21. an arc-shaped air pipe; 22. a pagoda joint; 23. a double-rod cylinder; 211. an air outlet pipe; 212. a second fixing plate; 213. an air inlet pipe; 211a, an arc tube; 211b, a straight tube; 211c, a through hole; 3. a vehicle handling system; 31. a cart; 32. a trolley; 33. a grab bucket; 34. a ground track; 4. system software; 41. three-dimensional landform scanning and identifying software; 42. data processing software; 43. repository management software.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows: referring to fig. 1-10, the present invention provides a technical solution: an unmanned vehicle control system based on cement raw materials combined storage comprises:
the device comprises a laser scanning device 1, a driving carrying system 3 and a servo motor, wherein the laser scanning device 1 is used for scanning cement raw materials to obtain data on site, and the laser scanning device 1 is installed on the driving carrying system 3 and comprises a two-dimensional laser scanner and the servo motor;
the soot blower 2 is used for blowing falling ash around the laser scanning head 11, the soot blower 2 is arranged in the laser scanning device 1, and the soot blower 2 comprises an arc-shaped air pipe 21 and a double-rod air cylinder 23;
the traveling crane carrying system 3 is used for automatically carrying cement raw materials, and the traveling crane carrying system 3 comprises a cart 31, a trolley 32, a grab bucket 33, a ground track 34, a pulley block, a driving motor, a PLC (programmable logic controller), a frequency converter, a position input module, an encoder, a code reader and a wireless transceiver module;
the system software 4, the system software 4 includes three-dimensional landform scanning identification software 41, data processing software 42 and bank management software 43, and the system software 4 is connected with the laser scanning device 1 and the vehicle handling system 3.
When the unmanned vehicle control system based on the cement raw material combined storage is used; when the warehouse management software 43 receives a feeding instruction of the storage bin, the warehouse management software 43 judges which area the traveling crane should be fed from first according to the sequential storage time of the cement storage area, after the area is determined, the warehouse management software 43 sends three highest point positions screened out by the data processing software 42 to a PLC (programmable logic controller) in the traveling crane carrying system 3 through wireless communication signals, the PLC controls a driving motor to enable the traveling crane to move to a grabbing point and grab cement raw materials, the cement raw material amount grabbed by feeding each time is guaranteed to be the maximum value, after the three-time feeding is completed by repeating the steps, the three-dimensional terrain scanning and identifying software 41 receives coordinate information of the grabbed cement storage area scanned by the laser scanning device 1 to construct a new three-dimensional terrain model, the data processing software 42 processes three-dimensional coordinate data and then obtains the three highest point positions again to prepare for the next feeding operation, and stopping the feeding operation until the position of the raw material reaches the upper limit of the height of the storage bin.
When the cement raw materials stored in the storage bin reach a set upper limit value, the storage management software 43 stops the loading operation of the travelling crane, at the moment, the storage management software 43 sends a material pouring instruction to the PLC and also sends three lowest point positions to the corresponding PLC, the PLC controls the travelling crane to convey the cement raw materials in the discharge pond to the three lowest point positions of the corresponding raw material storage area, after nine times of material pouring, the system can scan the storage area again to obtain three lowest point coordinate positions to prepare for next material pouring until the raw material position of the storage area reaches the set upper limit position, and the material pouring operation of the storage area is stopped.
The second embodiment is as follows: the embodiment is further limited by the first specific embodiment, as shown in fig. 2, 4 and 5, the laser scanning head 11 is installed in the housing 15, the top of the housing 15 is covered with the installation bottom plate 12, the middle part of the front side of the housing 15 is provided with the slot 18, the housing 15 around the slot 18 is adhered with the rubber edge protection strip 19, the laser scanning head 11 corresponds to the slot 18, the left and right side walls of the housing 15 are provided with the rubber pipe clamps 16, the laser scanning head 11 is rotated by 145 ° in the horizontal direction under the action of the servo motor, the housing 15 protects the laser scanning head 11, and the dust is shielded to reduce the influence on the laser scanning head 11.
where L is the measured distance, n is the refractive index of air, c is the speed of light, 1/2 represents the round trip of the light propagation path, and t is the propagation time of the light pulse in air.
As shown in fig. 3, when the PLC of the traveling crane detects that the traveling crane has completed three times of loading or nine times of unloading, the traveling crane PLC system switch sends a signal to the central control machine through the ethernet, the central control machine sends a rescanning instruction to the PLC, and the PLC controls the servo motor to realize the scanning action of the scanner on the cement raw material site.
The third concrete implementation mode: in this embodiment, as shown in fig. 4 and 5, a first fixing plate 13 is disposed in the housing 15 below the mounting base plate 12, the mounting base plate 12 and the first fixing plate 13 are parallel to each other, the sensor 14 is mounted on the bottom surface of the first fixing plate 13, angle steels 17 are symmetrically disposed on the left and right sides of the mounting base plate 12, the mounting base plate 12 and the angle steels 17 are connected together through a screw 121 and a nut 122, the screw 121 sequentially penetrates the angle steels 17, a flat wire spring 123, the mounting base plate 12, a gasket 124 and a nut 122 from bottom to top, the flat wire spring 123 is disposed between the mounting base plate 12 and the angle steels 17, the nut 122 and the gasket 124 are both disposed above the mounting base plate 12, and the flat wire spring 123 provides a buffer function to reduce an impact force applied to the laser scanning device 1.
The fourth concrete implementation mode: this embodiment is the further restriction of embodiment one, arc trachea 21 comprises outlet duct 211, second fixed plate 212 and intake pipe 213, the junction of outlet duct 211 and intake pipe 213 is provided with second fixed plate 212, double-rod cylinder 23 passes through second fixed plate 212 and connects outlet duct 211, the mouth of pipe department of intake pipe 213 is connected with pagoda joint 22, arc trachea 21 and double-rod cylinder 23 are all installed in casing 15, soot blower 2 has adopted the mode that the air purged, utilize double-rod cylinder 23 and arc trachea 21 to realize the omnidirectional operation of sweeping the scanning head.
The fifth concrete implementation mode: this embodiment is a further limitation of the fourth embodiment, as shown in fig. 6 and 7, the air outlet pipe 211 includes an arc pipe 211a and a straight pipe 211b, the straight pipes 211b are respectively disposed at two ports of the arc pipe 211a, an included angle between two ports of the arc pipe 211a and a connection line of a circle center is one hundred and forty-five degrees, through holes 211c are uniformly disposed on an inner arc surface of the arc pipe 211a, an included angle between two adjacent through holes 211c and a connection line of a circle center is five degrees, the arc pipe 211a covers a working range of the laser scanning head 11, guarantee is provided for normal work of the laser scanning head 11, and accuracy of a scanning coordinate is improved.
The sixth specific implementation mode: in this embodiment, as a further limitation of the first embodiment, the cart 31 is slidably mounted on the ground rails 34, the cart 31 is movably connected to the cart 32, the bottom of the cart 32 is provided with the grab 33, the grab bucket 33 does lifting motion along the steel wire rope, encoders are arranged on driving motors of the cart 31 and the trolley 32, the encoders are connected with code readers and position input modules, the encoders, the code readers and the position input modules jointly form a travelling crane position detection system, the encoders are used for positioning the cart 31 and the trolley 32, and when the travelling crane moves, the position coordinates are changed, and the encoder and the code reader process the received data, and the processed data is sent to the PLC, the PLC sends the position information to the storage management software 43 through the wireless transceiver module, and the storage management software 43 can detect the driving position in real time.
The seventh embodiment: this embodiment is the further restriction of embodiment six, cart 31, dolly 32 and grab bucket 33's drive module passes through ethernet and connects PLC, and drive module's output is connected driving motor, communicate through the ethernet between PLC and the wireless transceiver module, wireless transceiver module and storage storehouse management software 43 both-way communication, PLC, converter and wireless transceiver module constitute driving control system jointly, PLC carries out effective control through controlling cart 31, dolly 32, grab bucket 33 drive module to driving motor, realize that the driving snatchs the automation of cement raw materials.
The specific implementation mode is eight: as shown in fig. 9 and 10, the three-dimensional geomorphic scanning and identifying software 41 receives coordinate information obtained by scanning by the laser scanning device 1, processes the coordinate information by using an algorithm to obtain a three-dimensional point cloud model of a cement raw material storage area, and transmits point cloud coordinates to the data processing software 42, the three-dimensional geomorphic scanning and identifying software 41 is a three-dimensional target identifying method based on a two-dimensional image cell, distance information is used as third-dimensional information, the information is expressed by different colors to draw a depth image of the cement raw material, and an operator can set and change data such as a servo motor and system parameters so as to obtain the point cloud model which best meets the actual environment.
The specific implementation method nine: the eighth embodiment is a further limitation of the eighth embodiment, the data processing software 42 receives the three-dimensional data of the whole cement material pool transmitted by the three-dimensional geomorphology scanning recognition software 41, screens out the position coordinates of three highest points and three lowest points of each virtual material area through algorithm processing, and transmits the obtained data to the storage management software 43, the storage area of the cement material is divided into 7 slag storage areas and 5 gypsum storage areas, each area is subjected to loading operation according to the priority of first-in first-out, in order to ensure green and efficient production and reduce the operation times of the grab bucket 33, so that the quality of the cement material grabbed when the grab bucket 33 is loaded each time is ensured to be the maximum, considering that the grab bucket 33 is grabbed at a fixed point, in order to ensure that the material at each grabbing point is the maximum, and therefore, the loading grabbing point is required to be the highest point of the storage area of the material, in the unloading operation, the height of the raw materials in the storage area is guaranteed not to exceed the set upper limit value, and meanwhile, the storage area needs to store as many cement raw materials as possible, so that the placement point of each material pouring is the lowest point of the storage area.
The detailed implementation mode is ten: the storage management software 43 communicates with the three-dimensional landform scanning and identifying software 41 and the data processing software 42 to perform overall planning on the cement raw material site, so that unmanned carrying operation on the cement raw materials is realized, labor cost is saved, and working efficiency is improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a store up unmanned driving control system jointly based on cement raw materials which characterized in that includes:
the device comprises a laser scanning device (1) and a data acquisition system, wherein the laser scanning device (1) is used for scanning cement raw materials to obtain data on site, the laser scanning device (1) is installed on a traveling crane carrying system (3), and the laser scanning device (1) comprises a two-dimensional laser scanner and a servo motor;
the soot blower (2) is used for blowing dust falling around the laser scanning head (11), the soot blower (2) is installed in the laser scanning device (1), and the soot blower (2) comprises an arc-shaped air pipe (21) and a double-rod air cylinder (23);
the traveling crane carrying system (3) is used for automatically carrying cement raw materials, and the traveling crane carrying system (3) comprises a cart (31), a trolley (32), a grab bucket (33), a ground track (34), a pulley block, a driving motor, a PLC (programmable logic controller), a frequency converter, a position input module, an encoder, a code reader and a wireless transceiving module;
the system software (4) comprises three-dimensional landform scanning and identifying software (41), data processing software (42) and storage management software (43), and the system software (4) is connected with the laser scanning device (1) and the travelling crane carrying system (3).
2. The unmanned crane control system based on cement raw material combined storage according to claim 1, characterized in that: laser scanning head (11) are installed in casing (15), the top of casing (15) covers has mounting plate (12), fluting (18) have been seted up at the leading flank middle part of casing (15), just it has rubber edge protector (19) to bond on casing (15) around fluting (18), and laser scanning head (11) with fluting (18) are corresponding, install rubber pipe strap (16) on the left and right sides wall of casing (15).
3. The unmanned crane control system based on cement raw material combined storage according to claim 2, characterized in that: install plate (12) below be provided with first fixed plate (13) in casing (15), install plate (12) with first fixed plate (13) are parallel to each other, install sensor (14) on the bottom surface of first fixed plate (13), the left and right sides symmetry of install plate (12) is provided with angle steel (17), install plate (12) with angle steel (17) link together through screw (121) and nut (122), screw (121) from bottom to top runs through angle steel (17), flat wire spring (123), install plate (12), gasket (124) and nut (122) in proper order, flat wire spring (123) are located install plate (12) with between angle steel (17), nut (122) with gasket (124) all are located install plate (12)'s top.
4. The unmanned crane control system based on cement raw material combined storage according to claim 1, characterized in that: arc trachea (21) comprise outlet duct (211), second fixed plate (212) and intake pipe (213), outlet duct (211) with the junction of intake pipe (213) is provided with second fixed plate (212), two pole cylinders (23) are connected through second fixed plate (212) outlet duct (211), the mouth of pipe department of intake pipe (213) is connected with pagoda joint (22), arc trachea (21) with two pole cylinders (23) are all installed in casing (15).
5. The unmanned crane control system based on cement raw material combined storage according to claim 4, characterized in that: outlet duct (211) include arc (211a) and straight tube (211b), the both ends port department of arc (211a) all is provided with straight tube (211b), contained angle is one hundred forty-five degrees between the connecting wire of the centre of a circle to arc (211a) both ends mouth, through-hole (211c) have evenly been seted up on the intrados of arc (211a), and two adjacent through-holes (211c) are five degrees to the contained angle between the connecting wire of the centre of a circle.
6. The unmanned crane control system based on cement raw material combined storage according to claim 1, characterized in that: big car (31) slidable mounting in on ground track (34), swing joint has on big car (31) dolly (32), grab bucket (33) are installed to the bottom of dolly (32), just elevating movement is done along wire rope in grab bucket (33), big car (31) with all install the encoder on the driving motor of dolly (32), code reader and position input module are connected to the encoder, and encoder, code reader and position input module constitute driving position detecting system jointly.
7. The unmanned crane control system based on cement raw material combined storage according to claim 6, characterized in that: drive modules of the cart (31), the trolley (32) and the grab bucket (33) are connected with the PLC through the Ethernet, the output end of the drive module is connected with the drive motor, the PLC and the wireless transceiver module are communicated through the Ethernet, the wireless transceiver module is in two-way communication with the warehouse management software (43), and the PLC, the frequency converter and the wireless transceiver module jointly form a driving control system.
8. The unmanned crane control system based on cement raw material combined storage according to claim 1, characterized in that: and the three-dimensional landform scanning and identifying software (41) receives coordinate information obtained by scanning of the laser scanning device (1), processes the coordinate information by using an algorithm to obtain a three-dimensional point cloud model of a cement raw material storage area, and transmits point cloud coordinates to the data processing software (42).
9. The unmanned crane control system based on cement raw material combined storage according to claim 8, wherein: and the data processing software (42) receives the three-dimensional data of the whole cement material pool transmitted by the three-dimensional landform scanning and identifying software (41), screens out three highest point and three lowest point position coordinates of each virtual material area through algorithm processing, and transmits the obtained data to the storage management software (43).
10. The unmanned crane control system based on cement raw material combined storage according to claim 9, wherein: the storage management software (43) is communicated with the three-dimensional landform scanning and identifying software (41) and the data processing software (42) to carry out overall planning on the cement raw material site.
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