CN105205629A - Steel plant finished product storage and distribution automatic control method - Google Patents
Steel plant finished product storage and distribution automatic control method Download PDFInfo
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- CN105205629A CN105205629A CN201410300408.0A CN201410300408A CN105205629A CN 105205629 A CN105205629 A CN 105205629A CN 201410300408 A CN201410300408 A CN 201410300408A CN 105205629 A CN105205629 A CN 105205629A
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Abstract
The invention discloses a steel plant finished product storage and distribution automatic control method. A warehouse automatic control system comprises a bridge crane control system, a laser scanning imaging system and a warehouse operation process control system; the warehouse operation process control system obtains tasks from a transportation management system, and carries out optimization calculation and safety inspection according to warehouse stack situations and bridge crane states, and automatically generates related storage or delivery operation instructions, and sends the related control instructions to the corresponding bridge crane control system, and bridge cranes, carrying out full-process unmanned driving, performs storage or delivery operation; and the laser scanning imaging system can perform laser scanning on vehicles and cargo loaded on the vehicles, and performs processing and image calculation on scanning data and then obtains the 3D coordinates of the vehicles or the cargo loaded on the vehicles, and transmits the 3D coordinates to the process control system. With the steel plant finished product storage and distribution automatic control method adopted, in storage and delivery processes, monitoring personnel can monitor on-site operating process in real time through a monitoring terminal and a human-computer interaction interface, and emergency intervention can be made in special circumstances.
Description
Technical field
The present invention relates to the control method of a kind of steel mill finished product storage dispensing robotization.
Background technology
At present, in steel finished product or other storage warehouse, main dependence manual operation overhead travelling crane (driving) lifting and handling goods, the placement location of goods warehousing is also all rely on manual operation.
Produce and management for whole warehouse, its operation technique process mode relies on manually carry out information transmission, plan, process, operation, handling strategy, management etc. completely.And driving role in warehouse only act as lifting " instrument ".All processes all be unable to do without people.During goods warehousing, stock clerk is according to production plan list (or oral assignment instructions), manual notifications drive a vehicle driver move driving to putaway stock haulage vehicle stand, on Vehicles Lifting after unloading goods, goods to be unloaded is put into certain appointed area, warehouse by the experience according to stock clerk individual; After often putting a goods in storage, then wait for next instruction.During goods outbound, stock clerk is equally according to production plan list (or oral assignment instructions), manual notifications's driver operation driving of driving a vehicle moves to warehouse assigned address, confirms after outbound goods, operation driving lifting cargo by its handling on outbound haulage vehicle through storekeeper.Simultaneously ground also will configure a large amount of extensions and refers to personnel, and the commander that carrying out drives a vehicle runs and goods hang unhook operation, see Fig. 1.
Because manual operation exists error possibility, particularly during driving lifting cargo, need manually to carry out commanding and hanging, pluck the suspenders such as wire rope on ground, there is the security risk of personnel, moving operation personnel slightly slip up, and just may cause casualties.In addition the concertedness, promptness, correctness etc. of the reasonable Arrangement of the various goods of warehouse field, goods yard management, statistical information, failure message, plan information, job information and all kinds of job instruction cannot be taken on a new look always, and capability efficiency cannot promote.
If do not realize integral production management automation in bulk storage plant, various goods is stacked layer upon layer of.In place, type of merchandize is different, the owner of cargo is different, model specification is different, the handling of goods flow to different, equal between plan with business, bulk storage plant must be equipped with production that a large amount of operation drivers and supvr drove, coordinated these equipment.Therefore, effectively reduce cost of labor, improve Employee Security working environment to greatest extent, ensure the overall coordination of bulk storage plant, improve the efficiency that storage capacity is deposited significantly, the place loss avoiding causing because of various human factor, goods are lost, and have just become the common issue that field, all large warehoused storehouses etc. faces.
Because the handling machinery in warehouse all be unable to do without manual operation and control, existing domestic bulk storage plant in warehouse-in, outbound, store up on the work patterns such as goods yard, stock, plan and all lack unification and harmonization.Due to method of operating, type of merchandize factor etc. by the factor of personnel, total tune factor, personal experience's factor of judgment, individual, work efficiency has been difficult to improve on a large scale further, and consequently production cost remains high, and loses not little.
Because steel finished room most lifting capacity of driving a vehicle is large, span is large, lifting altitude is high, and driving driver sight line is limited, and ground space is narrow and small, ground hangs and refers to that personnel need frequently to carry out goods and hang the man-machine contact operations such as unhook, and therefore working environment exists certain security risk.The operating efficiency of every platform travelling facility maximizes too busy to get away operation driver and accumulates the protracted experience of various steel finished product loading and unloading operation process, and cultivate a veteran driving driver cost higher, the time cycle is longer.In the place in warehouse, weight, the physical dimension of every part goods can only rely on artificial visually examine, and every part cargo storage also can only lean on artificial experience to estimate in which position of reservoir area, and degree of accuracy is not high, and field, storehouse can not get maximum utilization, causes the place wasting of resources.
Achieve automated warehousing in indivedual warehouse both at home and abroad, but storage object is shipping parcels or regular cased goods substantially, and adopts shelf to store.But the storage object of steel finished room mostly is the large cargos such as coil of strip, steel plate, steel ingot, and volume is large, tonnage is heavy, profile is different, and goods-shelf type cannot be adopted to store, and therefore goods-shelf type automated warehouse cannot be used for the storage of large part steel-product.
Summary of the invention
The object of the present invention is to provide a kind of steel mill finished product storage dispensing automation control method, the method energy round Realization is at the scene without overall process automatic loading and unloading operation when moving operation personnel.
In order to realize above-mentioned technical purpose, the present invention adopts following technical scheme:
A kind of steel mill finished product storage dispensing automation control method, its warehouse automation control system comprises: running control system, laser scanning imaging system and warehouse homework Process Control System,
Described running control system comprises: thermoacoustic prime engine PLC, industrial video supervising device, sensing equipment, mainly complete driving local Operation control, industrial monitoring video capture, every platform local control PLC of driving a vehicle realizes the logic control of vehicling operation, and the collection of drive a vehicle each mechanism status, failure message, local driving control PLC is connected by industrial network with Process Control System;
Described laser scanning imaging system comprises the laser scanning inspection device be arranged on warehouse porte-cochere and the vehicle laser scanning inspection device be arranged in driving, pass through laser scanning, goods profile three-dimensional coordinate data on collection vehicle cargo location and vehicle, realize the process of goods and contour of the vehicle scan-data, image calculates, cargo characteristics data genaration, calculate vehicle or vehicle-mounted cargo quantity, residing three-dimensional coordinate, then transfer data to Process Control System by industrial network mode;
Described Process Control System comprises data processing server, automation mechanized operation watch-dog, network communication exchange and remote console, Process Control System mainly completes generation, the control of automatic traveling crane operation process of automated job instruction, the collection of each travelling facility state, failure message and warning, goods Shelves Optimization computation model, vehicling operation process monitoring; Work compound and logic control between each driving, man-machine interaction computing machine; Process Control System and each drive a vehicle, adopt industrial network mode connecting communication between laser image server;
Steel finished product warehouse-in step is:
First, the vehicle of carrying material is from the storehouse outbound of manufacturing line end, before sailing for robotization finished room doorway, the material cargo information of outbound and the information of carriage of vehicle are bound by production line end storehouse, and being sent to transportation management system, transportation management system is forwarded to the Process Control System in object warehouse;
Second, Process Control System is after receiving the production plan comprising operation cargo type, goods information, plan workload, production plan is carried out scheduling, and calls warehouse compartment recommendation Optimized model, determine operation driving, putaway stock storage address, warehouse-in parking space;
3rd, what according to warehouse-in material situation, actual store situation, storage capacity Optimal Ratio, material, Shelves Optimization model stored up that principle calculates warehouse-in material deposits warehouse compartment;
4th, Shelves Optimization the model calculation, the i.e. warehouse-in Version Dispatching of goods lifting order and relevant warehouse compartment, issued the terminal of corresponding Park Lane by network as job instruction, operating instruction of simultaneously driving a vehicle sends corresponding driving through network, specifically controlled to perform by running control system, the parking indication information that target warehouse compartment is corresponding is sent to the big screen display screen display of warehouse entrance, stops to appointment parking stall for guiding driver vehicle of sending a car;
5th, after vehicle arrives finished room doorway, driver is according to the guidance information of large screen display, and steering vehicle stops the parking stall to specifying;
6th, each parking spot is provided with RFID recognition device, for reading the RFID label tag that vehicle is installed, to obtain the information of sending a car, according to the information of sending a car, can obtain the vehicle-mounted cargo information of binding with information of vehicles;
After seven, RFID recognition device reads vehicle RFID label tag, trigger the laser scanning device being installed on top, parking stall, automatically start scanning car cargo;
8th, scanning result feeds back to the three-dimensional artificial processing module in Automatic Warehouse Process Control System, carries out three-dimensional artificial calculating, obtains the three-dimensional coordinate of vehicle-mounted cargo; Simulate the putting position legend of vehicle-mounted cargo on vehicle, carload position legend is sent to warehouse tally work hand-held set simultaneously;
9th, finished room tally work wears hand-held set on car, carry out the selection of corresponding goods legend on the handset according to the putting position of material on vehicle, often namely selection goods legend scans the bar code on a goods, until carload is scanned; Like this, the physical location of every part goods and material information are bound;
Tenth, after tally work completes scanning, the result of scanning is sent to Process Control System, after falling back on the safety zone on vehicle side, press the ACK button of terrestrial operation case simultaneously; Process Control System generates vehicling operation instruction automatically according to scanning result, and issues driving execution;
11, after driving receives job instruction, perform according to job instruction, complete the loading and unloading operation of goods;
12, warehouse compartment information updating, in warehouse-in process, Process Control System is monitored the deposit position of each putaway stock all the time and is stored, simultaneously real-time update warehouse compartment occupied information, so that the warehouse compartment of depositing carrying out next goods is recommended to calculate;
13, if close to the storage capacity upper limit, human-machine interaction picture can show information warning; Simultaneously follow-up goods warehousing production plan will be adjusted to other reservoir areas and carries out automated job;
14, after the All Jobs instruction of corresponding vehicle of having driven a vehicle, the pilot lamp display completion status of vehicle stop position, prompting vehicle sails out of stop position;
Steel finished product outbound step is:
The first, transportation management system sends to the Process Control System of Automatic Warehouse by comprising operation cargo type, the slab discharge planning planning workload information and entrucking information of vehicles;
Second, Process Control System is according to format detailed job instruction in reservoir area residing for vehicle goods bucket physical dimension, goods, subsequent process control system calculates and produces following initial control information: according to the merchandise codes of part goods every in production plan, the position, reservoir area in a database residing for the every part goods of Automatic inquirying, three-dimensional coordinate, physical dimension, weight information; Residing for plan operation goods, reservoir area determines the parking spot of vehicle to be installed, and the display screen display at vehicle entrance place, warehouse;
3rd, vehicle driver to be installed is according to the instruction of display screen, and steering vehicle is parked to the parking stall of specifying;
4th, empty wagons, to finished room, adopts large screen display display to be about to information and the target stop position of the carriage of vehicle of warehouse-in at finished room doorway place;
5th, after vehicle drives to the target stop area of specifying, read by the rfid reader device being arranged on side, parking stall information of sending a car, recall the Delivery plan that this vehicle is corresponding;
6th, driver gets off, and after falling back on the safety zone on vehicle side, on the terminal of tally work near parking stall, confirms to assign job instruction, and the vehicle laser scanning device triggered above porte-cochere starts;
7th, after vehicle laser scanning device receives Delivery instruction, start to scan below vehicle, obtain the precise physical location of storing cycle, and obtain the physical dimension of vehicle goods bucket, feed back to Process Control System;
8th, Process Control System is called " vehicle load model " after receiving vehicle location and goods bucket dimension information, treats physical dimension, the weight information of outbound goods according to every part, automatically calculate this car and can fill quantity of goods, and distribute the position that every part goods will place on vehicle goods bucket; After these information are gathered, the sequence of events of the every part goods of auto arrangement, and be handed down to running control system execution;
9th, after driving receives job instruction, perform according to job instruction, complete the car loading operation of goods;
Tenth, during Delivery, carry out outbound goods simultaneously and take the release of warehouse compartment, and the writing off, to warehouse compartment information updating of outbound goods.
At the interrupt processing gone out in warehouse-in process and manpower intervention, in outbound or warehouse-in process, during as occurred that production plan conflict need adjust sequence of events, warehouse tally work interruptible price current work, Process Control System records the progress situation of preserving current work plan automatically; Driving is allowed to carry out other operation subsequently; When other end of job, the job instruction do not completed before Central Control Room personnel can recall again, continues to fulfil assignment.
The present invention as the system scheme of the bulk storage plant driving Automatic Control of complete set, can allow steel finished room round Realization at the scene without overall process automatic loading and unloading operation when moving operation personnel.Warehouse automation control system, mainly refers to when being expert at car operation, is fully ensureing, on vehicling operation efficiency, the ability of storing up playing warehouse and other function basis, not need driving driver to operate.After warehouse Process Control System obtains job task from transportation management system, calculating and safety examination is optimized according to warehouse stacking situation and driving states, the relevant warehouse-in of automatic generation or Delivery instruction, relevant control instruction is sent to corresponding row vehicle control by subsequent process control system automatically, carries out the unpiloted automatic withdrawing of overall process, input work by driving; And by laser scanning imaging system to vehicle be contained in goods on vehicle and carry out laser scanning, the process and the image that realize goods and contour of the vehicle scan-data calculate, obtain vehicle or vehicle-mounted cargo quantity, residing three-dimensional coordinate, be transmitted through the network to Process Control System.Going out in warehouse-in process, monitoring operation personnel by monitor terminal and human-computer interaction interface real time monitoring site work process, can carry out urgent intervention during special circumstances.
The present invention not only can be applied to large-scale iron and steel finished product warehouse, all right widespread use all kinds of large-scale finished product indoor and outdoor warehouse, loglstics enterprise etc., and realize robotization, intellectuality that goods goes out to put in storage loading and unloading operation and goods yard management, application prospect is extensive.
Accompanying drawing explanation
Fig. 1 is work flow and the crane job pattern diagram in existing warehouse;
Fig. 2 is steel mill of the present invention finished product storage dispensing automation control method process flow diagram, and wherein L3, L4 are upper level control system;
Fig. 3 is steel mill of the present invention finished product warehouse-in process flow diagram;
Fig. 4 is steel mill of the present invention finished product outbound process flow diagram;
Fig. 5 is the warehouse homework pattern diagram after adopting storage dispensing automation control method of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
See Fig. 2, a kind of steel mill finished product storage dispensing automation control method, its warehouse automation control system comprises: running control system, laser scanning imaging system and warehouse homework Process Control System;
Described running control system comprises: thermoacoustic prime engine PLC, vehicle laser scanning inspection device, industrial video supervising device, all kinds of sensing equipments etc., mainly completes the local Operation control of driving, the scanning of vehicle cargo position, industrial monitoring video capture; Every platform local control PLC of driving a vehicle realizes the logic control of vehicling operation and the collection of drive a vehicle each mechanism status, failure message, and local driving control PLC is connected by industrial network with Process Control System.
Described laser scanning imaging system comprises the laser scanning inspection device be arranged on warehouse porte-cochere and the vehicle laser scanning inspection device be arranged in driving, pass through laser scanning, goods profile three-dimensional coordinate data on collection vehicle cargo location and vehicle, realize the process of goods and contour of the vehicle scan-data, image calculates, cargo characteristics data genaration, calculate vehicle or vehicle-mounted cargo quantity, residing three-dimensional coordinate, then transfer data to Process Control System by industrial network mode.
Described Process Control System comprises the equipment such as data processing server, automation mechanized operation watch-dog, network communication exchange and remote console, Process Control System mainly completes generation, the control of automatic traveling crane operation process of automated job instruction, the collection of each travelling facility state, failure message and warning, goods Shelves Optimization computation model, vehicling operation process monitoring; Work compound and logic control between each driving, man-machine interaction computing machine etc.Process Control System and each drive a vehicle, adopt industrial network mode connecting communication between laser image server.
Steel mill's finished product warehouse-in step is: see Fig. 3,
First, the vehicle of carrying material is from the storehouse outbound of manufacturing line end, before sailing for robotization finished room doorway, the material cargo information of outbound and the information of carriage of vehicle are bound by manufacturing line end storehouse, and being sent to transportation management system, transportation management system is forwarded to the Process Control System in object warehouse.
Second, Process Control System is after receiving the production plan comprising operation cargo type, goods information, plan workload, automatically production plan is carried out scheduling, and call warehouse compartment recommendation Optimized model, analyze field, storehouse Current Library bit stealing state, determine operation driving, putaway stock storage address, warehouse-in parking space.
3rd, what Shelves Optimization model Main Basis warehouse-in material situation, actual store situation, storage capacity Optimal Ratio, material stored up that principle calculates warehouse-in material deposits warehouse compartment.Shelves Optimization modeling process needs to take into account kinds of goods walking path, warehouse space utilization factor, realizes integration objective reasonably optimizing.In embody rule process, also need the expansion carrying out objective function as the case may be, to tackle different operating modes, or realize other objects, as the prevention of outbound collapse of setting, swell-warehouse process etc.
4th, Shelves Optimization the model calculation, the i.e. warehouse-in Version Dispatching of goods lifting order and relevant warehouse compartment, issued the terminal of corresponding Park Lane by industrial network as job instruction, operating instruction of simultaneously driving a vehicle sends corresponding driving through industrial network, specifically controlled to perform by running control system, the parking indication information that target warehouse compartment is corresponding is sent to the big screen display screen display of warehouse entrance, stops to appointment parking stall for guiding driver vehicle of sending a car.
If vehicle is common social transport vehicle, in advance vehicle target parking spot can be sent to large screen display by dispatcher.
5th, after vehicle arrives finished room doorway, driver is according to the guidance information of large screen display, and steering vehicle stops the parking stall to specifying.
6th, each parking spot is provided with RFID recognition device, for reading the RFID label tag that vehicle is installed, to obtain the information of sending a car, according to the information of sending a car, can obtain the vehicle-mounted cargo information of binding with information of vehicles.
After seven, RFID recognition device reads vehicle RFID label tag, trigger the laser scanning device being installed on top, parking stall, automatically start scanning car cargo.
8th, scanning result feeds back to the three-dimensional artificial processing module in Automatic Warehouse Process Control System, carries out three-dimensional artificial calculating, obtains the three-dimensional coordinate of vehicle-mounted cargo; Simulate the putting position legend of vehicle-mounted cargo on vehicle, carload position legend is sent to warehouse tally work hand-held set simultaneously.
9th, finished room tally work wears hand-held set on car, carry out the selection of corresponding goods legend on the handset according to the putting position of material on vehicle, often namely selection goods legend scans the bar code on a goods, until carload is scanned; Like this, the physical location of every part goods and material information are bound.
Tenth, after tally work completes scanning, the result of scanning is sent to Process Control System, after falling back on the safety zone on vehicle side, press the ACK button of terrestrial operation case simultaneously; Process Control System generates vehicling operation instruction automatically according to scanning result, and issues driving execution.
11, after driving receives job instruction, perform according to job instruction, complete the loading and unloading operation of goods.
In input work (or Delivery), general driving (overhead travelling crane) walking motion mainly comprises three kinds of elemental motions, the large vehicle walking of namely driving a vehicle, carriage walking, lifting altitude, is completed the loading and unloading operation of goods by the cooperation of these three kinds of actions.The large vehicle walking of driving a vehicle, carriage walking, the elevating mechanism that hoists all install suitable absolute value encoder, the binary coded signal sent by scrambler accurately can obtain the run location of above mechanism, and namely cart walking position, dolly walk line position, lifting altitude position.Vehicling operation step is:
One-time positioning: drive a vehicle according to the positional information of the goods of first in job instruction, automatic operation cart, dolly, the suspender of dolly of making to drive a vehicle hover required handling material physical location above, that is: the suspender of the dolly that makes to drive a vehicle hover handling material on vehicle physical location above;
Secondary is located: after driving operation puts in place, automatically transfer suspender, and adjusted travelling crane truck, dolly, raised position by the signal being installed on the multiple sensors on suspender;
Material gripping: after suspender is transferred and put in place, automatically completes hanging of material and gets; According to by the difference of hoisting thing, can select different suspenders, such as magnechuck selected by coil of strip, wire rod, and coil of strip selects clamp;
Heavy-duty lifting: complete after material hangs and get, driving first promotes at a slow speed, after promoting at a slow speed a bit of distance, carries out weight of material and detects and compare with weight of material information in job instruction; If weight has continued subsequent job in allowed band, then driving a vehicle has entered next step operation automatically by after material lifting to safe altitude;
Heavy duty walking: after material lifting to safe altitude, the destination address that basis is provided from Process Control System of driving a vehicle, namely warehouse compartment destination address, walks automatically; In the process of walking, to drive a vehicle material lifting to the highest to reduce the amplitude that material swings, drive a vehicle and to carry out automatically preventing shaking control in automatic operational process;
Heavy-load lowering: after travelling crane truck, trolley travelling to destination, controls material and transfers; Start to adopt and transfer at a high speed, stop after close to object height, detect rocking of suspender according to the three axis attitude sensor on driving suspender, if the shaking amplitude of suspender is within allowed band, drives a vehicle and continuation is transferred at a slow speed until arrive object height;
Release material: after suspender is transferred and put in place, can discharge by hoisting thing;
Zero load hoists: discharge by after hoisting thing, driving first promotes at a slow speed, after promoting at a slow speed a bit of distance, sense weight will be carried out high speed and be promoted in allowed band, in high speed lifting process, feedback operation actual performance, to Process Control System, chooses next job instruction to carry out next work flow simultaneously.
12, warehouse compartment information updating, in warehouse-in process, Process Control System is monitored the deposit position of each putaway stock all the time and is stored, simultaneously real-time update warehouse compartment occupied information, so that the warehouse compartment of depositing carrying out next goods is recommended to calculate.
13, if close to the storage capacity upper limit, human-machine interaction picture can show information warning; Simultaneously follow-up goods warehousing production plan will be adjusted to other reservoir areas and carries out automated job.The inventory locations of all putaway stocks, current overall warehouse compartment take situation all can in man-machine interface centralized displaying, and can to inquire about according to the merchandise codes of each goods.
14, after the All Jobs instruction of corresponding vehicle of having driven a vehicle, the pilot lamp display completion status of vehicle stop position, prompting vehicle sails out of stop position;
Steel mill's finished product outbound step is: see Fig. 4,
The first, transportation management system sends to the Process Control System of Automatic Warehouse by comprising operation cargo type, the slab discharge planning planning workload information and entrucking information of vehicles.
Second, Process Control System is automatically according to detailed job instructions of format such as reservoir areas residing for vehicle goods bucket physical dimension, goods, subsequent process control system calculates and produces following initial control information: according to the merchandise codes of part goods every in production plan, the information such as position, reservoir area, three-dimensional coordinate, physical dimension, weight in a database residing for the every part goods of Automatic inquirying; Residing for plan operation goods, reservoir area determines the parking spot of vehicle to be installed, and the display screen display at vehicle entrance place, warehouse.
3rd, vehicle driver to be installed is according to the instruction of display screen, and steering vehicle is parked to the parking stall of specifying.
4th, empty wagons, to finished room, adopts large screen display display to be about to information and the target stop position of the carriage of vehicle of warehouse-in at finished room doorway place.
5th, after vehicle drives to the target stop area of specifying, read by the rfid reader device being arranged on side, parking stall information of sending a car, recall the Delivery plan that this vehicle is corresponding.
6th, driver gets off, and after falling back on the safety zone on vehicle side, on the terminal of tally work near parking stall, confirms to assign job instruction, and the vehicle laser scanning device triggered above porte-cochere starts.
7th, after vehicle laser scanning device receives Delivery instruction, start to scan below vehicle, obtain the precise physical location of storing cycle, and obtain the physical dimension of vehicle goods bucket, feed back to Process Control System.
8th, Process Control System is called " vehicle load model " after receiving vehicle location and goods bucket dimension information, treats the information such as physical dimension, weight of outbound goods according to every part, automatically calculate this car and can fill quantity of goods, and distribute the position that every part goods will place on vehicle goods bucket; After these information are gathered, the sequence of events of the every part goods of auto arrangement, and be handed down to running control system execution.
9th, after driving receives job instruction, perform according to job instruction, complete the car loading operation of goods.Concrete Job execution step of driving a vehicle is identical with the 11 step in warehouse-in flow process, no longer describes in detail here.
Tenth, during Delivery, carry out outbound goods simultaneously and take the release of warehouse compartment, and the writing off, to warehouse compartment information updating of outbound goods.
Interrupt processing in warehouse-in process and manpower intervention is gone out above-mentioned.In outbound or warehouse-in process, during as occurred that production plan conflict need adjust sequence of events, warehouse tally work interruptible price current work, Process Control System records the progress situation of preserving current work plan automatically.Driving is allowed to carry out other operation subsequently.When other end of job, the job instruction do not completed before Central Control Room personnel can recall again, continues to fulfil assignment.
In particular cases, Process Control System allows manpower intervention operation.Arrange portable radio telepilot, be connected on the IO port of the thermoacoustic prime engine PLC of running control system by wireless signal, stock clerk carries out production operation by described remote controller operation driving in storehouse.After pending fault or abnormal conditions are disposed, then recover automatic job.
Vehicle and goods laser scanning imaging.The positional information (i.e. three-dimensional coordinate) of accurate acquisition in/out storehouse goods, in/out storehouse vehicle is the precondition of outbound, warehouse-in automated job.In order to realize this object, in vehicle, goods information scanning imagery, select laser scanner technique ripe at present.Laser scanning inspection device of the present invention (or claiming laser scanner) selects one dimension laser scanner, and namely laser head can carry out the rotation sweep of one dimension along a direction.In order to obtain the profile of testee in two dimensional surface, two schemes below can be taked: see Fig. 2,
1) go out to put in storage in warehouse above storing cycle position, fixing a set of laser scanning inspection device, it comprises laser scanner, control module, rotary head and angular encoder, data communications equipment (can be wired or wireless communication equipment).
2) the existing driving in warehouse is utilized, at driving installation site, large vehicle walking position scrambler, for obtaining travelling crane truck current location; Bottom runway grider, install a guide rail, guide rail arranges a set of laser scanning inspection device, and laser scanning inspection device, by the driving of walking dolly, can run along guide rail direction.
Above-mentioned two schemes can according to the flexible choice for use of different reservoir areas operating mode.When reservoir area is less demanding to operating efficiency, can only select scheme 2.When reservoir area requires higher to operating efficiency, selection scheme 1 and scheme 2 can share, effectively can improve operating efficiency.
The automatic control process that the three-dimensional coordinate data of outbound vehicle, vehicle-mounted cargo, warehouse goods can be driving provides reference data.On the basis of the storage positional information after all goods informations and warehouse-in, the material handling information model in whole warehouse can be generated.Ku Chang space, goods information are all preserved with database mode, and other system can implement remote access.
Operation process is monitored.In outbound or warehouse-in process, the situation of position coordinates and goods flow is stacked in the motion of human-machine interaction picture display vehicling operation Shi Ge mechanism, goods, the situation of position coordinates and goods flow is stacked in the motion of human-computer interaction interface display vehicling operation Shi Ge mechanism, goods, merchandise codes according to each goods is inquired about by human-computer interaction interface, the situation that stock clerk is stored up by goods in human-computer interaction interface energy real time inspection travelling facility state or field, storehouse.
The handling situations of unmanned full-automatic driving system overall process real-time follow-up driving.First, the cart of driving, little truck position and spreader height can be real-time transmitted in unmanned full-automatic driving system, and these information are together with the information such as status information of equipment, moving operation pattern of driving, and the data as driving tracing and monitoring are basic.
Under driving automatic job pattern, after unmanned full-automatic driving system assigns driving instruction to driving, the implementation of trace command, after instruction is complete, is the plan fulfiled assignment by upgrading corresponding route plan state.In driving handling process, the more specific location information that the more specific location information that nobody full-automatic driving system meeting detailed record coil of strip lifts by crane, time and coil of strip land, time.
The change of each warehouse compartment in reservoir area is followed the tracks of in real time by unmanned full-automatic driving system.When warehouse-in coil of strip finally transports to certain warehouse compartment by traveling crane, namely unmanned full-automatic driving system upgrades the information of this warehouse compartment.When certain coil of strip outbound, unmanned full-automatic driving system is also real-time warehouse compartment information is upgraded.Warehouse compartment situation in unmanned full-automatic driving system is by consistent with the situation in kind of reservoir area.Unmanned full-automatic driving system records the logistics progress information of coil of strip in detail simultaneously, certain coil of strip when by which vehicle is transported to, and the vehicle of the particular location after warehouse-in and the date outbound through collapse of setting and position and outbound several times between storage period all will have detailed record.
For the actual conditions of steel part reservoir area, the mode adopting gunlock and ball machine to be combined with each other, realizes covering and monitoring comprehensive video in automated job district.In operation room, configuring LCD screen, for throwing in the real-time monitored picture of video camera, making managerial personnel can grasp job status and the safety case of current reservoir area in tally indoor comprehensively.Computer house configuration video cassette recorder, can preserve the video record of certain hour according to hard disk size.
Operation form.Comprise the information such as activity duration, workload, dynamic stock to each vehicling operation actual achievement to add up, production operation daily paper, monthly magazine and Ku Chang make an inventory of goods in a warehouse form.
Steel mill of the present invention finished product storage dispensing automation control method, as the system scheme of the bulk storage plant driving Automatic Control of complete set, can allow steel finished room round Realization at the scene without overall process automatic loading and unloading operation when moving operation personnel and commander's hand.After employing the present invention, the work pattern in warehouse as shown in Figure 5, after warehouse Process Control System obtains job task from transportation management system, Shelves Optimization calculating and safety examination is carried out according to warehouse stacking situation and driving states, the relevant warehouse-in of automatic generation or Delivery instruction, carry out the unpiloted automatic withdrawing of overall process, input work by driving.According to warehouse actual needs, only can join a tally work and carry out the examination of warehouse-in product quality.If inspection of quality responsibility is not or not warehouse, then this tally work does not need configuration yet.Can raise labour productivity greatly thus, reduce personnel labor intensity and security risk, have good production economy benefit.
These are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention, therefore, all any amendments done within the spirit and principles in the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. steel mill's finished product storage dispensing automation control method, is characterized in that: warehouse automation control system comprises: running control system, laser scanning imaging system and warehouse homework Process Control System,
Described running control system comprises: thermoacoustic prime engine PLC, industrial video supervising device, sensing equipment, mainly complete driving local Operation control, industrial monitoring video capture, every platform local control PLC of driving a vehicle realizes the logic control of vehicling operation, and the collection of drive a vehicle each mechanism status, failure message, local driving control PLC is connected by industrial network with Process Control System;
Described laser scanning imaging system comprises the laser scanning inspection device be arranged on warehouse porte-cochere and the vehicle laser scanning inspection device be arranged in driving, pass through laser scanning, goods profile three-dimensional coordinate data on collection vehicle cargo location and vehicle, realize the process of goods and contour of the vehicle scan-data, image calculates, cargo characteristics data genaration, calculate vehicle or vehicle-mounted cargo quantity, residing three-dimensional coordinate, then transfer data to Process Control System by industrial network mode;
Described Process Control System comprises data processing server, automation mechanized operation watch-dog, network communication exchange and remote console, Process Control System mainly completes generation, the control of automatic traveling crane operation process of automated job instruction, the collection of each travelling facility state, failure message and warning, goods Shelves Optimization computation model, vehicling operation process monitoring; Work compound and logic control between each driving, man-machine interaction computing machine; Process Control System and each drive a vehicle, adopt industrial network mode connecting communication between laser image server;
Steel finished product warehouse-in step is:
First, the vehicle of carrying material is from the storehouse outbound of manufacturing line end, before sailing for robotization finished room doorway, the material cargo information of outbound and the information of carriage of vehicle are bound by production line end storehouse, and being sent to transportation management system, transportation management system is forwarded to the Process Control System in object warehouse;
Second, Process Control System is after receiving the production plan comprising operation cargo type, goods information, plan workload, production plan is carried out scheduling, and calls warehouse compartment recommendation Optimized model, determine operation driving, putaway stock storage address, warehouse-in parking space;
3rd, what according to warehouse-in material situation, actual store situation, storage capacity Optimal Ratio, material, Shelves Optimization model stored up that principle calculates warehouse-in material deposits warehouse compartment;
4th, Shelves Optimization the model calculation, the i.e. warehouse-in Version Dispatching of goods lifting order and relevant warehouse compartment, issued the terminal of corresponding Park Lane by network as job instruction, operating instruction of simultaneously driving a vehicle sends corresponding driving through network, specifically controlled to perform by running control system, the parking indication information that target warehouse compartment is corresponding is sent to the big screen display screen display of warehouse entrance, stops to appointment parking stall for guiding driver vehicle of sending a car;
5th, after vehicle arrives finished room doorway, driver is according to the guidance information of large screen display, and steering vehicle stops the parking stall to specifying;
6th, each parking spot is provided with RFID recognition device, for reading the RFID label tag that vehicle is installed, to obtain the information of sending a car, according to the information of sending a car, can obtain the vehicle-mounted cargo information of binding with information of vehicles;
After seven, RFID recognition device reads vehicle RFID label tag, trigger the laser scanning device being installed on top, parking stall, automatically start scanning car cargo;
8th, scanning result feeds back to the three-dimensional artificial processing module in Automatic Warehouse Process Control System, carries out three-dimensional artificial calculating, obtains the three-dimensional coordinate of vehicle-mounted cargo; Simulate the putting position legend of vehicle-mounted cargo on vehicle, carload position legend is sent to warehouse tally work hand-held set simultaneously;
9th, finished room tally work wears hand-held set on car, carry out the selection of corresponding goods legend on the handset according to the putting position of material on vehicle, often namely selection goods legend scans the bar code on a goods, until carload is scanned; Like this, the physical location of every part goods and material information are bound;
Tenth, after tally work completes scanning, the result of scanning is sent to Process Control System, after falling back on the safety zone on vehicle side, press the ACK button of terrestrial operation case simultaneously; Process Control System generates vehicling operation instruction automatically according to scanning result, and issues driving execution;
11, after driving receives job instruction, perform according to job instruction, complete the loading and unloading operation of goods;
12, warehouse compartment information updating, in warehouse-in process, Process Control System is monitored the deposit position of each putaway stock all the time and is stored, simultaneously real-time update warehouse compartment occupied information, so that the warehouse compartment of depositing carrying out next goods is recommended to calculate;
13, if close to the storage capacity upper limit, human-machine interaction picture can show information warning; Simultaneously follow-up goods warehousing production plan will be adjusted to other reservoir areas and carries out automated job;
14, after the All Jobs instruction of corresponding vehicle of having driven a vehicle, the pilot lamp display completion status of vehicle stop position, prompting vehicle sails out of stop position;
Steel finished product outbound step is:
The first, transportation management system sends to the Process Control System of Automatic Warehouse by comprising operation cargo type, the slab discharge planning planning workload information and entrucking information of vehicles;
Second, Process Control System is according to format detailed job instruction in reservoir area residing for vehicle goods bucket physical dimension, goods, subsequent process control system calculates and produces following initial control information: according to the merchandise codes of part goods every in production plan, the position, reservoir area in a database residing for the every part goods of Automatic inquirying, three-dimensional coordinate, physical dimension, weight information; Residing for plan operation goods, reservoir area determines the parking spot of vehicle to be installed, and the display screen display at vehicle entrance place, warehouse;
3rd, vehicle driver to be installed is according to the instruction of display screen, and steering vehicle is parked to the parking stall of specifying;
4th, empty wagons, to finished room, adopts large screen display display to be about to information and the target stop position of the carriage of vehicle of warehouse-in at finished room doorway place;
5th, after vehicle drives to the target stop area of specifying, read by the rfid reader device being arranged on side, parking stall information of sending a car, recall the Delivery plan that this vehicle is corresponding;
6th, driver gets off, and after falling back on the safety zone on vehicle side, on the terminal of tally work near parking stall, confirms to assign job instruction, and the vehicle laser scanning device triggered above porte-cochere starts;
7th, after vehicle laser scanning device receives Delivery instruction, start to scan below vehicle, obtain the precise physical location of storing cycle, and obtain the physical dimension of vehicle goods bucket, feed back to Process Control System;
8th, Process Control System is called " vehicle load model " after receiving vehicle location and goods bucket dimension information, treats physical dimension, the weight information of outbound goods according to every part, automatically calculate this car and can fill quantity of goods, and distribute the position that every part goods will place on vehicle goods bucket; After these information are gathered, the sequence of events of the every part goods of auto arrangement, and be handed down to running control system execution;
9th, after driving receives job instruction, perform according to job instruction, complete the car loading operation of goods;
Tenth, during Delivery, carry out outbound goods simultaneously and take the release of warehouse compartment, and the writing off, to warehouse compartment information updating of outbound goods.
2. steel mill according to claim 1 finished product storage dispensing automation control method, it is characterized in that: at the interrupt processing gone out in warehouse-in process and manpower intervention, in outbound or warehouse-in process, during as occurred that production plan conflict need adjust sequence of events, warehouse tally work interruptible price current work, Process Control System records the progress situation of preserving current work plan automatically; Driving is allowed to carry out other operation subsequently; When other end of job, the job instruction do not completed before Central Control Room personnel can recall again, continues to fulfil assignment.
3. steel mill according to claim 2 finished product storage dispensing automation control method, it is characterized in that: Process Control System allows manpower intervention operation, portable radio telepilot is set, be connected on the IO port of the thermoacoustic prime engine PLC of running control system by wireless signal, stock clerk carries out production operation by described remote controller operation driving in storehouse.
4. steel mill according to claim 1 finished product storage dispensing automation control method, is characterized in that:
Described in warehouse-in and Delivery, driving walking motion comprises large vehicle walking, carriage walking, the lifting altitude of driving, and vehicling operation step is:
One-time positioning: drive a vehicle according to the positional information of the goods of first in job instruction, automatically run cart, dolly, the suspender of dolly of making to drive a vehicle hover required handling material physical location above;
Secondary is located: after driving operation puts in place, automatically transfer suspender, and adjusted travelling crane truck, dolly, raised position by the signal being installed on suspender upper sensor;
Material gripping: after suspender is transferred and put in place, automatically completes hanging of material and gets;
Heavy-duty lifting: complete after material hangs and get, driving first promotes at a slow speed, after promoting at a slow speed a bit of distance, carries out weight of material and detects and compare with weight of material information in job instruction; If weight has continued subsequent job in allowed band, then driving a vehicle has entered next step operation automatically by after material lifting to safe altitude;
Heavy duty walking: after material lifting to safe altitude, drives a vehicle according to the destination address provided from Process Control System, automatically walks;
Heavy-load lowering: after travelling crane truck, trolley travelling to destination, controls material and transfers;
Release material: after suspender is transferred and put in place, can discharge by hoisting thing;
Zero load hoists: discharge by after hoisting thing, and driving promotes, and feeds back operation actual performance to Process Control System, chooses next job instruction to carry out next work flow simultaneously.
5. steel mill according to claim 4 finished product storage dispensing automation control method, it is characterized in that: in described heavy-load lowering step, start to adopt and transfer at a high speed, stop after close to object height, rocking of suspender is detected according to the attitude sensor on driving suspender, if the shaking amplitude of suspender is within allowed band, drives a vehicle and continuation transferred at a slow speed until arrive object height.
6. steel mill according to claim 4 finished product storage dispensing automation control method, it is characterized in that: described zero load hoists in step, discharge by after hoisting thing, driving first promotes at a slow speed, after promoting at a slow speed a bit of distance, sense weight will be carried out high speed and be promoted in allowed band.
7. steel mill according to claim 1 finished product storage dispensing automation control method, is characterized in that:
Described in outbound or warehouse-in process, the situation of position coordinates and goods flow is stacked in the motion of human-computer interaction interface display vehicling operation Shi Ge mechanism, goods, merchandise codes according to each goods is inquired about by human-computer interaction interface, the situation that stock clerk is stored up by goods in human-computer interaction interface energy real time inspection travelling facility state or field, storehouse.
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