CN104866986A - Steel slab warehouse entering control method - Google Patents

Abstract

The invention discloses a steel slab warehouse entering control method and belongs to the information technical field. The method includes the following steps that: information of slabs to enter a warehouse and information of slabs and stack positions in the slab warehouse are determined; a mathematical model and process constraint conditions thereof of slab warehouse entering scheme evaluation indexes are established; an initial slab warehouse entering scheme is determined; the initial slab warehouse entering scheme is optimized through adopting a neighborhood task order exchange-based search iteration method; a final optimal slab warehouse entering scheme, adopted as an execution operation instruction of slab warehouse entering transfer equipment, is transmitted to a transfer equipment terminal controller, so that operation can be performed; and the transfer equipment arrives at a designated position under the control of a GPS positioning system, so that warehouse entering operation control of warehouse entering slabs can be completed. According to the steel slab warehouse entering control method of the invention, the stack positions where the warehouse entering slabs are stacked are reasonably arranged, and therefore, potential stack collapse of slab preparation materials can be decreased fundamentally, and the operation distance of the transfer equipment can be controlled, and the work efficiency of the transfer equipment in the slab warehouse can be improved, and logistics cost of the slab warehouse can be decreased, and the production efficiency of a production line can be improved.

Description

A kind of iron and steel slab warehousing control method

Art

The invention belongs to areas of information technology, particularly a kind of iron and steel slab warehousing control method.

Background technology

The warehouse-in faced for iron and steel slab product carries out the problem of stacking, namely slab buttress bit decisions is put in storage, determine that the matching technique that the physics met in time putting the stowed location of slab in storehouse in storage and need to consider that slab is deposited is stacked technological requirement (comprising width group and length group) and slab and piled up neatly position requires (comprise slab flows to, contract, tapping mark etc.), physics stacks the security that technological requirement ensure that slab stacking, and slab requires to ensure to extract when slab is rolled to reduce extra collapse of setting with buttress position matching technique.Current is pile up neatly bit decisions by manually completing warehouse-in slab mostly, due to the limitation of manpower, often only considered physics and stack technological requirement, stack nearby when ensureing security, cannot consider the determination of buttress position, slab is stacked and can not meet stacking requirement completely, the buttress position of a lot of irregularity can be produced, cause and extract when slab is rolled operation the problems such as collapse of setting amount is large, vehicle equipment travel paths is long, buttress bit stealing rate is high.These problems not only reduce logistics equipment service efficiency, add raw material storage activity-based costing of logistics, also have impact on the rhythm of production of heating furnace and rolling line simultaneously.

Disclose the method that a kind of slab storehouse crane automatic handling truck base goes out warehouse-in in Chinese invention patent instructions CN102616657B, hung the positional information of picking thing by camera head monitor crane, automatically to be completed according to reference coordinate by controller and hang the task of getting.This invention does not carry out decision-making to the position of stacking after goods warehousing; Disclose a kind of Handheld bar code scanning device that utilizes in Chinese invention patent application instructions CN104134135A pile up neatly the information quick obtaining such as position and layer to finished product and improve the method for iron and steel enterprise's finished goods inventory logistic efficiency, this invention ensures available buttress position information and the accuracy of warehouse-in finished product acquisition of information in storehouse by electronic equipment obtaining information, after not considering finished product warehouse-in, slab in reservoir area is extracted to the impact in storehouse; A kind of method for warehousing cigarette cases via automatic logistics system is disclosed in Chinese invention patent application instructions CN102530290A, the method relates to assembling and automatically puts production line in storage, but kinds of goods in reservoir area is extracted to the impact of outbound after also not considering reservoir area internal state and kinds of goods warehouse-in.

Summary of the invention

For the deficiency that existing method exists, the present invention proposes a kind of iron and steel slab warehousing control method.

The technical solution adopted in the present invention is achieved in that

A kind of iron and steel slab warehousing control method, comprises the following steps:

Step 1: determine to wait to put the slab information in slab information, slab storehouse and Parma position, slab storehouse information in storage.

Described treat that warehouse-in slab information comprises: slab number, tapping mark, contract number, base is long, base is wide, treat warehouse-in buttress item;

In described slab storehouse, slab information comprises: slab number, tapping mark, contract number, base is long, base is wide, buttress item;

Described Parma position, slab storehouse information comprises: buttress item, buttress position state, buttress position type, actual slab number, maximum slab number, breadth extreme, minimum widith, length group, width group;

Step 2: mathematical model and the process constraints thereof of setting up slab warehouse-in evaluating indexesto scheme;

Step 2.1: the mathematical model setting up slab warehouse-in evaluating indexesto scheme, is represented by formula (1), slab warehouse-in evaluating indexesto scheme value less then slab warehouse-in scheme is better;

$\min (g_1\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}(c_j-{c_j}^{\′})x_{\mathrm{ij}}+g_2\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}{d}_j{x}_{\mathrm{ij}})---\left(1\right)$

Wherein Ω represents the set waiting to put slab in storage; Φ represents the set of Parma position, reservoir area; c _jrepresent the buttress position j of original state and wait to put slab matching degree in storage; c _j' represent the buttress position j after stacking and wait to put slab matching degree in storage; d _jfor waiting to put slab enters to pile up neatly in library facilities to storehouse position distance from slab in storage, x _ijfor treating that warehouse-in slab i is placed on jth in storehouse and piles up neatly on position; g ₁, g ₂for weight coefficient, g ₁+ g ₂=1;

Step 2.2: the constraint condition setting up slab warehouse-in evaluating indexesto scheme;

1) every one deck of each buttress position in reservoir area places one block of warehouse-in slab at the most, is represented by formula (2);

$\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}\≤1,\∀j\∈\mathrm{\Φ}---\left(2\right)$

2) one piece is waited to put slab in storage, one must be found in slab storehouse to pile up neatly position and place, also can only occupy a buttress position simultaneously, be represented by formula (3);

$\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}=1,\∀i\∈\mathrm{\Ω}---\left(3\right)$

3) in time putting slab in storage and be deposited in a certain buttress position, buttress position height cannot exceed this buttress position maximum height, is represented by formula (4);

$h_j+\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}\≤H,\∀j\∈\mathrm{\Φ}---\left(4\right)$

Wherein, h _jfor the buttress position height of original state; H is buttress position maximum height;

4) definition is piled up neatly position and is waited to put slab matching degree in storage, is formed by with lower part:

A. position similarity is piled up neatly slab number similar to warehouse-in slab in buttress position and the ratio of the total slab number of this buttress; Described " similar " refers to the tapping mark of two boards base and width of plate slab is identical, weight differs within regulation tonnage.

B. distance phase recency parma position, reservoir area enters the distance of library facilities and the ratio of whole reservoir area length to slab; Find and wait to put the nearest buttress position of slab in storage, as target buttress position.

C. top layer slab similarity the top layer slab of Parma position, reservoir area to wait to put slab in storage similar, then be 1, otherwise be 0;

D. whether Parma position in reservoir area exists slab and extracts inside the plan slab if there is inside the plan slab in Parma position, reservoir area, be 0, if there is not inside the plan slab in Parma position, reservoir area, be 1;

Pile up neatly position and wait the quantitative description of putting slab matching degree in storage, namely pile up neatly position and wait that putting slab in storage mates angle value, being represented by formula (5);

c _j＝{c _ij|max c _ij,i∈Ω,j∈Φ} (5)

Wherein, i ∈ Ω, j ∈ Φ, k ₁, k ₂, k ₃for weight coefficient;

Step 3: the slab warehouse-in evaluating indexesto scheme mathematical model that the information determined according to step 1 and step 2 are set up, determines initial slab warehouse-in scheme, specific as follows:

Step 3.1, initialization vehicle equipment be moveable slab block number m=0 once;

Step 3.2, judge adjacent slab whether can carry out simultaneously slab warehouse-in decision-making, if slab enters the tapping mark of adjacent slab on library facilities (before and after such as steel-making warehouse-in roller-way adjacent slab or steel-making storehouse warehouse-in chassis levels adjacent slab), width is identical, when weight difference is in given range, namely meet with piling up neatly rule, slab warehouse-in decision-making, then m=2 can be carried out simultaneously; Otherwise, slab warehouse-in decision-making, then m=1 need be carried out respectively;

Step 3.3, calculating are piled up neatly position and wait that putting slab in storage mates angle value; Wait the alternative target buttress position of putting slab less than the buttress position of piling up neatly, not blocking as each using in reservoir area, the recommendation target buttress position of pending warehouse-in decision-making slab is chosen from these alternative target buttress position; If m=1, go to step 3.3.1; If m=2, go to step 3.3.2;

Step 3.3.1, buttress position is highly less than or equal to H-1, tapping mark, the width of buttress top board base and pending warehouse-in decision-making slab are identical, the buttress position of weight difference in the scope that user sets adds candidate and piles up neatly position set, calculate wherein each candidate to pile up neatly position and wait that putting slab in storage mates angle value, perform step 3.4;

Step 3.3.2, buttress position is highly less than or equal to H-2, tapping mark, the width of buttress top board base and pending warehouse-in decision-making slab are identical, the buttress position of weight difference in the scope that user sets adds candidate and piles up neatly position set, calculate wherein each candidate to pile up neatly position and wait that putting slab in storage mates angle value, perform step 3.4;

Step 3.4, calculating slab warehouse-in evaluating indexesto scheme value;

Step 3.5, waiting that putting the respective candidate of slab in storage piles up neatly in the set of position, selecting the buttress position that slab warehouse-in evaluating indexesto scheme value is minimum, wait the recommendation target buttress position of putting slab in storage as this; If institute needs to put slab in storage and all obtains stacking buttress position in storehouse, then obtain initial slab warehouse-in scheme, otherwise, return step 3.2;

Step 4, adopt the search iteration method exchanged based on neighborhood task order to be optimized initial slab warehouse-in scheme, concrete steps are as follows:

The evaluation index of step 4.1, setting neighborhood search alternative manner the most very much not upgrades iterations and maximum iteration time;

Step 4.2, set up searching record list, comprise searching record list object, searching record list length and jump out searching record list criteria, best for history warehouse-in scheme is set to sky, wherein,

Described searching record list object for: to arbitrary slab from its described in step 3.3 separately candidate pile up neatly position set reselect recommend target buttress position operation;

Described searching record list length is: the number holding searching record list object;

Described searching record list criteria of jumping out is: select if current to recommend the new operation of target buttress position in searching record list, then judge whether the warehouse-in evaluating indexesto scheme value of the new slab warehouse-in scheme produced by this new operation is better than the best slab of history and puts scheme in storage, if be better than, jumps out searching record list;

The best warehouse-in scheme of described history is the minimum warehouse-in scheme of the warehouse-in evaluating indexesto scheme value that produces in search procedure;

Step 4.3, by exchanging neighborhood search method, namely waiting to put any recommendation target buttress position of slab in reservoir area in storage by exchanging, producing new candidate's slab warehouse-in scheme, and calculating the evaluation index value of new candidate's slab warehouse-in scheme according to step 2.1;

Step 4.4, judge whether the search producing above-mentioned new candidate's slab warehouse-in scheme is recorded in searching record list, namely produce after changing slab warehouse-in scheme and new wait that putting slab in storage recommends the operation of target buttress position whether to perform, if, then perform step 4.6, otherwise, perform step 4.5;

Step 4.5, the operation producing new candidate's slab warehouse-in scheme to be added in searching record list, and when search element record list size completely time, record the earliest in the list of Delete Search record; Judge whether the evaluation index value of this new candidate's slab warehouse-in scheme is less than the evaluation index value of history best slab warehouse-in scheme, if so, then this new candidate's slab warehouse-in scheme is updated to history best slab warehouse-in scheme, and goes to step 4.7; Otherwise, retain former history best slab warehouse-in scheme, and go to step 4.3;

Step 4.6, judge whether the evaluation index value of new candidate's slab warehouse-in scheme is less than the evaluation index value of history best slab warehouse-in scheme, if, then jump out searching record list, and this new candidate's scheme of putting in storage is updated to history best slab warehouse-in scheme, and go to step 4.3; Otherwise abandon this new candidate's slab warehouse-in scheme, and go to step 4.3;

Step 4.7, repeatedly execution step 4.3, to step 4.6, until arrival maximum iteration time or evaluation index the most very much not upgrade iterations, namely obtain final best slab warehouse-in scheme;

Step 5, using final best slab warehouse-in scheme as the instruction of slab warehouse-in vehicle equipment executable operations, operational order is stored in database, and by network, operational order is sent to vehicle equipment terminal control unit and operates;

Step 6, the operational order obtained according to vehicle equipment terminal, control vehicle equipment by GPS position system device and arrive assigned address, completes the input work operation to warehouse-in slab.

Beneficial effect of the present invention:

Iron and steel slab warehousing control method of the present invention, by provide a kind of science, safety, the control method of low cost, generate rapidly best slab warehouse-in scheme according to the staff's production requirement of slab storehouse, and then instruct the production operation of vehicle equipment in slab storehouse; The method stacks buttress position by reasonable arrangement warehouse-in slab, the potential collapse of setting amount that slab gets the raw materials ready is reduced from root, control vehicle equipment range ability, improve the work efficiency of vehicle equipment in slab storehouse, reduce the logistics cost in slab storehouse, not only meet security requirement in slab storehouse, accelerate slab circulation efficiency simultaneously, and then improve the production efficiency of producing line.

Accompanying drawing explanation

Fig. 1 is slab storehouse schematic layout pattern in the specific embodiment of the invention;

Fig. 2 is that in the specific embodiment of the invention, vehicle equipment hangs and gets slab in-stockroom operation schematic diagram;

Fig. 3 is iron and steel slab warehousing control method process flow diagram in the specific embodiment of the invention;

Fig. 4 is the process flow diagram that the employing neighborhood search alternative manner in the specific embodiment of the invention is optimized initial slab warehouse-in scheme.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

At present, steel-making continuous casting slab slab enters library facilities (roller-way such as shown in Fig. 1 or chassis) and sends into slab storehouse (H01 and H02 shown in Fig. 1 is respectively two word banks in slab storehouse), during slab input work, first slab being parked in slab enters on library facilities, as shown in Figure 1, first determine the target buttress position for the treatment of that warehouse-in slab is stacked in reservoir area, then by the vehicle equipment (loop wheel machine 1 ~ 6 such as shown in Fig. 2) in slab storehouse, what slab is entered library facilities (roller-way such as shown in Fig. 1 or chassis) treats that warehouse-in slab moves to target buttress position, loop wheel machine shown in Fig. 2 is got in slab process hanging, according to the ability of loop wheel machine and the attribute of putting slab in storage can be waited, select once to hang to get one block of slab or once hang to get two boards base, vehicle equipment (loop wheel machine) will be placed on until warehouse-in slab and to return slab behind target buttress position and enter follow-up the waiting of the upper movement of library facilities (roller-way or chassis) and put slab in storage.

The iron and steel slab warehousing control method of the embodiment of the present invention, its flow process as shown in Figure 3, specifically comprises the following steps:

Step 1: determine to wait to put the slab information in slab information, slab storehouse and Parma position, slab storehouse information in storage.

Described treat that warehouse-in slab information comprises: slab number, tapping mark, contract number, base is long, base is wide and treat warehouse-in buttress item, as shown in table 1;

In described slab storehouse, slab information comprises: slab number, tapping mark, contract number, base is long, base is wide and buttress item, as shown in table 2;

Described Parma position, slab storehouse information comprises: buttress item, buttress position state, buttress position type, actual slab number, maximum slab number, breadth extreme, minimum widith, length group and width group, as shown in table 3;

Warehouse-in slab information table treated by table 1

Slab number	Tapping mark	Contract number	Base is long	Base is wide	Treat warehouse-in buttress item
						101	1	11	100	10	-
102	1	11	100	10	-

103	1	11	100	10	-
						104	1	11	100	12	-
105	1	11	100	12	-
						106	1	11	100	12	-
107	1	11	50	8	-
						108	2	21	50	8	-
109	2	21	100	10	-
						110	3	31	100	10	-
111	3	31	100	12	-
						112	3	31	50	8	-
113	3	31	100	12	-
						114	3	31	100	12	-
115	3	31	100	10	-

The information table of slab in table 2 storehouse

Position information table piled up neatly by table 3

Buttress item	Buttress position state	Buttress position type	Actual slab number	Maximum slab number	Length group	Width group
							301	Normally	B	5	15	100	12
302	Normally	B	5	15	100	12
							304	Normally	B	5	15	100	12
305	Normally	B	1	15	100	12
							306	Normally	B	1	15	100	10
307	Normally	B	3	15	100	10
							308	Normally	B	3	15	100	10
312	Normally	B	3	15	100	10
							313	Normally	B	6	15	100	10
314	Block	B	6	15	100	12
							317	Normally	B	6	15	100	10
318	Normally	B	1	15	100	12
							320	Normally	N	1	15	50	8
321	Normally	N	3	15	50	10
							323	Normally	B	3	15	100	10
324	Normally	B	7	15	100	10
							326	Normally	B	7	15	100	12
327	Do not enter	B	7	15	100	12
							329	Normally	B	8	15	100	10
407	Normally	B	8	15	100	12
							408	Prohibit	B	8	15	100	10
412	Normally	B	8	15	100	12
							413	Normally	B	8	15	100	10
414	Normally	B	10	15	100	12
							415	Normally	B	10	15	100	12

416	Normally	B	10	15	100	12
							417	Normally	S	10	15	50	8
418	Normally	B	11	15	100	12
							419	Normally	B	5	15	100	12
420	Normally	S	5	15	50	8
							421	Normally	B	5	15	100	12
422	Normally	B	5	15	100	12
							423	Normally	B	5	15	100	12
424	Normally	B	2	15	100	10
							425	Normally	B	2	15	100	12
426	Normally	B	2	15	100	10
							428	Normally	B	2	15	100	10
429	Normally	B	4	15	100	10

According to above information, put scheme in storage by the slab manually completed, as shown in table 4, the program is only long according to slab base and warehouse-in stacking is carried out in base wide selection buttress position.

Table 4 artificial slab warehouse-in scheme

Slab number	Tapping mark	Contract number	Base is long	Base is wide	Treat warehouse-in buttress item
						101	1	11	100	10	306
102	1	11	100	10	306
						103	1	11	100	10	301
104	1	11	100	12	301
						105	1	11	100	12	301
106	1	11	100	12	301
						107	1	11	50	8	417
108	2	21	50	8	417
						109	2	21	100	10	306
110	3	31	100	10	306
						111	3	31	100	12	301
112	3	31	50	8	417

113	3	31	100	12	301
						114	3	31	100	12	301
115	3	31	100	10	306

Step 2: mathematical model and the process constraints thereof of setting up slab warehouse-in evaluating indexesto scheme;

Step 2.1: the mathematical model setting up slab warehouse-in evaluating indexesto scheme, is represented by formula (1), slab warehouse-in evaluating indexesto scheme value less then slab warehouse-in scheme is better; With under the matching technique requirement condition of the slab warehouse-in process technology limit of process and the stacking technological requirement of slab and slab and buttress position (comprising the technological requirements such as slab flows to, contract, width group and length group), warehouse-in evaluating indexesto scheme value is buttress position and wait to put in storage the drop-out value of slab matching degree and the slab of pending warehouse-in decision-making and its recommendation target and pile up neatly position always apart from the minimum value of sum.

$\min (g_1\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}(c_j-{c_j}^{\′})x_{\mathrm{ij}}+g_2\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}{d}_j{x}_{\mathrm{ij}})---\left(1\right)$

Wherein Ω represents the set waiting to put slab in storage; Φ represents the set of Parma position, reservoir area; c _jrepresent the buttress position j of original state and wait to put slab matching degree in storage; c _j' represent the buttress position j after stacking and wait to put slab matching degree in storage; d _jfor waiting to put slab enters to pile up neatly in library facilities to storehouse position distance from slab in storage, x _ijfor treating that warehouse-in slab i is placed on jth in storehouse and piles up neatly on position; g ₁, g ₂for weight coefficient, g ₁+ g ₂=1;

Step 2.2: the constraint condition setting up slab warehouse-in evaluating indexesto scheme;

1) every one deck of each buttress position in reservoir area places one block of warehouse-in slab at the most, also can not put slab in storage and be placed on this buttress position, be represented by formula (2);

$\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}\≤1,\∀j\∈\mathrm{\Φ}---\left(2\right)$

2) wait to put slab in storage for one piece, one must be found to pile up neatly position place in slab storehouse, it also can only occupy a buttress position simultaneously, is represented by formula (3);

$\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}=1,\∀i\∈\mathrm{\Ω}---\left(3\right)$

3) consider the highest stacking technological requirement in buttress position, in time putting slab in storage and be deposited in a certain buttress position, buttress position height cannot exceed this buttress position maximum height, is represented by formula (4);

$h_j+\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}\≤H,\∀j\∈\mathrm{\Φ}---\left(4\right)$

Wherein, h _jfor the buttress position height of original state; H is buttress position maximum height;

4) define described buttress position and wait to put slab matching degree in storage, formed by with lower part:

A. position similarity is piled up neatly slab number similar to warehouse-in slab in buttress position and the ratio of the total slab number of this buttress; Described " similar " refers to the tapping mark of two boards base and width of plate slab is identical, weight differs within regulation tonnage.When working out slab and extracting plan, if the slab of whole buttress all being enrolled same slab extraction plan is optimal state, the efficiency (not be used in whole slab storehouse and search for the slab met the demands) of establishment slab extraction plan can not only be improved like this, and when plan is issued to slab storehouse, because whole buttress is all incorporated into slab extraction plan, so the stroke of vehicle equipment significantly can be reduced, improve the effective rate of utilization of vehicle equipment, improve slab and extract plan execution efficiency, thus drive the production efficiency of whole hot rolling;

B. distance phase recency parma position, reservoir area enters the distance of library facilities and the ratio of whole reservoir area length to slab; Find and wait to put the nearest buttress position of slab in storage, as target buttress position.Make the effective travel of vehicle equipment reduce like this, improve vehicle equipment effective rate of utilization, reduce the unnecessary loss of time;

C. top layer slab similarity if the top layer slab of Parma position, reservoir area is to wait to put slab in storage similar, then be 1, otherwise be 0; If Parma position, reservoir area top layer slab is to wait to put slab in storage similar, then, after stacking, this buttress position at least head two boards base is similar; When working out slab and extracting plan, same plan can be enrolled, such vehicle equipment is when performing this plan, this two boards base can be taken away by one-off (otherwise vehicle equipment may need twice action even more), if reduce the top layer slab not issuable extra collapse of setting situation when slab extracts inside the plan simultaneously;

D. whether Parma position in reservoir area exists slab and extracts inside the plan slab if there is inside the plan slab in Parma position, reservoir area, then be 0, if Parma position, reservoir area does not exist inside the plan slab, then be 1, wait to put the buttress position that slab does not move to the planned interior slab of lower floor as far as possible in storage, there is slab to extract inside the plan slab if treat below the new buttress position that warehouse-in slab moves to, then this certainly will be caused when getting this inside the plan slab to wait to put in storage the heavy collapse of setting of slab, adding unnecessary collapse of setting number of times.So this situation should be avoided as far as possible.

Pile up neatly position and wait the quantitative description of putting slab matching degree in storage, namely pile up neatly position and wait that putting slab in storage mates angle value, being represented by formula (5);

c _j＝{c _ij|max c _ij,i∈Ω,j∈Φ} (5)

Wherein, i ∈ Ω, j ∈ Φ, k ₁, k ₂, k ₃for weight coefficient;

Step 3: determine initial slab warehouse-in scheme, specific as follows:

Step 3.1, initialization vehicle equipment be moveable slab block number m=0 once;

Step 3.2, judge adjacent slab whether can carry out simultaneously slab warehouse-in decision-making, if slab enters the tapping mark of adjacent slab on library facilities (before and after such as steel-making warehouse-in roller-way adjacent slab or steel-making storehouse warehouse-in chassis levels adjacent slab), width is identical, when weight difference is in given range, namely meet with piling up neatly rule, slab warehouse-in buttress bit decisions, then m=2 can be carried out simultaneously; Otherwise, slab warehouse-in buttress bit decisions, then m=1 need be carried out respectively;

Step 3.3, calculating are piled up neatly position and wait that putting slab in storage mates angle value; Wait the alternative target buttress position of putting slab less than the buttress position of piling up neatly, not blocking as each using in reservoir area, the recommendation target buttress position of pending warehouse-in decision-making slab is chosen from these alternative target buttress position; If m=1, go to step 3.3.1; If m=2, go to step 3.3.2;

Step 3.3.1, buttress position is highly less than or equal to 14 (as shown in Table 3, H=15 in present embodiment), buttress top board base is identical with pending tapping mark, the width of piling up neatly bit decisions slab of putting in storage, the buttress position of weight difference in the scope that user sets adds candidate and piles up neatly position set, calculate wherein each candidate to pile up neatly position and wait that putting slab in storage mates angle value, goes to step 3.4;

Step 3.3.2, buttress position is highly less than or equal to 13, buttress top board base is identical with pending tapping mark, the width of piling up neatly bit decisions slab of putting in storage, the buttress position of weight difference in the scope that user sets adds candidate and piles up neatly position set, calculate wherein each candidate to pile up neatly position and wait that putting slab in storage mates angle value, goes to step 3.4;

It is wait to put slab in storage to each block that candidate described in step 3.3.1 and step 3.3.2 piles up neatly position set, and the buttress position in reservoir area meets the set of all buttress positions that its warehouse-in stacking requires, the corresponding candidate of each block warehouse-in slab piles up neatly position set.

Step 3.4, calculating slab warehouse-in evaluating indexesto scheme value;

Step 3.5, waiting that putting the respective candidate of slab in storage piles up neatly in the set of position, selecting the buttress position that slab warehouse-in evaluating indexesto scheme value is minimum, wait the recommendation target buttress position of putting slab in storage as this; If institute needs to put slab in storage and all obtains stacking buttress position in storehouse, then obtain initial slab warehouse-in scheme, as shown in table 5, and calculate the slab warehouse-in evaluating indexesto scheme value of slab warehouse-in evaluating indexesto scheme value as history best slab warehouse-in scheme of this initial slab warehouse-in scheme, otherwise, return step 3.2;

Table 5 initial slab warehouse-in scheme

Slab number	Tapping mark	Contract number	Base is long	Base is wide	Treat warehouse-in buttress item
						101	1	11	100	10	306
102	1	11	100	10	306
						103	1	11	100	10	313
104	1	11	100	12	423
						105	1	11	100	12	304
106	1	11	100	12	422
						107	1	11	50	8	420
108	2	21	50	8	320
						109	2	21	100	10	308
110	3	31	100	10	306
						111	3	31	100	12	301
112	3	31	50	8	417

113	3	31	100	12	415
						114	3	31	100	12	415
115	3	31	100	10	324

Step 4, adopt the search iteration method exchanged based on neighborhood task order to be optimized initial slab warehouse-in scheme, concrete steps are as follows as shown in Figure 4:

The evaluation index of step 4.1, setting neighborhood search alternative manner the most very much not upgrades iterations and maximum iteration time;

Step 4.2, set up searching record list, comprise searching record list object, searching record list length and jump out searching record list criteria, best for history warehouse-in scheme is set to sky, wherein,

Described searching record list object for: to arbitrary wait put in storage slab from its described in step 3.3 separately candidate pile up neatly position set reselect recommend target buttress position operation;

Described searching record list length is: the number holding searching record list object;

Described searching record list criteria of jumping out is: select if current to recommend the new operation of target buttress position in searching record list, then judge whether the warehouse-in evaluating indexesto scheme value of the new slab warehouse-in scheme produced by this new operation is better than the best slab of history and puts scheme in storage, if be better than, jumps out searching record list;

Step 4.3, by exchange neighborhood search method, namely wait to put any recommendation target buttress position of slab in reservoir area in storage by exchanging, produce new candidate's slab warehouse-in scheme, and the evaluation index value of scheme put in storage by the candidate slab new according to the calculated with mathematical model of the slab warehouse-in evaluating indexesto scheme described in step 2.1;

Step 4.4, judge whether the search producing above-mentioned new candidate's slab warehouse-in scheme is recorded in searching record list, namely newly after changing slab warehouse-in scheme wait that putting slab in storage recommends the operation of target buttress position whether to perform, and if so, then performs step 4.6, otherwise, perform step 4.5;

Step 4.5, the operation producing new candidate's slab warehouse-in scheme to be added in searching record list, and when search element record list size completely time, record the earliest in the list of Delete Search record; Judge whether the evaluation index value of this new candidate's slab warehouse-in scheme is less than the evaluation index value of history best slab warehouse-in scheme, if so, then this new candidate's slab warehouse-in scheme is updated to history best slab warehouse-in scheme, and goes to step 4.7; Otherwise, retain former history best slab warehouse-in scheme, and go to step 4.3;

Step 4.6, judge whether the evaluation index value of new candidate's slab warehouse-in scheme is less than the evaluation index value of history best slab warehouse-in scheme, if, then jump out searching record list, and this new candidate's scheme of putting in storage is updated to history best slab warehouse-in scheme, and go to step 4.3; Otherwise abandon this new candidate's slab warehouse-in scheme, and go to step 4.3;

Step 4.7, repeatedly execution step 4.3, to step 4.6, until arrival maximum iteration time or evaluation index the most very much not upgrade iterations, namely obtain final best slab warehouse-in scheme, as shown in table 6;

Table 6 best slab warehouse-in scheme

Slab number	Tapping mark	Contract number	Base is long	Base is wide	Treat warehouse-in buttress item
						101	1	11	100	10	323
102	1	11	100	10	323
						103	1	11	100	10	321
104	1	11	100	12	327
						105	1	11	100	12	415
106	1	11	100	12	422
						107	1	11	50	8	420
108	2	21	50	8	320
						109	2	21	100	10	313
110	3	31	100	10	408
						111	3	31	100	12	415
112	3	31	50	8	417
						113	3	31	100	12	425
114	3	31	100	12	425
						115	3	31	100	10	429

Step 5, using the final best slab warehouse-in scheme that obtains as the instruction of slab warehouse-in vehicle equipment executable operations, operational order is stored in database, and by network, operational order is sent to vehicle equipment terminal control unit and operates;

Step 6, the operational order obtained according to vehicle equipment terminal, comprise vehicle equipment number, slab number, slab target buttress position, slab quantity etc., control vehicle equipment by GPS position system device and arrive assigned address, realize carrying out a production operation to warehouse-in slab.

Claims (4)

1. an iron and steel slab warehousing control method, is characterized in that: comprise the following steps:

Step 1: determine to wait to put the slab information in slab information, slab storehouse and Parma position, slab storehouse information in storage;

Step 2: mathematical model and the process constraints thereof of setting up slab warehouse-in evaluating indexesto scheme;

Step 3: the slab warehouse-in evaluating indexesto scheme mathematical model that the information determined according to step 1 and step 2 are set up determines initial slab warehouse-in scheme;

Step 4, adopt the search iteration method exchanged based on neighborhood task order to be optimized initial slab warehouse-in scheme, concrete steps are as follows:

Maximum iteration time and the evaluation index of step 4.1, setting neighborhood search alternative manner the most very much not upgrade iterations;

Step 4.2, set up searching record list, comprise searching record list object, searching record list length and jump out searching record list criteria, wherein,

Described searching record list object is: to arbitrary slab from its separately candidate pile up neatly position set reselect recommend target buttress position operation;

Described searching record list length is: the number holding searching record list object;

Described searching record list criteria of jumping out is: select if current to recommend the new operation of target buttress position in searching record list, then judge whether the evaluation index value of the new slab warehouse-in scheme produced by this new operation is better than the evaluation index value that scheme put in storage by the best slab of history, if be better than, jumps out searching record list;

The best warehouse-in scheme of described history is the minimum warehouse-in scheme of the warehouse-in evaluating indexesto scheme value that produces in search procedure;

Step 4.3, by exchange neighborhood search method, namely wait to put any recommendation target buttress position of slab in reservoir area in storage by exchanging, produce new candidate's slab warehouse-in scheme, and the evaluation index value of scheme put in storage by the candidate slab new according to the calculated with mathematical model of slab warehouse-in evaluating indexesto scheme;

Step 4.4, judge whether the search producing above-mentioned new candidate's slab warehouse-in scheme is recorded in searching record list, namely produce after changing slab warehouse-in scheme and new wait that putting slab in storage recommends the operation of target buttress position whether to perform, if, then perform step 4.6, otherwise, perform step 4.5;

Step 4.5, the operation producing new candidate's slab warehouse-in scheme to be added in searching record list, and when search element record list size completely time, record the earliest in the list of Delete Search record; Judge whether the evaluation index value of this new candidate's slab warehouse-in scheme is less than the evaluation index value of history best slab warehouse-in scheme, if so, then this new candidate's slab warehouse-in scheme is updated to history best slab warehouse-in scheme, and goes to step 4.7; Otherwise, retain former history best slab warehouse-in scheme, and go to step 4.3;

Step 4.6, judge whether the evaluation index value of new candidate's slab warehouse-in scheme is less than the evaluation index value of history best slab warehouse-in scheme, if, then jump out searching record list, and this new candidate's slab warehouse-in scheme is updated to history best slab warehouse-in scheme, and go to step 4.3; Otherwise abandon this new candidate's slab warehouse-in scheme, and go to step 4.3;

Step 4.7, repeatedly execution step 4.3, to step 4.6, until arrival maximum iteration time or evaluation index the most very much not upgrade iterations, namely obtain final best slab warehouse-in scheme;

Step 5, using final best slab warehouse-in scheme as the executable operations instruction of slab warehouse-in vehicle equipment, operational order is stored in database, and by network, operational order is sent to vehicle equipment terminal control unit and operates;

Step 6, the operational order obtained according to vehicle equipment terminal, control vehicle equipment by GPS position system device and arrive assigned address, completes the input work operation to warehouse-in slab.

2. iron and steel slab warehousing control method according to claim 1, is characterized in that: treating that warehouse-in slab information comprises described in described step 1: slab number, tapping mark, contract number, base is long, base is wide, treat warehouse-in buttress item; In described slab storehouse, slab information comprises: slab number, tapping mark, contract number, base is long, base is wide, buttress item; Described Parma position, slab storehouse information comprises: buttress item, buttress position state, buttress position type, actual slab number, maximum slab number, breadth extreme, minimum widith, length group, width group.

3. iron and steel slab warehousing control method according to claim 1, is characterized in that: described step 2 comprises the steps:

Step 2.1: the mathematical model setting up slab warehouse-in evaluating indexesto scheme, is represented by formula (1), slab warehouse-in evaluating indexesto scheme value less then slab warehouse-in scheme is better;

$\min (g_1\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}(c_j-{c_j}^{\′})x_{\mathrm{ij}}+g_2\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}{d}_j{x}_{\mathrm{ij}})---\left(1\right)$

Wherein Ω represents the set waiting to put slab in storage; Φ represents the set of Parma position, reservoir area; c _jrepresent the buttress position j of original state and wait to put slab matching degree in storage; c _j' represent the buttress position j after stacking and wait to put slab matching degree in storage; d _jfor waiting to put slab enters to pile up neatly in library facilities to storehouse position distance from slab in storage, x _ijfor treating that warehouse-in slab i is placed on jth in storehouse and piles up neatly on position; g ₁, g ₂for weight coefficient, g ₁+ g ₂=1;

Step 2.2: the constraint condition setting up slab warehouse-in evaluating indexesto scheme;

1) every one deck of each buttress position in reservoir area places one block of warehouse-in slab at the most, is represented by formula (2);

$\begin{array}{cc}\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}\≤1& \∀j\∈\mathrm{\Φ}\end{array}---\left(2\right)$

2) one piece is waited to put slab in storage, one must be found in slab storehouse to pile up neatly position and place, also can only occupy a buttress position simultaneously, be represented by formula (3);

$\begin{array}{cc}\underset{j\∈\mathrm{\Φ}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}=1& \∀i\∈\mathrm{\Ω}\end{array}---\left(3\right)$

3) in time putting slab in storage and be deposited in a certain buttress position, buttress position height cannot exceed this buttress position maximum height, is represented by formula (4);

$\begin{array}{cc}{h}_j+\underset{i\∈\mathrm{\Ω}}{\mathrm{\Σ}}{x}_{\mathrm{ij}}\≤H& \∀j\∈\mathrm{\Φ}\end{array}---\left(4\right)$

Wherein, h _jfor buttress position elemental height; H is buttress position maximum height;

4) define described buttress position and wait to put slab matching degree in storage, formed by with lower part:

A. position similarity is piled up neatly slab number similar to warehouse-in slab in buttress position and the ratio of the total slab number of this buttress; Described " similar " refers to the tapping mark of two boards base and width of plate slab is identical, weight differs within regulation tonnage;

B. distance phase recency parma position, reservoir area enters the distance of library facilities and the ratio of whole reservoir area length to slab;

C. top layer slab similarity the top layer slab of Parma position, reservoir area to wait to put slab in storage similar, then be 1, otherwise be 0;

D. whether Parma position in reservoir area exists slab and extracts inside the plan slab if there is inside the plan slab in Parma position, reservoir area, be 0, if there is not inside the plan slab in Parma position, reservoir area, be 1;

Pile up neatly position and wait the quantitative description of putting slab matching degree in storage, namely pile up neatly position and wait that putting slab in storage mates angle value, being represented by formula (5);

c _j＝{c _ij|max c _ij,i∈Ω,j∈Φ} (5)

Wherein, i ∈ Ω, j ∈ Φ, k ₁, k ₂, k ₃for weight coefficient.

4. iron and steel slab warehousing control method according to claim 1, is characterized in that: determine initial slab warehouse-in scheme in described step 3, comprise the steps:

Step 3.1, initialization vehicle equipment be moveable slab block number m=0 once;

Step 3.2, judge adjacent slab whether can carry out simultaneously slab warehouse-in decision-making, if slab enters the tapping mark of adjacent slab on library facilities, width is identical, when weight difference is in given range, namely meet with piling up neatly rule, slab warehouse-in decision-making, then m=2 can be carried out simultaneously; Otherwise, slab warehouse-in decision-making, then m=1 need be carried out respectively;

Step 3.3, calculating are piled up neatly position and wait that putting slab in storage mates angle value; Wait the alternative target buttress position of putting slab less than the buttress position of piling up neatly, not blocking as each using in reservoir area, the recommendation target buttress position of pending warehouse-in decision-making slab is chosen from these alternative target buttress position; If m=1, go to step 3.3.1; If m=2, go to step 3.3.2;

Step 3.3.1, buttress position is highly less than or equal to H-1, tapping mark, the width of buttress top board base and pending warehouse-in decision-making slab are identical, the buttress position of weight difference in the scope that user sets adds candidate and piles up neatly position set, calculate wherein each candidate to pile up neatly position and wait that putting slab in storage mates angle value, perform step 3.4;

Step 3.3.2, buttress position is highly less than or equal to H-2, tapping mark, the width of buttress top board base and pending warehouse-in decision-making slab are identical, the buttress position of weight difference in the scope that user sets adds candidate and piles up neatly position set, calculate wherein each candidate to pile up neatly position and wait that putting slab in storage mates angle value, perform step 3.4;

Step 3.4, calculating slab warehouse-in evaluating indexesto scheme value;

Step 3.5, waiting that putting the respective candidate of slab in storage piles up neatly in the set of position, selecting the buttress position that slab warehouse-in evaluating indexesto scheme value is minimum, wait the recommendation target buttress position of putting slab in storage as this; If institute need warehouse-in slab all obtain in storehouse put buttress position, then obtain initial slab warehouse-in scheme, otherwise, return step 3.2.