CN117314126B - Control method, device, equipment and medium for copper smelting intelligent slag slow cooling field - Google Patents
Control method, device, equipment and medium for copper smelting intelligent slag slow cooling field Download PDFInfo
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- CN117314126B CN117314126B CN202311597299.9A CN202311597299A CN117314126B CN 117314126 B CN117314126 B CN 117314126B CN 202311597299 A CN202311597299 A CN 202311597299A CN 117314126 B CN117314126 B CN 117314126B
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- 239000002893 slag Substances 0.000 title claims abstract description 836
- 238000010583 slow cooling Methods 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000003723 Smelting Methods 0.000 title claims abstract description 30
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 title claims abstract description 25
- 229910052802 copper Inorganic materials 0.000 title claims abstract description 25
- 239000010949 copper Substances 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 124
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 230000000007 visual effect Effects 0.000 claims abstract description 29
- 239000013049 sediment Substances 0.000 claims abstract description 12
- 238000007599 discharging Methods 0.000 claims description 83
- 238000012423 maintenance Methods 0.000 claims description 40
- 238000004891 communication Methods 0.000 claims description 34
- 238000005516 engineering process Methods 0.000 claims description 34
- 238000001816 cooling Methods 0.000 claims description 23
- 230000002159 abnormal effect Effects 0.000 claims description 20
- 238000005086 pumping Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 239000003818 cinder Substances 0.000 abstract description 43
- 230000008859 change Effects 0.000 abstract description 12
- 239000002184 metal Substances 0.000 abstract description 5
- 229910052751 metal Inorganic materials 0.000 abstract description 5
- 238000007726 management method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000004880 explosion Methods 0.000 description 8
- 238000005422 blasting Methods 0.000 description 5
- 230000004087 circulation Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 125000004122 cyclic group Chemical group 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000498 cooling water Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000004089 microcirculation Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000009853 pyrometallurgy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22B—PRODUCTION AND REFINING OF METALS; PRETREATMENT OF RAW MATERIALS
- C22B15/00—Obtaining copper
- C22B15/0026—Pyrometallurgy
- C22B15/0054—Slag, slime, speiss, or dross treating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/04—Manufacturing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Abstract
The application discloses a management and control method, device, equipment and medium of copper smelting intelligent slag buffer cold field relates to metal smelting technical field, uses intelligent metallurgical door machine, electric turntable, electric flatbed as basic equipment, realizes the change of track through electric turntable on full package track, empty package track through the software scheduling many electric flatbed to ensure full package track as smooth as possible, satisfy the beat requirement of sending full cinder ladle, realize the intelligent unhooking operation of cinder ladle through modes such as visual location, improve intelligent level, carry out water level detection and drainage before returning to the slag ladle to the empty cinder ladle simultaneously, improve the security that empty cinder ladle connects high temperature solution sediment. The whole-course unmanned, intelligent and visual slag slow cooling field can be realized through the intelligent upper scheduling management system, the current state of each device is globally controlled, the integrated management is realized, and the whole operation efficiency of the slag slow cooling field is improved.
Description
Technical Field
The application relates to the technical field of metal smelting, in particular to a control method, a device, equipment and a medium for an intelligent slag buffer cold field in copper smelting.
Background
Along with the continuous development of metal smelting technology, how to reasonably and fully utilize metal ore resources and realize high recovery rate of metal smelting become an important link of the development of modern smelting technology. For example, a great amount of slag can be produced in the copper pyrometallurgy, the copper content of the copper slag is generally 2% -5%, if the slag cannot be reasonably used, not only environmental pollution is caused, but also waste of copper resources is caused, therefore, the smelting slag needs to be conveyed to a slag buffer cold field through a slag ladle and a slag ladle car, the processes of air cooling, water cooling and ladle overturning and slag pouring are sequentially carried out, and the empty slag ladle is conveyed to a smelting furnace for continuous slag receiving.
In the related art, in the traditional slow cooling mode, the rail changing of the electric flat car in the slag slow cooling field is realized in a turnout mode, the manual operation of a crane in a manual cab is adopted, the replacement and the hoisting of the slag ladle are realized, and the ground manual auxiliary alignment is required for manually hoisting the slag ladle each time. And the duration of the slag ladle natural cooling and the spraying water cooling is judged by experience and recorded on the manual site. However, the applicant realizes that the slag ladle in the slag slow cooling field has high temperature, large water vapor and explosion risk, ground auxiliary personnel align the slag ladle in a human eye observation mode, manually operate the slag ladle to spray water cooling and the like, and all the equipment performs interaction by manual work, so that the operation efficiency is low and the safety risk exists. And the service life of switch is short, needs frequent maintenance and maintenance, can influence the quick response speed of flatbed to influence the efficiency of whole slow cooling.
Disclosure of Invention
In view of the above, the application provides a control method, a device, equipment and a medium for an intelligent slag buffer cold field for copper smelting, which mainly aims to solve the problems that a slag ladle in the slag buffer cold field has high temperature, large water vapor and explosion danger, ground auxiliary personnel align in a human eye observation mode, manually operate slag ladle spraying water cooling and the like to perform interaction between all equipment by manual operation, and therefore, the operation efficiency is low and safety risks exist. And the service life of switch is short, needs frequent maintenance and maintenance, can influence the quick response speed of flatbed to influence the problem of whole slow cooling's efficiency.
According to a first aspect of the application, a method for controlling a copper smelting intelligent slag buffer cold field is provided, and the method comprises the following steps:
when a scheduling system detects that a target slag ladle at a first slag ladle outlet or a second slag ladle outlet is changed into a full slag ladle, acquiring a slag ladle placing instruction, and sending the slag ladle placing instruction to a target electric flat car for placing the target slag ladle, wherein the target electric flat car acquires a target door machine number carried by the slag ladle placing instruction, and moves to a first flat car parking position corresponding to the target door machine number, and the slag ladle placing instruction carries the target door machine number;
The dispatching system acquires a slag ladle lifting instruction, sends the slag ladle lifting instruction to a target portal machine corresponding to the target portal machine number, acquires a target slag ladle number carried by the slag ladle lifting instruction, lifts the target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, places the target slag ladle at a slag ladle position corresponding to the target slag ladle number, and carries the target slag ladle number and a designated slag ladle number;
the target electric flat car runs from a full ladle track to an empty ladle track through a second electric turntable corresponding to the door machine number and moves to a second trolley parking position corresponding to the target door machine number, the target door machine acquires the specified ladle number carried by the ladle lifting instruction, lifts a specified ladle at the ladle position corresponding to the specified ladle number, and places the specified ladle on the target electric flat car, wherein the specified ladle is an empty ladle;
when the scheduling system detects that the target electric flat car moves to the lower part of the water pump along the empty ladle track, the water pump is adopted to detect the specified slag ladle, and the target electric flat car is controlled to adopt the detected specified slag ladle to carry out slag receiving.
Optionally, the target electric flat car obtains a target door machine number carried by the slag ladle placing instruction, and moves to a first flat car parking position corresponding to the target door machine number, including:
if the target electric flat car is positioned on the empty package track, the target electric flat car moves to the full package track through a first electric turntable and moves to a first flat car parking position corresponding to the target door machine number along the full package track;
and if the target electric flat car is positioned on the full package track, the target electric flat car directly moves to a first flat car parking position corresponding to the target door machine number along the full package track.
Optionally, the moving to the full package track through the first electric turntable and moving to a first flat car parking position corresponding to the target door machine number along the full package track includes:
when the scheduling system detects that the target electric flat car moves above the turntables on the empty package track, controlling the first electric turntables to change from a transverse communication state to a longitudinal communication state, wherein the first electric turntables consist of the turntables on the full package track, the turntables on the empty package track and the vertical track between the two turntables;
The target electric flat car moves from above the turntables on the empty package track to above the turntables on the full package track along the vertical track;
when the dispatching system detects that the target electric flat car moves above the turntables on the full package track, controlling the first electric turntables to change from the longitudinal communication state to the transverse communication state;
and the target electric flat car moves to a first flat car parking position corresponding to the target door machine number along the full package track.
Optionally, the detecting the specified slag ladle by adopting the water pump comprises:
the water pump detects the water level of the specified slag ladle through an ultrasonic liquid level meter to obtain a water level detection result;
when the water level detection result indicates that the water level depth value of the specified slag ladle exceeds a preset depth value, the water pump pumps water by penetrating the water pumping pipe into the bottom of the specified slag ladle until the water level depth value is reduced to be lower than the preset depth value, and withdraws the water pumping pipe.
Optionally, the controlling the target electric flat car to adopt the detected specified slag ladle to carry out slag receiving includes:
if the scheduling system detects that the first slag discharging port does not have the electric flat car, the target electric flat car is controlled to move to the first slag discharging port along the empty ladle track to carry out slag receiving;
If the scheduling system detects that the first slag discharging port is provided with the electric flat car and the second slag discharging port is not provided with the electric flat car, the target electric flat car is controlled to move to the full package track through the first electric turntable, and the target electric flat car is controlled to move to the second slag discharging port along the full package track to carry out slag receiving;
if the scheduling system detects that the first slag discharging port and the second slag discharging port are both provided with the electric flat car, the target electric flat car is controlled to move to a waiting area until the first slag discharging port or the second slag discharging port is not provided with the electric flat car.
Optionally, the method further comprises:
when the scheduling system detects that a certain slag ladle is in a water cooling stage, determining a first slag ladle number of the slag ladle and a first door number of an area where the slag ladle is positioned, and generating a slag ladle turning instruction carrying the first slag ladle number;
the scheduling system determines a first door machine corresponding to the first door machine number and sends the slag ladle overturning instruction to the first door machine;
the first portal crane acquires the first slag ladle number carried by the slag ladle turning instruction, lifts up the slag ladle corresponding to the first slag ladle number, and pours slag in the slag ladle into a slag crushing area.
Optionally, the method further comprises:
when the scheduling system detects that an abnormal slag ladle exists, determining a second slag ladle number of the abnormal slag ladle and a second door machine number of an area where the abnormal slag ladle is located, generating a slag ladle maintenance instruction carrying the second slag ladle number and the second door machine number, and sending the slag ladle maintenance instruction to a terminal held by a maintenance staff so that the maintenance staff can move the abnormal slag ladle to a slag ladle maintenance area for maintenance.
According to a second aspect of the present application, there is provided a control device for a copper smelting intelligent slag buffer cold field, the device comprising:
the full slag ladle moving module is used for acquiring a slag ladle placing instruction when the scheduling system detects that a target slag ladle at the first slag ladle or the second slag ladle is changed into a full slag ladle, and sending the slag ladle placing instruction to a target electric flat car for placing the target slag ladle, wherein the target electric flat car acquires a target door machine number carried by the slag ladle placing instruction and moves to a first flat car parking position corresponding to the target door machine number, and the slag ladle placing instruction carries the target door machine number;
the full slag ladle lifting module is used for acquiring a slag ladle lifting instruction by the dispatching system, sending the slag ladle lifting instruction to a target portal machine corresponding to the target portal machine number, acquiring a target slag ladle number carried by the slag ladle lifting instruction by the target portal machine, lifting the target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, and placing the target slag ladle at a slag ladle position corresponding to the target slag ladle number, wherein the slag ladle lifting instruction carries the target slag ladle number and an appointed slag ladle number;
The empty cinder ladle lifting module is used for enabling the target electric flat car to travel from a full ladle track to an empty ladle track through a second electric turntable corresponding to the door machine number and move to a second trolley parking position corresponding to the target door machine number, the target door machine obtains the designated cinder ladle number carried by the cinder ladle lifting instruction, a designated cinder ladle is lifted at a cinder ladle position corresponding to the designated cinder ladle number, the designated cinder ladle is placed on the target electric flat car, and the designated cinder ladle is an empty cinder ladle;
and the empty slag ladle detection module is used for detecting the specified slag ladle by adopting the water pump when the scheduling system detects that the target electric flat car moves to the lower part of the water pump along the empty ladle track, and controlling the target electric flat car to adopt the detected specified slag ladle to carry out slag receiving.
Optionally, the full slag ladle moving module is further configured to move, if the target electric flat wagon is located in the empty ladle track, to the full ladle track through a first electric turntable, and to a first flat wagon parking position corresponding to the target door machine number along the full ladle track; and if the target electric flat car is positioned on the full package track, the target electric flat car directly moves to a first flat car parking position corresponding to the target door machine number along the full package track.
Optionally, the full slag ladle moving module is further configured to control the first electric turntable to change from a transverse communication state to a longitudinal communication state when the scheduling system detects that the target electric flatcar moves above the turntable on the empty ladle track, where the first electric turntable is composed of the turntable on the full ladle track, the turntable on the empty ladle track, and a vertical track between the two turntables; the target electric flat car moves from above the turntables on the empty package track to above the turntables on the full package track along the vertical track; when the dispatching system detects that the target electric flat car moves above the turntables on the full package track, controlling the first electric turntables to change from the longitudinal communication state to the transverse communication state; and the target electric flat car moves to a first flat car parking position corresponding to the target door machine number along the full package track.
Optionally, the empty slag ladle detection module is used for detecting the water level of the specified slag ladle by the water pump through an ultrasonic liquid level meter to obtain a water level detection result; when the water level detection result indicates that the water level depth value of the specified slag ladle exceeds a preset depth value, the water pump pumps water by penetrating the water pumping pipe into the bottom of the specified slag ladle until the water level depth value is reduced to be lower than the preset depth value, and withdraws the water pumping pipe.
Optionally, the empty ladle detection module is further configured to control the target electric flat car to move to the first slag discharge port along the empty ladle track to perform slag receiving if the scheduling system detects that the electric flat car does not exist in the first slag discharge port; if the scheduling system detects that the first slag discharging port is provided with the electric flat car and the second slag discharging port is not provided with the electric flat car, the target electric flat car is controlled to move to the full package track through the first electric turntable, and the target electric flat car is controlled to move to the second slag discharging port along the full package track to carry out slag receiving; if the scheduling system detects that the first slag discharging port and the second slag discharging port are both provided with the electric flat car, the target electric flat car is controlled to move to a waiting area until the first slag discharging port or the second slag discharging port is not provided with the electric flat car.
Optionally, the apparatus further comprises:
the slag ladle overturning module is used for determining a first slag ladle number of the slag ladle and a first door number of an area where the slag ladle is positioned when the scheduling system detects that a certain slag ladle is in a water cooling stage, and generating a slag ladle overturning instruction carrying the first slag ladle number; the scheduling system determines a first door machine corresponding to the first door machine number and sends the slag ladle overturning instruction to the first door machine; the first portal crane acquires the first slag ladle number carried by the slag ladle turning instruction, lifts up the slag ladle corresponding to the first slag ladle number, and pours slag in the slag ladle into a slag crushing area.
And the slag ladle maintenance module is used for determining a second slag ladle number of the abnormal slag ladle and a second door machine number of the area where the abnormal slag ladle is located when the scheduling system detects the abnormal slag ladle, generating a slag ladle maintenance instruction carrying the second slag ladle number and the second door machine number, and sending the slag ladle maintenance instruction to a terminal held by a maintenance staff so that the maintenance staff can move the abnormal slag ladle to a slag ladle maintenance area for maintenance.
According to a third aspect of the present application there is provided an apparatus comprising a memory storing a computer program and a processor implementing the steps of any of the methods of the first aspect described above when executing the computer and PLC control program.
According to a fourth aspect of the present application there is provided a medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the first aspects described above.
By means of the technical scheme, the control method, the control device, the control equipment and the control medium for the copper smelting intelligent slag buffer cold field are provided, when a dispatching system detects that a target slag ladle at a first slag ladle outlet or a second slag ladle outlet is changed into a full slag ladle, a slag ladle placement instruction is acquired, the slag ladle placement instruction is sent to a target electric flat car for placing the target slag ladle, the target electric flat car acquires a target door number carried by the slag ladle placement instruction and moves to a first flat car parking position corresponding to the target door number, a dispatching system acquires a slag ladle lifting instruction, the slag ladle lifting instruction is sent to a target door corresponding to the target door number, the target door machine acquires a target slag ladle number carried by the slag ladle lifting instruction, a target slag ladle is lifted by adopting a visual identification technology and a three-dimensional positioning technology, the target slag ladle is placed at the slag ladle position corresponding to the target slag ladle number, the target electric flat car runs from the full ladle track to the empty ladle track through a second electric turntable corresponding to the target door number and moves to the second flat car parking position corresponding to the target door number, the target electric flat car acquires the slag ladle lifting instruction carries a specified slag ladle number, and the specified electric flat car is controlled to move to a specified slag ladle lifting system to a specified slag ladle, and the specified slag ladle is pumped down along the specified position when the specified slag ladle is detected and the specified slag ladle is placed down, and the specified slag ladle is horizontally. The slag ladle placing instruction carries a target door number, the slag ladle lifting instruction carries a target slag ladle number and a designated slag ladle number, and the designated slag ladle is an empty slag ladle. The intelligent metallurgical gantry crane, the electric turntable and the electric flat car are used as basic equipment, a plurality of electric flat cars are scheduled through software to realize rail replacement on a full ladle track and an empty ladle track through the electric turntable, the full ladle track is ensured to be as smooth as possible, the beat requirement of full ladle feeding is met, the intelligent unhooking operation of the ladle is realized through the modes of visual positioning and the like, the intelligent level is improved, and meanwhile, the water level detection and the water drainage are carried out before the empty ladle is returned to be connected with slag, so that the safety of the empty ladle in connection with high-temperature solution slag is improved. The whole-course unmanned, intelligent and visual slag slow cooling field can be realized through the intelligent upper scheduling management system, the current state of each device is globally controlled, the integrated management is realized, and the whole operation efficiency of the slag slow cooling field is improved.
The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 shows a schematic flow chart of a method for controlling a copper smelting intelligent slag slow cooling field according to an embodiment of the application;
FIG. 2A is a schematic flow chart of a method for controlling a copper smelting intelligent slag slow cooling field, which is provided by the embodiment of the application;
fig. 2B illustrates a schematic working diagram of an electric turntable assembly according to an embodiment of the present disclosure;
FIG. 2C shows schematic diagrams of main hooks and auxiliary hooks of a metallurgical gantry crane provided by an embodiment of the present application;
FIG. 2D illustrates a slag ladle replacement sequence diagram for a slag slow cooling field provided in an embodiment of the present application;
FIG. 2E shows a schematic diagram of a gate pump provided by an embodiment of the present application;
FIG. 2F is a schematic diagram of equipment control scheme of a slag buffer cold field according to an embodiment of the present application;
fig. 2G illustrates a schematic diagram of full slag ladle and empty slag ladle cyclic scheduling provided in an embodiment of the present application;
FIG. 3A shows a schematic structural diagram of a copper smelting intelligent slag slow cooling field control provided by an embodiment of the application;
FIG. 3B shows a schematic structural diagram of a copper smelting intelligent slag slow cooling field control provided by the embodiment of the application;
fig. 4 shows a schematic device structure of an apparatus according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the application provides a control method of an intelligent slag buffer cold field for copper smelting, as shown in fig. 1, comprising the following steps:
101. When the scheduling system detects that a target slag ladle at the first slag discharging port or the second slag discharging port is changed into a full slag ladle, a slag ladle placing instruction is obtained and sent to a target electric flat car for placing the target slag ladle, and the target electric flat car obtains a target door machine number carried by the slag ladle placing instruction and moves to a first flat car parking position corresponding to the target door machine number.
In the traditional slag smelting slow cooling process, a linkage mechanism is lacked among an electric turntable, an electric flat car and a crane, seamless butt joint cannot be realized among control systems of all equipment, all the equipment is manually interacted, management difficulty exists, and working efficiency is low. In order to solve the problem, the application provides a control method of a copper smelting intelligent slag slow cooling field, wherein turntable groups are respectively arranged on three slow cooling areas to realize rail changing of an electric flat car, three groups of sub-circulation tracks are formed, the electric flat car does not need to be switched in the whole running process, the use efficiency of equipment is improved, and the use beat of the electric flat car is improved. When the slag ladle is hung, the metallurgical gantry crane adopts visual identification and three-dimensional positioning technology, and full-automatic hooking and unhooking of the slag ladle hanging lugs can be accurately realized, so that the intelligent level of the metallurgical gantry crane is improved, the efficiency and the safety are improved, and the intelligent metallurgical gantry crane, the electric turntable and the electric flat car are uniformly managed and controlled based on a dispatching system, so that the overall operation efficiency of a slag slow cooling field is improved. The management and control method provided by the application can be applied to a server, the server can be an independent server, and can also be a server for providing cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content delivery network (Content Delivery Network, CDN), basic cloud computing such as big data and an artificial intelligent platform, so that the current state of each device is globally controlled through a dispatching system, and the task state of the next link of each device is optimized and pre-judged, thereby realizing integrated management.
In the embodiment of the application, when the scheduling system detects that the target slag ladle at the first slag discharging port or the second slag discharging port is changed into the full slag ladle, the slag discharging port is indicated to start slag discharging, and the scheduling system needs to schedule the electric flat car to place the full slag ladle into the slow cooling area and carry the empty slag ladle to continue slag receiving. Therefore, the scheduling system acquires a slag ladle placing instruction and sends the slag ladle placing instruction to the target electric flat car for placing the target slag ladle, wherein the slag ladle placing instruction carries a target door number, namely the door number of the slow cooling zone in which the target slag ladle is placed. It should be noted that, a plurality of slow cooling areas are divided in the slow cooling field, such as three slow cooling areas, each slow cooling area is provided with a metallurgical door machine and a group of electric turntables, each area can independently operate to form microcirculation of the area, the service efficiency of equipment can be improved, the use beat of the electric flat car is improved, the period of the electric flat car for conveying slag bags is about 15 minutes, and when one slag discharging port is used for receiving slag, the other slag discharging port is provided with empty slag bags for waiting for receiving slag, so that alternate operation is realized. And then the target electric flat car acquires a target door machine number carried by the slag ladle placing instruction and moves to a first flat car parking position corresponding to the target door machine number. In each slow cooling zone, the placement position of each slag ladle is fixed, so that the scheduling system can determine which position of which slow cooling zone the slag ladle is in according to the slag ladle number, and therefore the electric flat car is controlled to move to a corresponding zone with the target slag ladle, and linkage control and unified management of equipment are realized.
102. The dispatching system acquires a slag ladle lifting instruction, sends the slag ladle lifting instruction to a target door machine corresponding to the target door machine number, acquires a target slag ladle number carried by the slag ladle lifting instruction, lifts up a target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, and places the target slag ladle at a slag ladle position corresponding to the target slag ladle number.
In this application embodiment, electric flat car moves to the regional position of correspondence with the target cinder ladle after, dispatch system acquires cinder ladle and hangs instruction, and with cinder ladle hang instruction send to the target door machine that the target door machine number corresponds, wherein, cinder ladle hangs instruction and carries target cinder ladle number, appointed cinder ladle number, and the door machine can be according to the place position of target cinder ladle number confirm target cinder ladle to place the target cinder ladle and cool off in slow cooling zone, then hang the empty cinder ladle that appointed cinder ladle number corresponds, do not need the manual work to the equipment at the scene operation, improve intelligent level. Then, the target gantry crane acquires a target slag ladle number carried by the slag ladle lifting instruction, lifts the target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, and places the target slag ladle at a slag ladle position corresponding to the target slag ladle number. Because the traditional mode is that the manually-operated metallurgical crane places the slag ladle on the electric flat car, the electric flat car stops error each time and the accumulation of manual operation error, the ground manual auxiliary alignment is needed for manually hoisting the slag ladle each time, the operation efficiency is low, and the safety risk exists for site commanders. The automatic positioning device can improve the positioning precision of automatic recognition through the technologies of visual recognition, three-dimensional positioning and the like, and realize quick positioning and automatic unhooking of the slag ladle.
103. The target electric flat car runs from a full ladle track to an empty ladle track through a second electric turntable corresponding to the door number, and moves to a second car parking position corresponding to the target door number, the target door obtains a specified ladle number carried by a ladle lifting instruction, lifts a specified ladle at the ladle position corresponding to the specified ladle number, and places the specified ladle on the target electric flat car.
In the embodiment of the application, after the target portal crane lifts off the full slag ladle from the target electric flat car, the target electric flat car runs from the full ladle track to the empty ladle track through the second electric turntable corresponding to the portal crane number and moves to a second flat car parking position corresponding to the target portal crane number. It should be noted that, this application realizes three group's sub-circulation route through dispatch system, and the cinder ladle in each region can be through the conversion of the carousel group realization full package track and empty package track in this region, need not to let electric flat car run whole and switch, improves the availability factor of equipment, improves the use beat of electric flat car, and all electric flat cars along the one-way circulation of respective sub-circulation route, complementary interference, but independent operation can improve electric flat car's availability factor. Then, the target door machine acquires a specified slag ladle number carried by the slag ladle lifting instruction, lifts the specified slag ladle at a slag ladle position corresponding to the specified slag ladle number, and places the specified slag ladle on the target electric flat car, wherein the specified slag ladle is an empty slag ladle. Therefore, after the full slag ladle is conveyed to the slow cooling zone by the full ladle track, the empty ladle track waits for the gantry crane to hoist the empty slag ladle, and the plurality of electric flat cars can be prevented from collision when moving on the full ladle track with the full slag ladle.
104. When the scheduling system detects that the target electric flat car moves to the lower part of the water pump along the empty ladle track, the water pump is adopted to detect the specified slag ladle, and the target electric flat car is controlled to adopt the detected specified slag ladle to carry out slag receiving.
After the target portal crane places the empty ladle into the target electric flat car, the target electric flat car can move along the empty ladle track with the empty ladle, and the slag ladle is waited for receiving slag from the slag discharge port. However, when the slag ladle is taken up from the slag discharge port, no water remains, or when the slag ladle is contacted with a hot solution, splashing or slag ladle breakage is easy to occur, so that in order to ensure safety, each slag ladle needs to be detected for water level and water discharge before slag is taken up. In this application embodiment, when dispatch system detects that the target electric flat car removes to the water pumper below along empty package track, adopt the water pumper to detect appointed cinder ladle to control target electric flat car adopts appointed cinder ladle after detecting to connect the sediment, can prevent that the water yield is too big in the cinder ladle, causes cinder ladle blasting and the risk of explosion. And the whole detection process is also controlled by a dispatching system. The three-dimensional visualization of equipment and slag bags in slag slow cooling places is realized by an intelligent scheduling and management software system and a digital twin and three-dimensional simulation technology. The intelligent scheduling and management software system, namely a scheduling system, comprises WCS (Warehouse Control System ), WMS (Warehouse Management System, warehouse management system). The scheduling system can record, analyze and simulate the state of the whole period process of each slag ladle, predict whether each slag ladle needs to enter the mobilization of the next link in advance, cancel the participation of manual recording and experience, avoid errors and faults caused by human factors, and improve the reliability and safety of equipment. And the intelligent unified management is realized without manual field operation, and the efficiency and the safety are improved.
According to the method provided by the embodiment of the application, when a dispatching system detects that a target slag ladle at a first slag ladle outlet or a second slag ladle outlet is changed into a full slag ladle, a slag ladle placing instruction is obtained, the slag ladle placing instruction is sent to a target electric flat car for placing the target slag ladle, the target electric flat car obtains a target door number carried by the slag ladle placing instruction and moves to a first flat car parking position corresponding to the target door number, the dispatching system obtains a slag ladle lifting instruction, the slag ladle lifting instruction is sent to a target door corresponding to the target door number, the target door machine obtains a target slag ladle number carried by the slag ladle lifting instruction, a visual identification technology and a three-dimensional positioning technology are adopted to lift the target slag ladle, the target slag ladle is placed at the slag ladle position corresponding to the target slag ladle number, the target electric flat car runs from a full ladle track to an empty ladle track through a second electric turntable corresponding to the door number, the target electric flat car moves to a second flat car parking position corresponding to the target door number, the specified slag ladle number carried by the target ladle lifting instruction is lifted at the slag ladle position corresponding to the specified slag ladle lifting instruction, the specified slag ladle is placed on the specified slag ladle position corresponding to the electric flat car, the specified slag ladle is pumped to the electric flat car is detected, and the specified slag ladle is pumped down by adopting the electric flat car to control system to carry out when the specified slag ladle is detected. The slag ladle placing instruction carries a target door number, the slag ladle lifting instruction carries a target slag ladle number and a designated slag ladle number, and the designated slag ladle is an empty slag ladle. The intelligent metallurgical gantry crane, the electric turntable and the electric flat car are used as basic equipment, a plurality of electric flat cars are scheduled through software to realize rail replacement on a full ladle track and an empty ladle track through the electric turntable, the full ladle track is ensured to be as smooth as possible, the beat requirement of full ladle feeding is met, the intelligent unhooking operation of the ladle is realized through the modes of visual positioning and the like, the intelligent level is improved, and meanwhile, the water level detection and the water drainage are carried out before the empty ladle is returned to be connected with slag, so that the safety of the empty ladle in connection with high-temperature solution slag is improved. The whole-course unmanned, intelligent and visual slag slow cooling field can be realized through the intelligent upper scheduling management system, the current state of each device is globally controlled, the integrated management is realized, and the whole operation efficiency of the slag slow cooling field is improved.
Further, as a refinement and expansion of the specific implementation manner of the foregoing embodiment, in order to fully describe the specific implementation process of the embodiment, the embodiment of the present application provides another control method of a copper smelting intelligent slag buffer cold field, as shown in fig. 2A, the method includes:
201. when the scheduling system detects that the target slag ladle at the first slag discharging port or the second slag discharging port is changed into a full slag ladle, a slag ladle placing instruction is obtained, and the slag ladle placing instruction is sent to a target electric flat car for placing the target slag ladle.
In this application embodiment, the sediment slow cooling field is mainly by two slag discharging openings through the chute sediment in turn, and first slag discharging opening is in on the blank track, and the second slag discharging opening is in on the full track, and first slag discharging opening and second slag discharging opening are arranged in turn and are arranged sediment, realize two-way sediment by a chute. It should be noted that once slag discharge is started, the smelting furnace cannot be stopped, so that the chute like a teeterboard can pour slag back and forth to two ends, a buffer effect is realized, and the chute can be periodically checked and replaced. Similarly, because the chute slag discharge is continuously operated once being opened, the beat of the electric flat car carrying the empty slag ladle slag must meet the use requirement and can not be powered off, and continuous power supply operation is required. Therefore, when the slag is discharged through the alternate slag discharging, one slag discharging port can be driven into an electric flat car with an empty slag ladle to be in place, and slag is prevented from being discharged to a place outside the slag ladle. Therefore, after the smelting furnace starts to discharge slag, the scheduling system can detect slag discharge states of the first slag discharge port and the second slag discharge port, when an empty slag ladle at one slag discharge port is changed into a full slag ladle, the scheduling system can send a slag ladle placing instruction to a target electric flat car for placing the full slag ladle, so that the target electric flat car can transport the full slag ladle, wherein when the target electric flat car receives slag, the scheduling system can control the other electric flat car for placing the empty slag ladle to move to the other slag discharge port for slag receiving preparation. It should be noted that, in order to ensure the overall efficiency of the slag buffer cold field, the full ladle track and the empty ladle track are provided with two chute at two slag discharge openings, slag is alternately discharged according to a certain period, and meanwhile, a standby electric flat car is arranged at the end of the empty ladle track to carry an empty ladle for standby, and once the empty ladle cannot be timely adjusted in place, the standby electric flat car carries the empty ladle for emergency slag receiving.
202. The target electric flat car acquires a target door machine number carried by the slag ladle placing instruction, and if the target electric flat car is in an empty ladle track, the following step 203 is executed; if the target electric flat car is in the full package track, the following step 204 is performed.
In the embodiment of the application, the slag ladle placement instruction carries the target door number, and the target door number indicates which of the three slow cooling areas the target slag ladle belongs to, so that the dispatching system can quickly and accurately control the target electric flat car to move to the corresponding area. The electric flat car runs in a unidirectional circulation mode on the empty ladle track and the full ladle track, so that replacement of empty ladles and full ladles is realized, at least one ladles at one slag ladle is ensured to be connected in one period, and the other slag ladle at the other slag ladle must be in place for waiting before the full ladles are connected. Therefore, in order to implement unidirectional circulation, all electric flat cars placed with full slag ladle are hung on the full ladle track, the empty slag ladle is received on the empty ladle track, and slag outlets are arranged on the empty ladle track and the full ladle track, so that after the slag ladle on the target electric flat car is fully connected, it is required to determine which track the target electric flat car is located, and if the target electric flat car is located on the empty ladle track, the following step 203 is executed; if the track is full, the following step 204 is performed.
203. If the target electric flat car is in the empty package track, the target electric flat car moves to the full package track through the first electric turntable and moves to a first flat car parking position corresponding to the target door machine number along the full package track.
The slag slow cooling field electric flat car is provided with an empty package track and a full package track, and the electric flat car is generally replaced by adopting a turnout mode, so that the turnout is short in service life, frequent maintenance and maintenance are required, a section of long-distance track is required to realize track change, the flat car runs at the turnout at a low speed, the quick response speed of the flat car is influenced, and the overall system running beat is influenced. In the embodiment of the application, if the target electric flat car is located on the empty package track, the target electric flat car is indicated to enter the full package track from the empty package track through the first electric turntable, and then moves to a first flat car parking position corresponding to the target door machine number along the full package track. It should be noted that, as shown in fig. 2B, the first electric turntable is composed of a turntable on a full-package track, a turntable on an empty-package track, and a vertical track between the two turntables, and the left side is in a longitudinal communication state, and the right side is in a transverse communication state. When the device works, the two turntables are simultaneously turned to a longitudinal communicating state or a transverse communicating state, so that the longitudinal track and the transverse track are communicated, and further the full-package track and the empty-package track are switched. Therefore, when the scheduling system detects that the target electric flat car moves above the turntables on the empty package track, the first electric turntables are controlled to be changed from a transverse communication state to a longitudinal communication state, namely, the two turntables are rotated by 90 degrees simultaneously, so that the two tracks on the turntables are aligned with the vertical track. Next, the target electric flatcar is moved along the vertical track from above the turntable on the empty package track to above the turntable on the full package track. When the scheduling system detects that the target electric flat car moves to the position above the turntables on the full package track, the first electric turntables are controlled to be changed into the transverse communication state from the longitudinal communication state, namely, the two turntables are simultaneously rotated by 90 degrees, so that the two tracks on the turntables are aligned with the empty package track and the full package track. Then, the target electric flat car moves to a first flat car parking position corresponding to the target door machine number along the full package track. It should be noted that, this application is being close to the first electric turntable of two sets of settings of slag notch department, and one is equipped with, in case the trouble of first electric turntable of a set of, can switch to another group immediately and put into use, guarantees the persistence of whole transportation flow. The utility model provides an electronic flatcar change of track process also can use to move the rail car realization, moves the rail car realization butt joint through carrying the track between empty package track and full package track, moves rail car power supply convenience and control simple reliable.
204. If the target electric flat car is in the full package track, the target electric flat car directly moves to a first flat car parking position corresponding to the target door machine number along the full package track.
In this application embodiment, if the target electric flat car is in full package track, then indicate that the target electric flat car can directly remove to the first flat car parking position that the target door machine serial number corresponds along full package track, realize at the regular removal of circulation track for all electric flat cars are along the unidirectional circulation of respective sub-circulation route, mutually noninterfere, independent operation.
205. The dispatching system acquires a slag ladle lifting instruction and sends the slag ladle lifting instruction to a target door machine corresponding to the target door machine number.
In the embodiment of the application, when the target electric flat car reaches the parking area along the full ladle track, namely, the first flat car parking position corresponding to the area where the target slag ladle belongs, the scheduling system can acquire a slag ladle lifting instruction and send the slag ladle lifting instruction to the target door machine corresponding to the target door machine number, wherein the slag ladle lifting instruction carries the target slag ladle number and the designated slag ladle number, so that the target door machine can determine the placement position of the target slag ladle according to the target slag ladle number and determine the placement position of the designated slag ladle according to the designated slag ladle number, thereby placing the target slag ladle and lifting the designated slag ladle.
206. The target gantry crane acquires a target slag ladle number carried by the slag ladle lifting instruction, lifts the target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, and places the target slag ladle at a slag ladle position corresponding to the target slag ladle number.
The traditional mode adopts the manual operation metallurgical crane of manual driver's cabin to place the cinder ladle on electric flat car, realizes the change hoist and mount of cinder ladle. Because of the accumulation of stopping errors and manual operation errors of the electric flat car each time, the ground manual auxiliary alignment is needed for manually lifting the slag ladle each time, so that the operation efficiency is low, and safety risks can exist for on-site commanders. Moreover, the slag ladle in the slag slow cooling field has high temperature, large water vapor and explosion danger, especially ground auxiliary personnel, use a long rod to assist in unhooking a hook of a metallurgical gantry crane in a human eye observation mode, command an operator in an onboard cab to lift, the slag ladle is in a tilting danger, and the safety of the commander and the operator cannot be guaranteed. Therefore, the intelligent metallurgical gantry crane, the electric flat slag ladle car and the electric turntable are scheduled through the intelligent scheduling algorithm, automatic hoisting of slag ladle is realized, operation of manual field equipment is canceled, and the intelligent level is improved. And by using detection technologies such as visual recognition and three-dimensional positioning, the positioning precision of automatic recognition is improved, and quick positioning and automatic unhooking of the slag ladle can be realized. In the embodiment of the application, the target gantry crane acquires a target slag ladle number carried by a slag ladle lifting instruction, lifts up the target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, and places the target slag ladle at a slag ladle position corresponding to the target slag ladle number. As shown in fig. 2C, the hanging hook and unhooking of the metallurgical gantry crane during the process of lifting and placing the slag ladle are realized by a special main hook and an auxiliary hook, and the positions of the hanging lugs of the slag ladle can be accurately positioned by the main hook and the auxiliary hook by using visual identification and three-dimensional positioning, so that the intelligent level of the metallurgical gantry crane is improved, the efficiency and the safety are improved, and the safety risk caused by manual participation is avoided. It should be noted that, the automatic hooking and unhooking of the metallurgical door machine uses visual identification and three-dimensional positioning technology, and can also be realized by a mechanical device, so as to reduce the detection of electronic devices on site, and realize automatic alignment by using a mechanical mode, thereby having higher fault tolerance and safer.
In this application embodiment, three metallurgical door machine independently operate in three cinder ladle slow cooling region, in case a certain metallurgical door machine breaks down, two other can get into the region of having trouble metallurgical door machine and operate, perhaps adopts two metallurgical door machines to operate as required, and one carries out maintenance in turn, improves metallurgical door machine's availability factor. As shown in fig. 2D, the slag ladle has a weight of several tens of tons, and the gantry crane has a dead weight of several tens of tons, and the total weight of the gantry crane after lifting the slag ladle is approximately 100 tons, so that the running speed of the trolley with the gantry crane is required to be greater than that of the trolley. The cart is a column and a beam of the whole door machine, and the trolley is a part of a movable hook on the beam. In three independent slag ladle slow cooling areas, the door crane in each area lifts empty slag ladles according to the sequence of longitudinal arrangement and head connection, so that the running time of a cart can be reduced, the running time of a trolley can be prolonged, and the running efficiency of the door crane can be improved. Therefore, the door machines can operate in parallel and simultaneously in the respective areas, and the operation of the other two door machines can not be influenced by the problem of any door machine in combination with the cooperation of the electric flat car.
207. The target electric flat car runs from a full-package track to an empty-package track through a second electric turntable corresponding to the door number and moves to a second flat car parking position corresponding to the target door number.
In the embodiment of the application, the target electric flat car runs from the full-package track to the empty-package track through the second electric turntable corresponding to the door number and moves to the second flat car parking position corresponding to the target door number. According to the method, the independent turntable groups are respectively arranged at the three slag slow cooling areas, so that the electric flat car is switched from a full-pack track to an empty-pack track, and the electric flat car in each area only needs to be changed in the current area, so that the use efficiency of the electric flat car is improved. Specifically, the second electric turntable consists of a turntable on a full package track, a turntable on an empty package track and a vertical track between the two turntables. When the scheduling system detects that the target electric flat car moves to the position above the turntables on the full package track, the second electric turntables are controlled to be changed from a transverse communication state to a longitudinal communication state, namely, the two turntables are rotated by 90 degrees simultaneously, so that the two tracks on the turntables are aligned with the vertical track. Next, the target electric flatcar is moved along the vertical track from above the turntable on the full pack track to above the turntable on the empty pack track. When the scheduling system detects that the target electric flat car moves to the position above the turntables on the empty package track, the second electric turntables are controlled to be changed into the transverse communication state from the longitudinal communication state, namely, the two turntables are simultaneously rotated by 90 degrees, so that the two tracks on the turntables are aligned with the empty package track and the full package track. Then, the target electric flat car moves along the empty bag track to a second flat car parking position corresponding to the target door machine number. After the full slag ladle is hoisted away by the target portal crane, in order to avoid the congestion of the full ladle track and influence the efficiency of conveying the full slag ladle by the rear electric flat car, the target electric flat car can change the track to the empty ladle track through the electric turntable to wait for conveying the empty slag ladle. Like this, electric flat car passes through dispatch system realization three group's sub-circulation route, can realize full packet track and empty packet track's conversion through the carousel group in this region, need not to let electric flat car run whole journey and switch, improves the availability factor of equipment, improves electric flat car's use beat.
208. The target portal crane acquires the designated slag ladle number carried by the slag ladle lifting instruction, lifts the designated slag ladle at the slag ladle position corresponding to the designated slag ladle number, and places the designated slag ladle on the target electric flat car.
In the embodiment of the application, a target door machine acquires a specified slag ladle number carried by a slag ladle lifting instruction, lifts a specified slag ladle at a slag ladle position corresponding to the specified slag ladle number, and places the specified slag ladle on a target electric flat car, wherein the specified slag ladle is an empty slag ladle. When the electric flat car carries the full slag ladle and enters the area to discharge the slag ladle, the empty electric flat car moves along the turntable group of the area to change the direction to an empty ladle track, and the empty ladle to be lifted just opposite to the metallurgical gantry crane waits at the opposite position, the metallurgical gantry crane can directly lift the empty slag ladle, and the empty slag ladle can be placed on the electric flat car only by moving the trolley under the condition that the trolley does not move, so that the efficiency and the beat are improved. The dispatching system can call the metallurgical gantry crane according to the overall equipment operation condition, and the automatic hooking and unhooking of the main hook and the auxiliary hook are realized by using a visual identification and three-dimensional positioning mode, so that the service efficiency and the intelligent degree of the gantry crane are improved.
In the annular cooling area, the air cooling area, the water cooling area and the ladle overturning area are arranged according to the time sequence of replacing slag ladles. Wherein, air cooling is that the slag ladle filled with high temperature melt slag is naturally cooled to below 900 ℃, and water cooling is that the slag in the slag ladle is watered and continuously cooled until the slag and the slag ladle are separated under the state that the slag temperature in the slag ladle is lower than 900 ℃. In the traditional mode, the time length of the slag ladle natural cooling and the spray water cooling is judged by experience and manual on-site recording is carried out to open and close the valve, subjective deviation exists, and once the end point is judged inaccurately, the natural cooling or water cooling time is finished in advance, and the blasting accident is likely to happen. Because of the severe field operation environment, high temperature, water vapor, acid water corrosion and particulate matter scouring exist, the pipeline is easy to leak and block, so that the valve instrument has high failure rate and high maintenance cost. Moreover, in general, hundreds of slag ladle spraying points are arranged on the site, the slag ladle spraying water cooling is performed after a certain air cooling time is required, otherwise, explosion is easy to occur, the slag selection efficiency is affected, operators can be in a slow cooling area for a long time by means of manual site operation, and therefore, not only is great potential safety hazard, but also the risk of error occurrence exists, and the operation efficiency is very low. Therefore, the process state information of the field device is acquired through the internet of things technology, and the valve switch and the fault detection are automatically controlled through a PLC (Programmable Logic Controller ) intelligent control system.
In an alternative embodiment, when the scheduling system detects that a certain slag ladle is in a water cooling stage, a first slag ladle number of the slag ladle and a first door number of an area where the slag ladle is located are determined, a slag ladle turning instruction carrying the first slag ladle number is generated, and the first door machine turns the first slag ladle through the slag ladle turning instruction. Specifically, the scheduling system determines a first door machine corresponding to the first door machine number, and sends a slag ladle overturning instruction to the first door machine. Then, the first portal crane acquires a first slag ladle number carried by a slag ladle turning instruction, lifts up a slag ladle corresponding to the first slag ladle number, and pours slag in the slag ladle into a slag crushing area.
209. When the scheduling system detects that the target electric flat car moves to the lower part of the water pump along the empty ladle track, the water pump is adopted to detect the specified slag ladle.
When the slag ladle is used for removing slag from the slag discharge port, water cannot be remained, otherwise, once the slag ladle is contacted with a hot solution, splashing or slag ladle breakage is easy to occur, so that the water level and the water discharge of each slag ladle need to be detected before slag connection of each slag ladle for ensuring safety. In this application embodiment, as shown in fig. 2E, at portal frame top, set up two water pumps that have automatic water pumping pipe, when dispatch system detects that target electric flat car moves to the water pump below along empty package track, the water pump carries out water level detection to appointed cinder ladle through the ultrasonic wave level gauge, obtains the water level detection result. When the water level detection result indicates that the water level depth value of the specified slag ladle exceeds the preset depth value, the water pump pumps water from the water pumping pipe to the bottom of the specified slag ladle until the water level depth value is reduced below the preset depth value, and withdraws the water pumping pipe. It is to be noted that the two water suction pumps are arranged, one water suction pump is used for one water suction pump, and the camera is provided for carrying out video monitoring on the water suction condition, so that the normal operation of the door type water pump is ensured, and the risk of blasting and explosion of the slag ladle caused by overlarge water quantity in the slag ladle is prevented. According to the water pumping device, the door type water pumping system is used, before each slag ladle enters the slag discharging port, the water pumping door machine is used for carrying out water level detection and water pumping operation on the slag ladle, blasting and explosion risks caused by water when the slag ladle is connected with slag are reduced, and the service life of the slag ladle is prolonged.
210. If the dispatching system detects that the first slag discharging port does not have the electric flat car, the following step 211 is executed; if the dispatching system detects that the first slag discharging port has an electric flat car and the second slag discharging port has no electric flat car, executing the following step 212; if the scheduling system detects that the electric flat car exists in both the first slag hole and the second slag hole, the following step 213 is executed.
In order to realize the cyclic calling of full slag ladle-air cooling-water cooling-deslagging-empty slag ladle-slag receiving-full slag ladle, the dispatching system can dispatch the electric flat car, when the slag discharging port is provided with the electric flat car for receiving slag, the residual electric flat car for placing the empty slag ladle is controlled to be queued, the occurrence of collision and interference is avoided, and the cyclic calling of the electric flat car is completed. In the embodiment of the present application, the scheduling system may detect the states of the first slag hole and the second slag hole, and if the scheduling system detects that the first slag hole does not have an electric flat car, the following step 211 is executed; if the dispatching system detects that the first slag discharging port has an electric flat car and the second slag discharging port has no electric flat car, executing the following step 212; if the scheduling system detects that the electric flat car exists in both the first slag hole and the second slag hole, the following step 213 is executed.
211. If the scheduling system detects that the first slag discharging port does not exist in the electric flat car, the target electric flat car is controlled to move to the first slag discharging port along the empty ladle track to carry out slag receiving.
In the embodiment of the application, if the scheduling system detects that the first slag discharging port does not have the electric flat car, the second slag discharging port is used for discharging slag, and the electric flat car of the first slag discharging port moves towards the slow cooling zone with the full slag ladle. Therefore, the scheduling system can control the target electric flat car to move to the first slag discharging port along the empty ladle track to carry out slag receiving.
212. If the dispatching system detects that the first slag discharging port is provided with the electric flat car and the second slag discharging port is not provided with the electric flat car, the control target electric flat car moves to the full package track through the first electric turntable, and the control target electric flat car moves to the second slag discharging port along the full package track to receive slag.
In this application embodiment, if the dispatch system detects that there is the electric flat car in first sediment mouth and the electric flat car is not in second sediment mouth, then indicate that the sediment is being carried out to first sediment mouth, the electric flat car of second sediment mouth has taken full cinder ladle to the slow cooling district removal. Therefore, the scheduling system can control the target electric flat car to move to the full package track through the first electric turntable, and control the target electric flat car to move to the second slag discharging port along the full package track to carry out slag receiving.
213. If the scheduling system detects that the electric flat car exists in both the first slag discharging port and the second slag discharging port, the control target electric flat car moves to a waiting area until the electric flat car does not exist in the first slag discharging port or the second slag discharging port.
In the embodiment of the application, if the scheduling system detects that the electric flat car exists in both the first slag discharging port and the second slag discharging port, the scheduling system indicates that one slag discharging port of the two slag discharging ports is discharging slag, and the electric flat car with an empty slag ladle is already arranged at the other slag discharging port to wait. Therefore, the scheduling system can control the target electric flat car to move to the waiting area for queuing, and the electric flat car can not be controlled to move to the slag discharging port until the first slag discharging port or the second slag discharging port does not exist.
In an alternative embodiment, when the scheduling system detects that an abnormal slag ladle exists, determining a second slag ladle number of the abnormal slag ladle and a second gate number of an area where the abnormal slag ladle is located, and generating a slag ladle maintenance instruction carrying the second slag ladle number and the second gate number. And then, the scheduling system sends a slag ladle maintenance instruction to a terminal held by a maintenance personnel so that the maintenance personnel can move the abnormal slag ladle to a slag ladle maintenance area for maintenance.
To sum up, as shown in fig. 2F and 2G, the slag slow cooling field is mainly formed by alternately deslagging through the chute by two deslagging ports, the electric flatcar track where the first deslagging port and the second deslagging port are located corresponds to the empty bag track and the full bag track respectively, the slow cooling field is divided into 3 independent areas, each area is provided with a metallurgical door machine and a group of electric turntable groups, and independent operation can be performed to form microcirculation of the area. Two groups of electric rotating disc groups are arranged near the slag discharge port, one group is used for one standby, and once one group of rotating discs fails, the other group can be immediately switched to be used. And before the empty slag ladle is ready to enter two slag discharging ports, a gate type water pump is arranged to detect and drain the water level of the empty slag ladle, and a slag pool is arranged on the south side of the slag buffer cold field and used for storing slag poured out of the slag ladle. Specifically, after the empty slag ladle of the first slag discharge port is fully charged with slag, the fully charged slag ladle electric flat car enters a fully charged track along the electric turntable group; and after the empty ladle at the second slag discharging port is fully filled with slag, the full ladle electric flat car sends the slag ladle to the slag ring cooling area along the full ladle track. When the full slag ladle is sent to the corresponding parking area track, the gantry crane of the area automatically moves to align with the electric flat car, the full slag ladle is lifted by the automatic hook and sent to the corresponding placement position, and the circular operation of 'air cooling-water cooling-ladle turning-slag pouring-electric flat car forwards passing through the turntable group of the current area, entering the empty ladle track, waiting for the empty slag ladle loading car-gantry crane to select the empty slag ladle of the area to be sent to the empty electric flat car, automatically unhooking and placing the empty slag ladle on the electric flat car' is carried out.
Then, for the empty slag ladle in the first slow cooling zone, the empty electric flat car enters the empty ladle track from the full ladle track along the electric turntable group corresponding to the first slow cooling zone, waits for the first metallurgical gantry crane of the first slow cooling zone to load the empty slag ladle at the opposite position of the empty slag ladle to be lifted, and returns to the slag discharge port; for the empty slag ladle in the second slow cooling zone, the empty electric flat car enters the empty ladle track from the full ladle track along the electric turntable group corresponding to the second slow cooling zone, waits for the second metallurgical gantry crane of the second slow cooling zone to load the empty slag ladle at the opposite position of the row of the empty slag ladle to be lifted, and returns to the slag discharge port; and for the empty slag ladle in the third slow cooling zone, the empty electric flat car enters the empty ladle track from the full ladle track along the electric turntable group corresponding to the third slow cooling zone, waits for the third metallurgical gantry crane in the third slow cooling zone to load the empty slag ladle at the opposite position of the empty slag ladle to be lifted, and returns to the slag discharge port. Before returning to the slag discharging port, in order to ensure the safety of slag ladle slag receiving, water level detection and water pumping operation are required for each slag ladle, and a gate type water pump is arranged for detecting and water pumping, so that the risk of blasting and explosion of the slag ladle caused by overlarge water quantity in the slag ladle is prevented.
In the whole operation process, the traditional mode has no accurate electronic data of slag field and slag ladle data, and can not track slag ladle dynamic information. Therefore, the method and the system rely on a big data model and a simulation system to digitally model and three-dimensionally visualize the slag field and the slag ladle, realize the dynamic tracking of the state information of the slag ladle, realize the overall control of the current state of each device through a dispatching system, optimize and pre-judge the task state of the next link of each device, and realize the integrated management.
According to the method provided by the embodiment of the application, when a dispatching system detects that a target slag ladle at a first slag ladle outlet or a second slag ladle outlet is changed into a full slag ladle, a slag ladle placing instruction is obtained, the slag ladle placing instruction is sent to a target electric flat car for placing the target slag ladle, the target electric flat car obtains a target door number carried by the slag ladle placing instruction and moves to a first flat car parking position corresponding to the target door number, the dispatching system obtains a slag ladle lifting instruction, the slag ladle lifting instruction is sent to a target door corresponding to the target door number, the target door machine obtains a target slag ladle number carried by the slag ladle lifting instruction, a visual identification technology and a three-dimensional positioning technology are adopted to lift the target slag ladle, the target slag ladle is placed at the slag ladle position corresponding to the target slag ladle number, the target electric flat car runs from a full ladle track to an empty ladle track through a second electric turntable corresponding to the door number, the target electric flat car moves to a second flat car parking position corresponding to the target door number, the specified slag ladle number carried by the target ladle lifting instruction is lifted at the slag ladle position corresponding to the specified slag ladle lifting instruction, the specified slag ladle is placed on the specified slag ladle position corresponding to the electric flat car, the specified slag ladle is pumped to the electric flat car is detected, and the specified slag ladle is pumped down by adopting the electric flat car to control system to carry out when the specified slag ladle is detected. The slag ladle placing instruction carries a target door number, the slag ladle lifting instruction carries a target slag ladle number and a designated slag ladle number, and the designated slag ladle is an empty slag ladle. The intelligent metallurgical gantry crane, the electric turntable and the electric flat car are used as basic equipment, a plurality of electric flat cars are scheduled through software to realize rail replacement on a full ladle track and an empty ladle track through the electric turntable, the full ladle track is ensured to be as smooth as possible, the beat requirement of full ladle feeding is met, the intelligent unhooking operation of the ladle is realized through the modes of visual positioning and the like, the intelligent level is improved, and meanwhile, the water level detection and the water drainage are carried out before the empty ladle is returned to be connected with slag, so that the safety of the empty ladle in connection with high-temperature solution slag is improved. The whole-course unmanned, intelligent and visual slag slow cooling field can be realized through the intelligent upper scheduling management system, the current state of each device is globally controlled, the integrated management is realized, and the whole operation efficiency of the slag slow cooling field is improved.
Further, as a specific implementation of the method shown in fig. 1, an embodiment of the present application provides a control device for a copper smelting intelligent slag buffer cold field, as shown in fig. 3A, where the device includes: a full slag ladle moving module 301, a full slag ladle lifting module 302, an empty slag ladle lifting module 303 and an empty slag ladle detecting module 304.
The full slag ladle moving module 301 is configured to obtain a slag ladle placing instruction when the scheduling system detects that a target slag ladle at the first slag ladle or the second slag ladle becomes a full slag ladle, and send the slag ladle placing instruction to a target electric flat car for placing the target slag ladle, where the target electric flat car obtains a target door machine number carried by the slag ladle placing instruction, and moves to a first flat car parking position corresponding to the target door machine number, and the slag ladle placing instruction carries the target door machine number;
a full slag ladle lifting module 302, configured to obtain a slag ladle lifting instruction by using the scheduling system, send the slag ladle lifting instruction to a target portal machine corresponding to the target portal machine number, obtain a target slag ladle number carried by the slag ladle lifting instruction by using the target portal machine, lift the target slag ladle by using a visual identification technology and a three-dimensional positioning technology, place the target slag ladle at a slag ladle position corresponding to the target slag ladle number, and carry the target slag ladle number and an appointed slag ladle number by using the slag ladle lifting instruction;
The empty cinder ladle lifting module 303 is configured to enable the target electric flat car to travel from a full ladle track to an empty ladle track through a second electric turntable corresponding to the door machine number, and move to a second car parking position corresponding to the target door machine number, enable the target door machine to obtain the designated cinder ladle number carried by the cinder ladle lifting instruction, lift a designated cinder ladle at a cinder ladle position corresponding to the designated cinder ladle number, and place the designated cinder ladle on the target electric flat car, where the designated cinder ladle is an empty cinder ladle;
and the empty ladle detection module 304 is configured to detect the specified ladle by using the water pump when the scheduling system detects that the target electric flat car moves below the water pump along the empty ladle track, and control the target electric flat car to receive the ladle by using the detected specified ladle.
In a specific application scenario, the full slag ladle moving module 301 is further configured to move, if the target electric flat car is in the empty ladle track, to the full ladle track through a first electric turntable, and to a first flat car parking position corresponding to the target door machine number along the full ladle track; and if the target electric flat car is positioned on the full package track, the target electric flat car directly moves to a first flat car parking position corresponding to the target door machine number along the full package track.
In a specific application scenario, the full slag ladle moving module 301 is further configured to control the first electric turntable to change from a horizontal communication state to a longitudinal communication state when the scheduling system detects that the target electric flatcar moves above the turntable on the empty ladle track, where the first electric turntable is composed of the turntable on the full ladle track, the turntable on the empty ladle track, and a vertical track between the two turntables; the target electric flat car moves from above the turntables on the empty package track to above the turntables on the full package track along the vertical track; when the dispatching system detects that the target electric flat car moves above the turntables on the full package track, controlling the first electric turntables to change from the longitudinal communication state to the transverse communication state; and the target electric flat car moves to a first flat car parking position corresponding to the target door machine number along the full package track.
In a specific application scenario, the empty slag ladle detection module 304 is configured to perform water level detection on the specified slag ladle by using an ultrasonic liquid level meter by using the water pump, so as to obtain a water level detection result; when the water level detection result indicates that the water level depth value of the specified slag ladle exceeds a preset depth value, the water pump pumps water by penetrating the water pumping pipe into the bottom of the specified slag ladle until the water level depth value is reduced to be lower than the preset depth value, and withdraws the water pumping pipe.
In a specific application scenario, the empty ladle detection module 304 is further configured to control the target electric flat car to move to the first slag discharge port along the empty ladle track to perform slag receiving if the scheduling system detects that the electric flat car does not exist in the first slag discharge port; if the scheduling system detects that the first slag discharging port is provided with the electric flat car and the second slag discharging port is not provided with the electric flat car, the target electric flat car is controlled to move to the full package track through the first electric turntable, and the target electric flat car is controlled to move to the second slag discharging port along the full package track to carry out slag receiving; if the scheduling system detects that the first slag discharging port and the second slag discharging port are both provided with the electric flat car, the target electric flat car is controlled to move to a waiting area until the first slag discharging port or the second slag discharging port is not provided with the electric flat car.
In a specific application scenario, as shown in fig. 3B, the apparatus further includes: slag ladle overturning module 305 and slag ladle overhauling module 306.
The slag ladle overturning module 305 is configured to determine a first slag ladle number of the slag ladle and a first door number of an area where the slag ladle is located when the scheduling system detects that a certain slag ladle is in a water cooling stage, and generate a slag ladle overturning instruction carrying the first slag ladle number; the scheduling system determines a first door machine corresponding to the first door machine number and sends the slag ladle overturning instruction to the first door machine; the first portal crane acquires the first slag ladle number carried by the slag ladle turning instruction, lifts up the slag ladle corresponding to the first slag ladle number, and pours slag in the slag ladle into a slag crushing area.
And the slag ladle maintenance module 306 is configured to determine a second slag ladle number of the abnormal slag ladle and a second gate number of an area where the abnormal slag ladle is located when the scheduling system detects that the abnormal slag ladle occurs, generate a slag ladle maintenance instruction carrying the second slag ladle number and the second gate number, and send the slag ladle maintenance instruction to a terminal held by a maintenance personnel, so that the maintenance personnel moves the abnormal slag ladle to a slag ladle maintenance area for maintenance.
According to the device provided by the embodiment of the application, when the dispatching system detects that a target slag ladle at the first slag discharge port or the second slag discharge port is changed into a full slag ladle, a slag ladle placement instruction is acquired, the slag ladle placement instruction is sent to a target electric flat car for placing the target slag ladle, the target electric flat car acquires a target door machine number carried by the slag ladle placement instruction and moves to a first flat car parking position corresponding to the target door machine number, the dispatching system acquires a slag ladle lifting instruction, the slag ladle lifting instruction is sent to a target door machine corresponding to the target door machine number, the target door machine acquires a target slag ladle number carried by the slag ladle lifting instruction, a visual identification technology and a three-dimensional positioning technology are adopted to lift the target slag ladle, the target slag ladle is placed at the slag ladle position corresponding to the target slag ladle number, the target electric flat car runs from the full ladle track to the empty ladle track through a second electric turntable corresponding to the door machine number, the target electric flat car moves to the second flat car parking position corresponding to the target door machine number, the specified slag ladle number carried by the target ladle lifting instruction is lifted at the slag ladle position corresponding to the specified slag ladle lifting instruction, the specified slag ladle is placed on the specified slag ladle position corresponding to the specified slag ladle number, the electric flat car is placed on the electric flat car, and the specified slag ladle is detected by adopting the electric flat car to detect the specified slag ladle and the specified electric flat car to carry out the specified slag ladle after the specified slag ladle is detected by adopting the electric flat car. The slag ladle placing instruction carries a target door number, the slag ladle lifting instruction carries a target slag ladle number and a designated slag ladle number, and the designated slag ladle is an empty slag ladle. The intelligent metallurgical gantry crane, the electric turntable and the electric flat car are used as basic equipment, a plurality of electric flat cars are scheduled through software to realize rail replacement on a full ladle track and an empty ladle track through the electric turntable, the full ladle track is ensured to be as smooth as possible, the beat requirement of full ladle feeding is met, the intelligent unhooking operation of the ladle is realized through the modes of visual positioning and the like, the intelligent level is improved, and meanwhile, the water level detection and the water drainage are carried out before the empty ladle is returned to be connected with slag, so that the safety of the empty ladle in connection with high-temperature solution slag is improved. The whole-course unmanned, intelligent and visual slag slow cooling field can be realized through the intelligent upper scheduling management system, the current state of each device is globally controlled, the integrated management is realized, and the whole operation efficiency of the slag slow cooling field is improved.
It should be noted that, other corresponding descriptions of each functional unit related to the control device for the intelligent slag buffer cold field for copper smelting provided in the embodiment of the present application may refer to corresponding descriptions in fig. 1 and fig. 2A to fig. 2G, and are not repeated here.
In an exemplary embodiment, referring to fig. 4, there is further provided a device, which includes a bus, a processor, a memory, and a communication interface, and may further include an input-output interface and a display device, where each functional unit may perform communication with each other through the bus. The memory stores computer program and processor, which is used to execute the program stored in the memory and execute the control method of the intelligent slag buffer cold field for copper smelting in the above embodiment.
A medium having stored thereon a computer program which when executed by a processor realizes the steps of the method for controlling a copper smelting intelligent slag buffer cold field.
From the above description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented in hardware, or may be implemented by means of software plus necessary general hardware platforms. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to perform the methods described in various implementation scenarios of the present application.
Those skilled in the art will appreciate that the drawings are merely schematic illustrations of one preferred implementation scenario, and that the modules or flows in the drawings are not necessarily required to practice the present application.
Those skilled in the art will appreciate that modules in an apparatus in an implementation scenario may be distributed in an apparatus in an implementation scenario according to an implementation scenario description, or that corresponding changes may be located in one or more apparatuses different from the implementation scenario. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The foregoing application serial numbers are merely for description, and do not represent advantages or disadvantages of the implementation scenario.
The foregoing disclosure is merely a few specific implementations of the present application, but the present application is not limited thereto and any variations that can be considered by a person skilled in the art shall fall within the protection scope of the present application.
Claims (8)
1. A control method of a copper smelting intelligent slag slow cooling field is characterized by comprising the following steps:
when the scheduling system detects that a target slag ladle at a first slag discharge port or a second slag discharge port is changed into a full slag ladle, a slag ladle placing instruction is obtained, the slag ladle placing instruction is sent to a target electric flat car for placing the target slag ladle, the target electric flat car obtains a target door machine number carried by the slag ladle placing instruction and moves to a first flat car parking position corresponding to the target door machine number, the slag ladle placing instruction carries the target door machine number, and the target electric flat car obtains the target door machine number carried by the slag ladle placing instruction and moves to the first flat car parking position corresponding to the target door machine number, and the method comprises the following steps: when the dispatching system detects that the target electric flat car moves to the upper part of the turntables on the empty package track, controlling a first electric turnplate to be changed into a longitudinal communication state from a transverse communication state, and if the target electric flat car is in the full package track, the first electric turnplate is directly moved to a first flat car parking position corresponding to the target door machine number along the full package track, and when the dispatching system detects that the target electric flat car moves to the upper part of the turnplates on the full package track, controlling the first electric turnplate to be changed into the transverse communication state from the longitudinal communication state, and the target electric flat car is moved to a first flat car parking position corresponding to the target door machine number along the full package track, wherein the first electric turnplate is composed of the turnplate on the full package track, the turnplate on the empty package track and the first flat car parking position corresponding to the two vertical turnplates on the full package track;
The dispatching system acquires a slag ladle lifting instruction, sends the slag ladle lifting instruction to a target portal machine corresponding to the target portal machine number, acquires a target slag ladle number carried by the slag ladle lifting instruction, lifts the target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, places the target slag ladle at a slag ladle position corresponding to the target slag ladle number, and carries the target slag ladle number and a designated slag ladle number;
the target electric flat car runs from the full ladle track to the empty ladle track through a second electric turntable corresponding to the door machine number and moves to a second flat car parking position corresponding to the target door machine number, the target door machine obtains the appointed ladle number carried by the ladle lifting instruction, lifts an appointed ladle at the ladle position corresponding to the appointed ladle number, places the appointed ladle on the target electric flat car, the appointed ladle is an empty ladle, and the second flat car parking position is a dead position of the appointed ladle on the empty ladle track;
when the scheduling system detects that the target electric flat car moves to the lower part of the water pump along the empty ladle track, the water pump is adopted to detect the specified slag ladle, and the target electric flat car is controlled to adopt the detected specified slag ladle to carry out slag receiving.
2. The method of claim 1, wherein said employing said pump to detect said specified slag ladle comprises:
the water pump detects the water level of the specified slag ladle through an ultrasonic liquid level meter to obtain a water level detection result;
when the water level detection result indicates that the water level depth value of the specified slag ladle exceeds a preset depth value, the water pump pumps water by penetrating the water pumping pipe into the bottom of the specified slag ladle until the water level depth value is reduced to be lower than the preset depth value, and withdraws the water pumping pipe.
3. The method of claim 1, wherein controlling the target electric scooter to use the detected specified slag ladle for slag receiving comprises:
if the scheduling system detects that the first slag discharging port does not have the electric flat car, the target electric flat car is controlled to move to the first slag discharging port along the empty ladle track to carry out slag receiving;
if the scheduling system detects that the first slag discharging port is provided with the electric flat car and the second slag discharging port is not provided with the electric flat car, the target electric flat car is controlled to move to the full package track through the first electric turntable, and the target electric flat car is controlled to move to the second slag discharging port along the full package track to receive slag;
If the scheduling system detects that the first slag discharging port and the second slag discharging port are both provided with the electric flat car, the target electric flat car is controlled to move to a waiting area until the first slag discharging port or the second slag discharging port is not provided with the electric flat car.
4. The method according to claim 1, wherein the method further comprises:
when the scheduling system detects that a certain slag ladle is in a water cooling stage, determining a first slag ladle number of the slag ladle and a first door number of an area where the slag ladle is positioned, and generating a slag ladle turning instruction carrying the first slag ladle number;
the scheduling system determines a first door machine corresponding to the first door machine number and sends the slag ladle overturning instruction to the first door machine;
the first portal crane acquires the first slag ladle number carried by the slag ladle turning instruction, lifts up the slag ladle corresponding to the first slag ladle number, and pours slag in the slag ladle into a slag crushing area.
5. The method according to claim 1, wherein the method further comprises:
when the scheduling system detects that an abnormal slag ladle exists, determining a second slag ladle number of the abnormal slag ladle and a second door machine number of an area where the abnormal slag ladle is located, generating a slag ladle maintenance instruction carrying the second slag ladle number and the second door machine number, and sending the slag ladle maintenance instruction to a terminal held by a maintenance staff so that the maintenance staff can move the abnormal slag ladle to a slag ladle maintenance area for maintenance.
6. Control device of intelligent sediment slow cooling field is smelted to copper, a serial communication port includes:
the full slag ladle moving module is used for acquiring a slag ladle placing instruction when the scheduling system detects that a target slag ladle at a first slag ladle outlet or a second slag ladle outlet is changed into a full slag ladle, sending the slag ladle placing instruction to a target electric flat car for placing the target slag ladle, acquiring a target door machine number carried by the slag ladle placing instruction, moving to a first flat car parking position corresponding to the target door machine number, carrying the target door machine number by the slag ladle placing instruction, acquiring the target door machine number carried by the slag ladle placing instruction by the target electric flat car, and moving to a first flat car parking position corresponding to the target door machine number, and comprises the following steps: when the dispatching system detects that the target electric flat car moves to the upper part of the turntables on the empty package track, controlling a first electric turnplate to be changed into a longitudinal communication state from a transverse communication state, and if the target electric flat car is in the full package track, the first electric turnplate is directly moved to a first flat car parking position corresponding to the target door machine number along the full package track, and when the dispatching system detects that the target electric flat car moves to the upper part of the turnplates on the full package track, controlling the first electric turnplate to be changed into the transverse communication state from the longitudinal communication state, and the target electric flat car is moved to a first flat car parking position corresponding to the target door machine number along the full package track, wherein the first electric turnplate is composed of the turnplate on the full package track, the turnplate on the empty package track and the first flat car parking position corresponding to the two vertical turnplates on the full package track;
The full slag ladle lifting module is used for acquiring a slag ladle lifting instruction by the dispatching system, sending the slag ladle lifting instruction to a target portal machine corresponding to the target portal machine number, acquiring a target slag ladle number carried by the slag ladle lifting instruction by the target portal machine, lifting the target slag ladle by adopting a visual identification technology and a three-dimensional positioning technology, and placing the target slag ladle at a slag ladle position corresponding to the target slag ladle number, wherein the slag ladle lifting instruction carries the target slag ladle number and an appointed slag ladle number;
the empty slag ladle lifting module is used for enabling the target electric flat car to travel from the full ladle track to the empty ladle track through a second electric turntable corresponding to the door machine number and move to a second trolley parking position corresponding to the target door machine number, the target door machine obtains the appointed slag ladle number carried by the slag ladle lifting instruction, lifts the appointed slag ladle at the slag ladle position corresponding to the appointed slag ladle number, places the appointed slag ladle on the target electric flat car, the appointed slag ladle is an empty slag ladle, and the second trolley parking position is a dead position of the appointed slag ladle on the empty ladle track;
And the empty slag ladle detection module is used for detecting the specified slag ladle by adopting the water pump when the scheduling system detects that the target electric flat car moves to the lower part of the water pump along the empty ladle track, and controlling the target electric flat car to adopt the detected specified slag ladle to carry out slag receiving.
7. An apparatus comprising a memory and a processor, the memory storing a computer and a PLC control program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.
8. A medium having stored thereon a computer program, which when executed by a processor performs the steps of the method according to any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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