CN105447619A - Crown block collision detection and intelligent collision avoidance method - Google Patents
Crown block collision detection and intelligent collision avoidance method Download PDFInfo
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- CN105447619A CN105447619A CN201510756836.9A CN201510756836A CN105447619A CN 105447619 A CN105447619 A CN 105447619A CN 201510756836 A CN201510756836 A CN 201510756836A CN 105447619 A CN105447619 A CN 105447619A
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Abstract
The invention discloses a crown block collision detection and intelligent collision avoidance method. The method specifically comprises the following steps of 1, whether two crown blocks are on the same rail or not is judged; 2, upon detecting the presence of crown blocks on the same rail, the state information and the task information of the crown blocks on the same rail are judged; 3, by means of a collision detection mechanism, whether the collision exists between two crown blocks or not is judged; 4, a crown block A enters an overlapped region firstly and has a high priority, while a crown block B is in the execution waiting state; 5, the crown block B stops outside the safety distance before entering the overlapped region and is switched into the waiting interruption state; 6, after the crown block A executes the hoisting and releasing operation at a target location, the crown block A begins to return; 7, the crown block B executes a task until the completion of the task. According to the invention, the enterprise production efficiency is improved, and the operation potential hazard of crown blocks is lowered. The method can be widely applied to crown block control systems in combination with crown block intelligent control and unmanned crown block autonomous operation in various warehouses and steel-making places.
Description
Technical field
The invention belongs to overhead traveling crane control technology field, be specifically related to a kind of overhead traveling crane collision detection and intelligent preventing collision method.
Background technology
Steel-making is on-the-spot, and each is transregional, storehouse regional is mostly that multiple stage overhead traveling crane runs on the same track, and the overhead traveling crane be on same track cannot be crossed over mutually, and adjacent two overhead traveling cranes even multiple stage overhead traveling crane exist function, operating area overlapping phenomenon.The operation of each on-the-spot overhead traveling crane is all command overhead traveling crane operative employee to complete overhead traveling crane job task by being in ground overhead traveling crane commanding (referring to turner) by intercom.Different overhead traveling crane has different commandings to command operation, because overhead crane orbit is longer, ground control personnel have tunnel vision and the existence of the factor such as confusing communication between each commanding, execute the task in process at multiple stage overhead traveling crane simultaneously, another overhead traveling crane waited for by an overhead traveling crane, or even the situation of reversing happens occasionally, this has not only had a strong impact on normal work production, and there is very large security hidden trouble.
The overhead traveling crane operation of present stage is all controlled by operative employee, it is the inexorable trend that commercial production develops that the intellectuality of unmanned overhead traveling crane, overhead traveling crane runs, and overhead traveling crane intelligence to dodge be one of unmanned overhead traveling crane, the operating gordian technique of intelligent overhead traveling crane, at present, in manufacturing industry or in academia to the research in this be all and rareness.
Summary of the invention
For overcoming above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of raising enterprises production efficiency, reducing overhead traveling crane security of operation hidden danger, realizing the overhead traveling crane collision detection of overhead traveling crane intellectuality operation and intelligent preventing collision method.
For achieving the above object, the present invention by the following technical solutions: a kind of overhead traveling crane collision detection and intelligent preventing collision method, the method specifically comprises the following steps:
After step one, overhead traveling crane A receive assignment instructions, detect whether there is same rail overhead traveling crane;
If there is not same rail overhead traveling crane in step 2 step one, then can directly execute the task; If exist with rail overhead traveling crane B, then judge status information and the mission bit stream of same rail overhead traveling crane B;
Step 3, the task scheduling time detecting overhead traveling crane A, B, task status, the interval information of tasks carrying, by collision detection mechanism, judge whether two overhead traveling cranes exist conflict, described collision detection mechanism comprises:
1. judge whether two overhead traveling cranes operating area separately has lap, the coordinate [Q1, Q2] of record overlapping region;
2. according to two overhead traveling crane current location Xa, Xb, two car states, tasks carrying degree, overhead traveling crane travelling speed Va, Vb information, calculate two overhead traveling cranes and start the time t1 entering overlapping region, by comparing t1, t2 size, t2, judges that two overhead traveling cranes enter the sequencing of overlapping region;
3. suppose to be introduced into overlapping region with A overhead traveling crane, calculate overhead traveling crane A and return from entering overlapping region until after tasks carrying and leave the T.T. T of overlapping region;
4. calculate overhead traveling crane B to carry out according to former speed, within the t1+T time, whether can enter overlapping region, if can not enter overlapping region, then collision detection result is " not conflicting "; If enter overlapping region, then collision detection result is " conflict ", enters overhead traveling crane execution and dodges mechanism;
Step 4, to be represented that by collision detection result two overhead traveling crane tasks are for " conflict ", first A overhead traveling crane enters overlapping region, has higher priority, and overhead traveling crane B need take wait implementation strategy;
Stop outside step 5, the safe distance of overhead traveling crane B before entering overlapping region, transfer interrupt latency state to;
Step 6, overhead traveling crane A are after target location has executed and puts and hang, and the phase III entering into task starts to return, and now, overhead traveling crane B task starts the execution of subordinate phase, enters overlapping region; Now, overhead traveling crane A and overhead traveling crane B is for travel in the same way;
Step 7, overhead traveling crane B execute the task, until finish the work.
The technical solution adopted in the present invention has following beneficial effect: processing mode when the invention provides overlapping with other overhead traveling crane region of same rail in a kind of overhead traveling crane operational process, substantially increase enterprises production efficiency, reduce overhead traveling crane security of operation hidden danger, the sky vehicle control combined with overhead traveling crane intelligentized control method, unmanned overhead traveling crane autonomous operation in various storehouse, steel-making scene can be widely used in.
Accompanying drawing explanation
Fig. 1 is overhead traveling crane task phase division figure of the present invention;
Fig. 2 is task state transition graph of a relation of the present invention;
Fig. 3 is overhead traveling crane collision detection of the present invention and dodges process flow diagram.
Embodiment
Technical scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.
As shown in Figure 1, the execution of an overhead traveling crane task is specifically divided into three phases, and the first stage is the independent operating stage, and this stage overhead traveling crane is executed the task according to original plan, former speed; Subordinate phase is the execute phase of conflicting, and the task that this stage priority is high performs according to original plan, former speed, and task needs time-out execution before entering this stage that priority is low, transfer wait executing state to; Phase III, this stage, two tasks performed simultaneously, and when the task that priority is high starts to enter this stage, low priority task transfers the triggering of executing state to by waiting status in order to return the stage.
As shown in Figure 2, the transformational relation between the various states in an overhead traveling crane tasks carrying process, only when there is the conflict of mission area overlap, the task of low priority just can enter " waiting pending " state.
As shown in Figure 3, being overhead traveling crane collision detection and dodging flow process, for realizing dodging mechanism with rail overhead traveling crane collision detection mechanism and unmanned overhead traveling crane intelligence, needing to be realized by following steps:
1), after overhead traveling crane receives new assignment instructions, first should check whether the possibility that there is conflict, concrete testing process is:
A. same rail overhead traveling crane is detected;
B. overlapping region is detected;
C. overlapping range is calculated;
D. priority of task relation is determined;
E. each task each execution time in stage, region is calculated;
2) according to the character determination overhead traveling crane measures to keep clear of collision detection result and two overhead traveling crane tasks;
3) dodge scheme according to what determine, two overhead traveling cranes are executed the task in order:
A. the task that priority is high continues to execute the task, and task status was converted to " stage 2 " by " stage 1 ";
B. before the task that priority is low enters overlapping region, task status was converted to " waiting pending " by " stage 1 ", starts to wait for;
C. high-priority task complete " stage 2 " rise put the task of hanging after, State Transferring is " stage 3 ";
D. low priority task receives high-priority task e transition information, triggers self task status and is converted into " stage 2 ", execute the task;
4) two overhead traveling cranes complete the task of Remaining Stages separately, until complete.
More than show and describe ultimate principle of the present invention and principal character.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (1)
1. overhead traveling crane collision detection and an intelligent preventing collision method, is characterized in that: the method specifically comprises the following steps:
After step one, overhead traveling crane A receive assignment instructions, detect whether there is same rail overhead traveling crane;
If there is not same rail overhead traveling crane in step 2 step one, then can directly execute the task; If exist with rail overhead traveling crane B, then judge status information and the mission bit stream of same rail overhead traveling crane B;
Step 3, the task scheduling time detecting overhead traveling crane A, B, task status, the interval information of tasks carrying, by collision detection mechanism, judge whether two overhead traveling cranes exist conflict, described collision detection mechanism comprises:
1. judge whether two overhead traveling cranes operating area separately has lap, the coordinate [Q1, Q2] of record overlapping region;
2. according to two overhead traveling crane current location Xa, Xb, two car states, tasks carrying degree, overhead traveling crane travelling speed Va, Vb information, calculate two overhead traveling cranes and start the time t1 entering overlapping region, by comparing t1, t2 size, t2, judges that two overhead traveling cranes enter the sequencing of overlapping region;
3. suppose to be introduced into overlapping region with A overhead traveling crane, calculate overhead traveling crane A and return from entering overlapping region until after tasks carrying and leave the T.T. T of overlapping region;
4. calculate overhead traveling crane B to carry out according to former speed, within the t1+T time, whether can enter overlapping region, if can not enter overlapping region, then collision detection result is " not conflicting "; If enter overlapping region, then collision detection result is " conflict ", enters overhead traveling crane execution and dodges mechanism;
Step 4, to be represented that by collision detection result two overhead traveling crane tasks are for " conflict ", first A overhead traveling crane enters overlapping region, has higher priority, and overhead traveling crane B need take wait implementation strategy;
Stop outside step 5, the safe distance of overhead traveling crane B before entering overlapping region, transfer interrupt latency state to;
Step 6, overhead traveling crane A are after target location has executed and puts and hang, and the phase III entering into task starts to return, and now, overhead traveling crane B task starts the execution of subordinate phase, enters overlapping region; Now, overhead traveling crane A and overhead traveling crane B is for travel in the same way;
Step 7, overhead traveling crane B execute the task, until finish the work.
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| CN201510756836.9A CN105447619A (en) | 2015-11-10 | 2015-11-10 | Crown block collision detection and intelligent collision avoidance method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107179773A (en) * | 2017-07-25 | 2017-09-19 | 哈尔滨工大特种机器人有限公司 | A kind of AGV avoidance dispatch control method and system |
| CN108931975A (en) * | 2017-05-24 | 2018-12-04 | 宝山钢铁股份有限公司 | A kind of hot rolling slab library is the same as across two driving autocontrol methods |
| CN110356974A (en) * | 2019-07-23 | 2019-10-22 | 四川成工富创科技有限公司 | A kind of preventing collision method of anode line overhead traveling crane |
| CN110817220A (en) * | 2019-11-11 | 2020-02-21 | 四川长虹智能制造技术有限公司 | RGV avoiding method, RGV and RGV avoiding system |
| CN111832965A (en) * | 2020-07-24 | 2020-10-27 | 上海海得控制系统股份有限公司 | Unmanned same-span multi-crown-block cooperative scheduling method, system, medium and terminal |
| CN112016810A (en) * | 2020-07-31 | 2020-12-01 | 唐山钢铁集团微尔自动化有限公司 | Intelligent scheduling method for same-rail double-crossing straddle carrier |
| CN114358355A (en) * | 2020-10-12 | 2022-04-15 | 上海宝信软件股份有限公司 | Method and system for avoiding traveling and scheduling path of unmanned grab bucket traveling crane |
| CN114604772A (en) * | 2022-01-24 | 2022-06-10 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane cluster cooperative control method and system for task temporal model |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108931975A (en) * | 2017-05-24 | 2018-12-04 | 宝山钢铁股份有限公司 | A kind of hot rolling slab library is the same as across two driving autocontrol methods |
| CN108931975B (en) * | 2017-05-24 | 2021-06-15 | 宝山钢铁股份有限公司 | Automatic control method for two traveling vehicles in same span of hot-rolled slab warehouse |
| CN107179773A (en) * | 2017-07-25 | 2017-09-19 | 哈尔滨工大特种机器人有限公司 | A kind of AGV avoidance dispatch control method and system |
| CN110356974B (en) * | 2019-07-23 | 2020-12-22 | 四川成工富创科技有限公司 | Method for avoiding crown block with anode line |
| CN110356974A (en) * | 2019-07-23 | 2019-10-22 | 四川成工富创科技有限公司 | A kind of preventing collision method of anode line overhead traveling crane |
| CN110817220A (en) * | 2019-11-11 | 2020-02-21 | 四川长虹智能制造技术有限公司 | RGV avoiding method, RGV and RGV avoiding system |
| CN111832965A (en) * | 2020-07-24 | 2020-10-27 | 上海海得控制系统股份有限公司 | Unmanned same-span multi-crown-block cooperative scheduling method, system, medium and terminal |
| CN111832965B (en) * | 2020-07-24 | 2024-04-12 | 上海海得控制系统股份有限公司 | Unmanned same-span multi-crown block cooperative scheduling method and system, medium and terminal |
| CN112016810A (en) * | 2020-07-31 | 2020-12-01 | 唐山钢铁集团微尔自动化有限公司 | Intelligent scheduling method for same-rail double-crossing straddle carrier |
| CN112016810B (en) * | 2020-07-31 | 2022-05-27 | 唐山钢铁集团微尔自动化有限公司 | Intelligent scheduling method for same-rail double-crossing straddle carrier |
| CN114358355A (en) * | 2020-10-12 | 2022-04-15 | 上海宝信软件股份有限公司 | Method and system for avoiding traveling and scheduling path of unmanned grab bucket traveling crane |
| CN114604772A (en) * | 2022-01-24 | 2022-06-10 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane cluster cooperative control method and system for task temporal model |
| CN114604772B (en) * | 2022-01-24 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane cluster cooperative control method and system for task temporal model |
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Application publication date: 20160330 |