CN107298386B - A method of realizing the unmanned more days workshop conflict evadings of overhead traveling crane - Google Patents
A method of realizing the unmanned more days workshop conflict evadings of overhead traveling crane Download PDFInfo
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- CN107298386B CN107298386B CN201710667820.XA CN201710667820A CN107298386B CN 107298386 B CN107298386 B CN 107298386B CN 201710667820 A CN201710667820 A CN 201710667820A CN 107298386 B CN107298386 B CN 107298386B
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- overhead traveling
- traveling crane
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- unmanned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
Abstract
The present invention relates to a kind of methods for realizing the unmanned more vehicle conflict evadings of overhead traveling crane, belong to technical field of metallurgical automatic control.The technical scheme is that receiving the input of overhead traveling crane Unmanned Systems, while sending job instruction to overhead traveling crane Unmanned Systems with by communicating with overhead traveling crane Unmanned Systems；According to the state of current two overhead traveling crane and the currently running direction of overhead traveling crane, decision goes out final carry into execution a plan (8).The present invention can issue reasonable, accurate, unique job instruction, shorten stopping to the time for evacuation overhead traveling crane, while reduce the probability that conflict emergency stop occurs in day workshop, to greatly improve overhead traveling crane operating efficiency；Different evasion tacticses is used according to overhead traveling crane operation or stationary state; evaded by using precomputation, process control is evaded and destroys evasion tactics preferably protects equipment; guaranteed efficiency and evade conflict it is more reasonable; the tomorrow requirement of overhead traveling crane Unmanned Systems development has been adapted to, it is sustainable to the unpiloted smooth, efficient operation of overhead traveling crane that complexity is growing.
Description
Technical field
The present invention relates to a kind of methods for realizing the unmanned more days workshop conflict evadings of overhead traveling crane, for solving metallurgical warehouse
In overhead traveling crane implement the more days plant working collision problems generated after unmanned technology, pass through computer carry out precomputation, mistake
The method reasonably avoiding conflict of process control and destruction guarantees the smooth operation of overhead traveling crane, belongs to technical field of metallurgical automatic control.
Background technique
With the development of metallurgy industry intelligent plant, warehouse overhead traveling crane Unmanned Systems obtain common concern.Overhead traveling crane operation
Feature is more prominent in Unmanned Systems: the association in day workshop is completed there are public domain in the operating area in more days workshops
Make, in overlapping region, operation will lead to a day workshop conflict；Warehouse overhead traveling crane homework type is more, and overhead traveling crane and homework type cannot be one by one
It is corresponding, the cooperation of day workshop mutual.Same type of operation will lead to a day workshop conflict by 2 or more overhead traveling crane operations simultaneously；
Operation is compact, and to cause overhead traveling crane to stop short to the time, cannot accomplish that 1 overhead traveling crane completes another 1 operation again, so much overhead traveling crane responds simultaneously
It will lead to a day workshop conflict, that is to say, that not loss of energy efficiency while evading conflict；The unmanned anti-sway technology of overhead traveling crane is wanted
It asks, could be static to destination after overhead traveling crane starting, pilot process, which abends, greatly reduces overhead traveling crane operational efficiency, this requires
Evade conflict must overhead traveling crane from it is static be transferred to movement when controlled, can just accomplish reasonably to evade conflict.Evade conflict
Reasonability directly decides the performance of overhead traveling crane Unmanned Systems, unreasonable evasion tactics, and operating efficiency is low and user
It experiences bad.
Summary of the invention
It is an object of the present invention to provide a kind of methods for realizing the unmanned more days workshop conflict evadings of overhead traveling crane, realize to overhead traveling crane
Unmanned Systems issue reasonable, accurate, unique job instruction, shorten evacuation overhead traveling crane and stop dropping simultaneously to the time
There is the probability of conflict emergency stop in low day workshop, to greatly improve overhead traveling crane operating efficiency；It is run according to overhead traveling crane or quiet
Only state uses different evasion tacticses, is evaded by using precomputation, process control is evaded and it is more preferable to destroy evasion tactics
Protection equipment, guaranteed efficiency and evade conflict it is more reasonable, solve background technique existing for the above problem.
Technical scheme is as follows:
A method of the unmanned more days workshop conflict evadings of overhead traveling crane are realized, by logical with overhead traveling crane Unmanned Systems
Letter receives the input of overhead traveling crane Unmanned Systems, while sending job instruction to overhead traveling crane Unmanned Systems；By calculating day
The operating status that vehicle is merged into one group two-by-two by operation rule and corresponds (4) with decision tree, judges two overhead traveling cranes, determination are adopted
Judge whether lifting lifting conflicts, rises to hang and whether rush with precomputation or process control (5), according to overhead traveling crane job information
It dashes forward, put to sling and whether conflict, put to hang and whether conflict, ultimately form 4 condition codes (6), according to the shape of current two overhead traveling crane
State and the currently running direction of overhead traveling crane, decision go out final carry into execution a plan (8).
The present invention is also referred to as characterized decision tree group's method 14.
The present invention is arranged firstly the need of data information, then carries out feature decision woodlot and calculates, live overhead traveling crane is run
State transformation calculates the strategy currently coped with and proposes decision, solves conflict；It is instructed and is required according to day vehicle control, fought to the finish
Plan information is formatted and issues.
Beneficial effects of the present invention: the present invention can issue reasonable, accurate, unique job instruction, shorten and keep away
It allows the stopping to the time of overhead traveling crane, while reducing the probability that conflict emergency stop occurs in day workshop, to greatly improve overhead traveling crane operation
Efficiency；Different evasion tacticses is used according to overhead traveling crane operation or stationary state, is evaded by using precomputation, process control rule
It keeps away and destroys evasion tactics and preferably protect equipment, guaranteed efficiency and evade that conflict is more reasonable, and having adapted to overhead traveling crane, nobody drives
The tomorrow requirement of System Development is sailed, it is sustainable to the unpiloted smooth, efficient operation of overhead traveling crane that complexity is growing.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of the embodiment of the present invention；
Fig. 2 is the feature decision woodlot method flow diagram of the embodiment of the present invention；
Fig. 3 is double vehicles evacuation condition code process flow diagram of the embodiment of the present invention；
Fig. 4 is more vehicle decision tree process flow diagrams of the embodiment of the present invention；
In figure mark it is as follows: routine executing step 0, routine executing step 1, routine executing step 2, routine executing step 3,
Routine executing step 4, routine executing step 5, routine executing step 6, routine executing step 7, routine executing step 8, program are held
Row step 9, routine executing step 10, operation information management 11, overhead traveling crane state information management 12, database configuration 13, feature are determined
Plan woodlot method 14, overhead traveling crane execute job instruction 15, overhead traveling crane evacuation instruction 16.
Specific embodiment
Below in conjunction with attached drawing, by embodiment, the present invention will be further described.
A method of the unmanned more days workshop conflict evadings of overhead traveling crane are realized, by logical with overhead traveling crane Unmanned Systems
Letter receives the input of overhead traveling crane Unmanned Systems, while sending job instruction to overhead traveling crane Unmanned Systems；By calculating day
The operating status that vehicle is merged into one group two-by-two by operation rule and corresponds (4) with decision tree, judges two overhead traveling cranes, determination are adopted
Judge whether lifting lifting conflicts, rises to hang and whether rush with precomputation or process control (5), according to overhead traveling crane job information
It dashes forward, put to sling and whether conflict, put to hang and whether conflict, ultimately form 4 condition codes (6), according to the shape of current two overhead traveling crane
State and the currently running direction of overhead traveling crane, decision go out final carry into execution a plan (8).
The present invention is also referred to as characterized decision tree group's method 14.
The present invention is arranged firstly the need of data information, then carries out feature decision woodlot and calculates, live overhead traveling crane is run
State transformation calculates the strategy currently coped with and proposes decision, solves conflict；It is instructed and is required according to day vehicle control, fought to the finish
Plan information is formatted and issues.
The data information setting, comprising: operation information management 11, overhead traveling crane state information management 12, database configuration 13.
Overhead traveling crane, which is arranged, in operation information management 11 will execute the information of operation, including day license number, job number, lifting position, unreel position, class of jobs
Type, lifting position x coordinate value, the important information for unreeling the conflict of qualification such as an x coordinate value, current work state.Overhead traveling crane status information
The 12 current information of setting overhead traveling cranes of management, including day license number, current location x coordinate value, whether operation suspension, whether operate operation
Locking, whether operate back wait position, whether operate target position, whether system control pause, whether system control operation lock,
Whether system, which controls back, waits position, whether the stage locating for target position, current overhead traveling crane is gone in system control.13 setting of database configuration
Important parameter, including small direction day license number, intermediate day license number, general orientation day license number, pause distance, restart distance, evacuation away from
From, it is negligible with a distance from, day vehicle-width.
The feature decision woodlot method 14: overhead traveling crane job information 11, overhead traveling crane status information according to data information setting
12 and database configuration 13, determine currently running overhead traveling crane quantity and determine decision tree quantity, according to all overhead traveling crane shapes
State codetermine evasion tactics (precomputation is evaded, process control is evaded, destructions is evaded), calculate day workshop conflict a feature string,
Overhead traveling crane priority calculates, overhead traveling crane traffic direction calculates, determines to use the strategy of day workshop operation.It is as shown in Figure 3: to define decision
Tree is made of the conflict feature string for acting the stage that puts of two overhead traveling cranes, i.e., carried out according to two overhead traveling crane lifting positions with position is unreeled
Conflict analysis, there are four stage corresponding 4 groups of characteristic values: position and second vehicle are lifted by crane in the lifting position of i.e. two vehicles, first vehicle
Unreel position, first vehicle unreels position and the lifting position of second vehicle, two vehicles unreel position.On the corresponding tree of each group of characteristic value
One branch, shares 16 branches, branch be defined as " 0000 ", " 0001 ", " 0010 ", " 0011 ", " 0100 ", " 0101 ",
"0110","0111","1000","1001","1010","1011","1100","1101","1110","1111".Decision tree
Group is then by being made up of the calculated decision tree of overhead traveling crane quantity, and the overhead traveling crane operating area of two decision woodlots is not overlapped.1 day
0 decision tree of vehicle, 2 overhead traveling cranes need 1 decision tree；3 overhead traveling cranes need 3 decision trees.The decision tree that decision woodlot includes
Quantity is up to 3.It is analyzed according to the quantity of decision tree:
The job instruction of 0 decision tree in decision woodlot: overhead traveling crane always can operation.
The job instruction of 1 decision tree in decision woodlot: needs (are defined as according to two overhead traveling cranes in operation information management 11
" A " and " B ") lifting position (being defined as " L ") and doffing position (being defined as " U "), from database configuration 13 in obtain operation peace
The actual installation sequence of full distance, A and B.It need to verify whether job position distance reaches safe distance, job position and overhead traveling crane
Actual order whether there is cross-operation.To obtain the L of the L and B of A whether there is conflict, the U of the L of A and B are with the presence or absence of rushing
The L of prominent, A U and B with the presence or absence of conflict, the U of A is with the U of B with the presence or absence of conflict, having the then characteristic value that conflicts is 1；Lothrus apterus is then special
Value indicative is 0, obtains conflict characteristic value of the A with B.Which is in B overhead traveling crane in the current A of acquisition from overhead traveling crane state information management 12
Stage, if unloaded, if lifting by crane, determining conflict with whether B has in A at this stage in conjunction with conflict characteristic value.It is corresponding by table 1
Analysis conclusion is selected, generates overhead traveling crane job instruction by conclusion.
As shown in figure 4, the meaning of 3 decision trees is that cannot directly give operation conclusion in decision woodlot, but according to the greatest extent
It is simplified that amount has the principle of two overhead traveling cranes operation simultaneously to carry out decision woodlot.Time order and function (the milli of job information is obtained according to 3 overhead traveling cranes
Second grade) priority that defines overhead traveling crane, the overhead traveling crane highest priority for obtaining operation at first indicates with " H "；Second obtains the day of operation
The preferential level height of vehicle is indicated with " M "；Finally obtain minimum " L " expression of overhead traveling crane priority of operation.Overhead traveling crane is grouped simultaneously two-by-two
Conflict characteristic value is calculated, whether conflicts with forming abbreviation characteristic value further according to the stage that two overhead traveling cranes are presently in.By 2 corresponding selection of table
3 original trees are just condensed into 0 or 1 tree by conclusion by abbreviation conclusion out.Further according to 0 in decision woodlot or 1 tree life
At job instruction method decision go out can operation overhead traveling crane and evacuation overhead traveling crane.
Described instructed according to day vehicle control requires, and being formatted and issuing to decision information includes: that overhead traveling crane executes
Job instruction 15, overhead traveling crane evacuation instruction 16.Overhead traveling crane is executed job instruction 15 and issues and can be referred to operation to overhead traveling crane Unmanned Systems
It enables.Overhead traveling crane evacuation instruction 16 issues overhead traveling crane evacuation instruction, including day license number, mobile target x coordinate value, mobile target y-coordinate value.
As shown in Fig. 2, feature decision woodlot method of the present invention, includes the following steps:
Step 0, configuration system parameter, the physical relation including day workshop；
The job information and overhead traveling crane status information of step 1, all overhead traveling cranes of input, and raw information merged, is turned
Changing system into can be used parameter；
Step 2 determines that overhead traveling crane runs quantity by job information；
Step 3 runs the number that quantity determines decision tree according to overhead traveling crane；
Overhead traveling crane is merged into one group by operation rule two-by-two and corresponded with decision tree by step 4；
Step 5, the operating status for judging two overhead traveling cranes determine and use precomputation or process control；
Whether step 6 judges whether lifting lifting conflicts according to overhead traveling crane job information, rises to hang and conflict, put to sling and hang
Whether conflict, put to hang and whether conflict, ultimately forms 4 condition codes；
Step 7 is handled into the corresponding 4 condition code branches of decision tree, and the excellent of overhead traveling crane is successively arranged according to operation
First grade；
Step 8, according to current two days car states and the currently running direction of overhead traveling crane, with the side of feature decision woodlot
Method, decision go out final carry into execution a plan；
Step 9 is converted into job instruction and avoids instruction to issue according to carrying into execution a plan；
Step 10 terminates.
Claims (1)
1. a kind of method for realizing the unmanned more days workshop conflict evadings of overhead traveling crane, it is characterised in that: by the way that nobody drives with overhead traveling crane
System communication is sailed, day vehicle control receives the input of overhead traveling crane Unmanned Systems, while sending to overhead traveling crane Unmanned Systems
Job instruction；By calculating overhead traveling crane is merged into one group by operation rule two-by-two and corresponds (4) with decision tree, judges two
The operating status of overhead traveling crane determines and judges whether lifting rushes using precomputation or process control (5), according to overhead traveling crane job information
It is prominent, rise to hang and whether conflict, put to sling and whether conflict, put to hang and whether conflict, ultimately form 4 condition codes (6), roots
State and the currently running direction of overhead traveling crane according to current two overhead traveling crane, decision go out final carry into execution a plan (8)；
Specifically comprise the following steps:
Step 0, configuration day vehicle control parameter, the physical relation including day workshop；
The job information and overhead traveling crane status information of step 1, all overhead traveling cranes of input, and raw information merged, is converted into
Parameter can be used in its vehicle control；
Step 2 determines that overhead traveling crane runs quantity by job information；
Step 3 runs the number that quantity determines decision tree according to overhead traveling crane；
Overhead traveling crane is merged into one group by operation rule two-by-two and corresponded with decision tree by step 4；
Step 5, the operating status for judging two overhead traveling cranes determine and use precomputation or process control；
Step 6, according to overhead traveling crane job information judge lifting whether conflict, rise hang whether conflict, put sling whether conflict,
It puts to hang and whether conflict, ultimately form 4 condition codes；
Step 7 is handled into the corresponding 4 condition code branches of decision tree, and the priority of overhead traveling crane is successively arranged according to operation；
Step 8, according to current two days car states and the currently running direction of overhead traveling crane, with the method for feature decision woodlot, certainly
Plan goes out final carry into execution a plan；
Step 9 is converted into job instruction and avoids instruction to issue according to carrying into execution a plan；
Step 10 terminates.
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| CN107814312B (en) * | 2017-10-30 | 2019-10-11 | 俊杰机械(深圳)有限公司 | A kind of generation method and system of overhead traveling crane operation reserve |
| CN109360447A (en) * | 2018-10-16 | 2019-02-19 | 北京首钢自动化信息技术有限公司 | A kind of control method that stereo garage avoids automatically |
| 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 |
| CN112381281A (en) * | 2020-11-06 | 2021-02-19 | 河钢股份有限公司承德分公司 | Method for automatically acquiring optimal operation path of unmanned overhead travelling crane |
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| JP5617854B2 (en) * | 2012-02-15 | 2014-11-05 | 村田機械株式会社 | Trolley system |
| CN202880695U (en) * | 2012-10-18 | 2013-04-17 | 河南卫华重型机械股份有限公司 | Portal crane crossed anti-collision control system |
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