CN107885697A - Tangent two layers of position of steel coil Coordinate calculation method in reservoir area are justified based on plane geometry three - Google Patents
Tangent two layers of position of steel coil Coordinate calculation method in reservoir area are justified based on plane geometry three Download PDFInfo
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- CN107885697A CN107885697A CN201711002606.9A CN201711002606A CN107885697A CN 107885697 A CN107885697 A CN 107885697A CN 201711002606 A CN201711002606 A CN 201711002606A CN 107885697 A CN107885697 A CN 107885697A
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Abstract
Tangent two layers of position of steel coil Coordinate calculation method in reservoir area are justified based on plane geometry three the present invention relates to one kind, belong to the unmanned overhead traveling crane automation field of reservoir area Intelligent internet of things.Technical scheme is：By overhead traveling crane job position geometric modeling in reservoir region management system, increase the accurate computing function module of two layers of position of steel coil coordinate；According to the foundation of coordinate system, they or x coordinate value is identical or y-coordinate value is identical, while one layer of z coordinate value is also identical, and two layers of warehouse compartment are just effective only when there is coil of strip its corresponding two one layer of position.The beneficial effects of the invention are as follows：It can ensure that system warehouse compartment information, coil of strip information are consistent with reservoir area scene actual height, prevent functional module information input and the inconsistent situation of site environment, this method realizes that algorithm is easily understood simultaneously, computational efficiency is high, very easily it can be multiplexed and transplant, only one layer of two adjacent warehouse compartment coordinate, three warehouse compartment coil of strip external diameters need to be transmitted into the accurate computing function module of two layers of position of steel coil coordinate as parameter can obtain accurate coordinates of the two layers of warehouse compartment coil of strip in the coordinate system of reservoir area.
Description
Technical field
Tangent two layers of position of steel coil Coordinate calculation method in reservoir area are justified based on plane geometry three the present invention relates to one kind, belong to storehouse
The unmanned overhead traveling crane automation field of area's Intelligent internet of things.
Background technology
At present, iron and steel enterprise reservoir area in factory implements the unmanned control of overhead traveling crane, is the important component of intelligence manufacture.
Realize the unmanned most basic premise of reservoir area overhead traveling crane be reservoir area equipment and material position under the same coordinate system, be limited to reservoir area appearance
Amount, reservoir area coil of strip are typically all piled up using two layers.One layer of coil of strip has fixed saddle, and it is relatively solid that coil of strip piles up position coordinates
It is fixed, and two layers of position of steel coil exist because one layer of adjacent coil of strip external diameter difference is without fixation if two layers of coil of strip can not be calculated accurately
Accurate coordinates under the coordinate system of reservoir area, unmanned overhead traveling crane will be unable to carry out automatic job to two layers of coil of strip.Prior art overhead traveling crane nobody
Change reservoir area typically only just allows to pile up two layers in the case where one layer of coil of strip external diameter is more or less the same (100mm), two layers of coil of strip meter
It is exactly the average value for simply taking one layer of adjacent position to calculate.But reservoir area, because order is diversified, coil of strip specification varies, such as
Fruit uses prior art mode, and reservoir area two layers of position of the overwhelming majority will be unavailable.Therefore to realize that overhead traveling crane is unmanned in reservoir area, grind
Hair two layers of reservoir area position of steel coil coordinate Method for Accurate Calculation is particularly important.
The content of the invention
Tangent two layers of position of steel coil Coordinate calculation method in reservoir area are justified based on plane geometry three it is an object of the present invention to provide one kind,
In known reservoir area coordinate system orientation, one layer of adjacent warehouse compartment coordinate and one layer and two layers of coil of strip information (external diameter, internal diameter, width, again
Amount) in the case of, accurate position coordinates of the two layers of coil of strip in the coordinate system of reservoir area are calculated, to ensure that the unmanned overhead traveling crane operation in reservoir area is determined
Position is accurate, solves above-mentioned technical problem existing for prior art.
The technical scheme is that：
One kind justifies tangent two layers of position of steel coil Coordinate calculation method in reservoir area based on plane geometry three, comprises the following steps：
By overhead traveling crane job position geometric modeling in reservoir region management system, increase the accurate computing function module of two layers of position of steel coil coordinate；
Reservoir area location of saddle support is referred to as warehouse compartment, is made a distinction according to area, column and row, floor, and there are several columns (described in technique to stamp) in each area,
Often show some rows, often row corresponding one one layer and two layers of position (except last column of each column)；Wherein one layer is consolidated for physics
Determine physical location, two layers are virtual positions；According to the foundation of coordinate system, they or x coordinate value is identical or y-coordinate value is identical, simultaneously
One layer of z coordinate value is also identical, and two layers of warehouse compartment are just effective only when its corresponding two one layer of warehouse compartment has coil of strip；Reservoir area day
There is a unique logic coding each position of car operation, and the corresponding accurate coordinates of this logic coding are all stored in
In database correlation form；When reservoir area overhead traveling crane operation needs to calculate a certain two layers of position of steel coil coordinate of warehouse compartment, by the warehouse compartment one
Coil of strip external diameter input corresponding to two adjacent warehouse compartment accurate coordinates of layer, three two layers of warehouse compartments one layer；Two layers of position of steel coil is sat
Mark accurate computing function module directly defeated two layers of warehouse compartment position of steel coil accurate coordinates；Two layers of accurate computing function of position of steel coil coordinate
Module calculates two layers of position of steel coil accurate coordinates of the warehouse compartment.
The described accurate computing function module of two layers of position of steel coil coordinate, when needing to calculate two layers of position of steel coil coordinate,
Warehouse compartment information and coil of strip information are read in real time so that system warehouse compartment, coil of strip information are consistent with live actual height, two layers of coil of strip position
It is more authentic and valid to put the accurate input data of coordinate.
The described accurate computing function module of two layers of position of steel coil coordinate, according to warehouse compartment information and coil of strip information, two layers
Position of steel coil geometric modeling, two layers of position of steel coil coordinate calculate to be solved using linear equation in two unknowns group so that two layers of coil of strip position
It is rigorous, accurate to put coordinate calculating process.
The accurate computing function module of two layers of position of steel coil coordinate, programmed using object-oriented thinking.
The present invention is split two layers of position of steel coil geometrical model figure in different ways, with same geometric graph
The principle solving equations of shape area equation, comprise the following steps：
(1), according to two layers of warehouse compartment logic coding of overhead traveling crane operation, the logic coding of two adjacent warehouse compartment of one layer is determined；
(2) according to step (1) result, the accurate seat of one layer of position of lookup in reservoir region management system database correlation form
Mark (X1, Y1, Z1) and (X2, Y2, Z2)；
(3) the coil of strip external diameter information of three position correspondences is searched in reservoir region management system coil of strip information form；
(4) three warehouse compartments and its corresponding coil of strip information geometry are modeled, the point of contact on one layer of left side warehouse compartment coil of strip and ground
For D, coordinate Y value is Y1, and corresponding coil of strip external diameter is R1, and the coil of strip center of circle is A；The point of contact on one layer of the right warehouse compartment coil of strip and ground is F,
Coordinate Y value is Y2, and corresponding coil of strip external diameter is R2, and the coil of strip center of circle is B；Corresponding points are E, coordinate Y perpendicular to the ground in two layers of coil of strip center of circle
It is worth for Y3 (unknown), corresponding coil of strip external diameter is R3, and the coil of strip center of circle is C；Two layers of warehouse compartment X-axis X-coordinate and one layer of storehouse in the model
Position coordinate X values it is identical, CE be two layers of coil of strip central projection to the height on ground, Y3 is two layers of warehouse compartment Y-axis Y-coordinate；
(5) the pentagon ACBFD horizontal cuttings in geometrical model are divided into trapezoidal ACED and trapezoidal BCEF, vertical cutting is three
Angular ABC and quadrangle ABFD；
(6) with the trapezoidal areal calculation quadrangle ACED of geometry, quadrangle BCEF, quadrangle ABFD areas；It is public with Helen
Formula calculates triangle ABC areas；
(7) the group that establishes an equation simultaneously solves CE and Y3；
(8) two layers of warehouse compartment coordinate are calculated, and X-axis X-coordinate is X1 or X2, and Y-axis Y-coordinate is the Y3, Z axis Z that step (7) calculates
Coordinate is that the CE that step (7) calculates adds Z1.
The beneficial effects of the invention are as follows：System warehouse compartment information, coil of strip information and reservoir area scene actual height one can be ensured
Cause, prevent functional module information input and the inconsistent situation of site environment, while this method realizes that algorithm is easily understood, and calculates
Efficiency high, very easily it can be multiplexed and transplant, only need to be using one layer of two adjacent warehouse compartment coordinate, three warehouse compartment coil of strip external diameters as ginseng
Number is transmitted to the accurate computing function module of two layers of position of steel coil coordinate and can obtain essence of the two layers of warehouse compartment coil of strip in the coordinate system of reservoir area
True coordinate.
Brief description of the drawings
Accompanying drawing 1 is two layers of warehouse compartment coil of strip geometrical model figure of the embodiment of the present invention；
Accompanying drawing 1 marks as follows：X-axis is overhead traveling crane cart movement dimension, and Y-axis is crown block trolley movement dimension, and Z axis is day car owner
The dimension of hook motion.D is the point of contact on one layer of left side warehouse compartment coil of strip and ground, and coordinate value is (X1, Y1, Z1), and A is one layer of left side storehouse
Position coil of strip center, R1 is one layer of left side warehouse compartment coil of strip external diameter；F is the point of contact on one layer of the right warehouse compartment coil of strip and ground, and coordinate value is
(X2, Y2, Z2), B are one layer of the right warehouse compartment coil of strip center, and R2 is one layer of the right warehouse compartment coil of strip external diameter；It is for corresponding coil of strip external diameter
R2；E is that corresponding points, C are two layers of coil of strip center perpendicular to the ground in two layers of coil of strip center of circle, and R3 is two layers of coil of strip external diameter.
Embodiment
Below in conjunction with accompanying drawing, by embodiment, the present invention will be further described.
One kind justifies tangent two layers of position of steel coil Coordinate calculation method in reservoir area based on plane geometry three, comprises the following steps：
By overhead traveling crane job position geometric modeling in reservoir region management system, increase the accurate computing function module of two layers of position of steel coil coordinate；
Reservoir area location of saddle support is referred to as warehouse compartment, is made a distinction according to area, column and row, floor, and there are several columns (described in technique to stamp) in each area,
Often show some rows, often row corresponding one one layer and two layers of position (except last column of each column)；Wherein one layer is consolidated for physics
Determine physical location, two layers are virtual positions；According to the foundation of coordinate system, they or x coordinate value is identical or y-coordinate value is identical, simultaneously
One layer of z coordinate value is also identical, and two layers of warehouse compartment are just effective only when its corresponding two one layer of warehouse compartment has coil of strip；Reservoir area day
There is a unique logic coding each position of car operation, and the corresponding accurate coordinates of this logic coding are all stored in
In database correlation form；When reservoir area overhead traveling crane operation needs to calculate a certain two layers of position of steel coil coordinate of warehouse compartment, by the warehouse compartment one
Coil of strip external diameter input corresponding to two adjacent warehouse compartment accurate coordinates of layer, three two layers of warehouse compartments one layer；Two layers of position of steel coil is sat
Mark accurate computing function module directly defeated two layers of warehouse compartment position of steel coil accurate coordinates；Two layers of accurate computing function of position of steel coil coordinate
Module calculates two layers of position of steel coil accurate coordinates of the warehouse compartment.
The accurate computing function module of two layers of position of steel coil coordinate directly defeated two layers of warehouse compartment position of steel coil accurate coordinates.Two
The accurate computing function module of layer position of steel coil coordinate is for convenience of two layers of warehouse compartment position of steel coil accurate coordinates are efficiently calculated, by two layers of steel
Volume geometry of position model figure is split in different ways, is solved equation with the principle of same geometric figure area equation
Group, it is implemented as follows：
(1) according to two layers of warehouse compartment logic coding of overhead traveling crane operation, the logic coding of two adjacent warehouse compartment of one layer is determined.Then root
The accurate coordinates of one layer of position are searched in reservoir region management system database correlation form according to the logic coding.
(2) the coil of strip external diameter information of three position correspondences is searched in reservoir region management system coil of strip information form.
(3) the input parameter calling model for accurately calculating step (1), the result of (2) as two layers of position of steel coil coordinate
Computational methods.
(4) two layers of position of steel coil coordinate model for accurate calculation establish two layers of warehouse compartment coil of strip geometrical model, and X-axis is overhead traveling crane cart
Movement dimension, Y-axis are crown block trolley movement dimension, and Z axis is the dimension of overhead traveling crane main hook motion.D be one layer of left side warehouse compartment coil of strip with
The point of contact on ground, coordinate value are (X1, Y1, Z1), and A is one layer of left side warehouse compartment coil of strip center, and R1 is outside one layer of left side warehouse compartment coil of strip
Footpath；F is the point of contact on one layer of the right warehouse compartment coil of strip and ground, and coordinate value is (X2, Y2, Z2), and B is in one layer of the right warehouse compartment coil of strip
The heart, R2 are one layer of the right warehouse compartment coil of strip external diameter；It is R2 for corresponding coil of strip external diameter；E is two layers of coil of strip center of circle corresponding points perpendicular to the ground,
C is two layers of coil of strip center, and R3 is two layers of coil of strip external diameter, as shown in Figure 1.
(5) known conditions is R1, R2, R3, Y1, Y2, asks CE and Y3, and establish an equation group：
(6) row triangle ABC areas S1 solution formula, it is known that three sides of triangle, its area can use Heron's formula
Calculate.Calculating process is as follows：
A=AC=R1+R3
C=BC=R2+R3
(7) row quadrangle ADFB areas S2 solution formulas, computational methods are the trapezoidal areal calculation formula of geometry.Calculating process
It is as follows：
(8) row quadrangle ADEC area calculation formula, computational methods are the trapezoidal areal calculation formula of geometry.Calculating process is such as
Under：
(9) row quadrangle CEFB area calculation formula, computational methods are the trapezoidal areal calculation formula of geometry.Calculating process is such as
Under：
(10) intermediate variable solving equations are set：
S=S1+S2
D=R1*Y1-R2*Y2+R2*Y1-R2*Y2
M=(R2-R1)/(Y1-Y2)
N=(2*S-D)/(Y1-Y2)
A=m*m+1
B=-2*m*n-2*Y2
C=n*n- (R3+R2) * (R3+R2)+Y2*Y2
(11) solving equations, following result is obtained：
The core algorithm code of the accurate computing function module of two layers of position of steel coil coordinate is worked out, is ordinary skill people
Technical ability known to member.
Claims (5)
1. tangent two layers of position of steel coil Coordinate calculation method in reservoir area are justified based on plane geometry three, it is characterised in that include following step
Suddenly：By overhead traveling crane job position geometric modeling in reservoir region management system, increase by two layers of accurate computing function of position of steel coil coordinate
Module；Reservoir area location of saddle support is referred to as warehouse compartment, is made a distinction according to area, column and row, floor, and there are several columns in each area, often shows some
OK, often row corresponds to one one layer and two layers of position；Wherein one layer is that physics fixes physical location, and two layers are virtual positions；According to seat
Mark the foundation of system, they or x coordinate value is identical or y-coordinate value is identical, while one layer of z coordinate value is also identical, two layers of warehouse compartment
Have just effective when its corresponding two one layer of warehouse compartment has coil of strip；Each position of reservoir area overhead traveling crane operation has one uniquely
Logic coding, the corresponding accurate coordinates of this logic coding are all stored in database correlation form；When reservoir area overhead traveling crane is made
When industry needs to calculate a certain two layers of position of steel coil coordinate of warehouse compartment, by one layer of two adjacent warehouse compartment accurate coordinates of the warehouse compartment, three warehouse compartments
Coil of strip external diameter input corresponding to one layer two layers；The accurate computing function module of two layers of position of steel coil coordinate directly defeated two layers of storehouse
Position position of steel coil accurate coordinates；The accurate computing function module of two layers of position of steel coil coordinate calculates two layers of position of steel coil essence of the warehouse compartment
True coordinate.
2. according to claim 1 justify tangent two layers of position of steel coil Coordinate calculation method in reservoir area based on plane geometry three, its
It is characterised by：The described accurate computing function module of two layers of position of steel coil coordinate is real when needing to calculate two layers of position of steel coil coordinate
When read warehouse compartment information and coil of strip information so that system warehouse compartment, coil of strip information are consistent with live actual height.
3. according to claim 1 or 2 justify tangent two layers of position of steel coil Coordinate calculation method in reservoir area based on plane geometry three,
It is characterized in that：The described accurate computing function module of two layers of position of steel coil coordinate, according to warehouse compartment information and coil of strip information, two
Layer position of steel coil geometric modeling, two layers of position of steel coil coordinate calculate to be solved using linear equation in two unknowns group.
4. tangent two layers of position of steel coil Coordinate calculation method in reservoir area are justified based on plane geometry three according to Claims 2 or 3,
It is characterized in that：The accurate computing function module of two layers of position of steel coil coordinate, programmed using object-oriented thinking.
5. tangent two layers of position of steel coil Coordinate calculation method in reservoir area, its feature are justified based on plane geometry three according to above claim
It is：Two layers of position of steel coil geometrical model figure are split in different ways, with same geometric figure area phase
Deng principle solving equations, comprise the following steps：
According to two layers of warehouse compartment logic coding of overhead traveling crane operation, the logic coding of two adjacent warehouse compartment of one layer is determined；
According to step（1）As a result, the accurate coordinates of one layer of position are searched in reservoir region management system database correlation form
(X1, Y1, Z1) and (X2, Y2, Z2)；
The coil of strip external diameter information of three position correspondences is searched in reservoir region management system coil of strip information form；
Three warehouse compartments and its corresponding coil of strip information geometry are modeled, the point of contact on one layer of left side warehouse compartment coil of strip and ground is D,
Coordinate Y value is Y1, and corresponding coil of strip external diameter is R1, and the coil of strip center of circle is A；The point of contact on one layer of the right warehouse compartment coil of strip and ground is F, coordinate
Y value is Y2, and corresponding coil of strip external diameter is R2, and the coil of strip center of circle is B；Corresponding points are E perpendicular to the ground in two layers of coil of strip center of circle, and coordinate Y value is
Y3, corresponding coil of strip external diameter is R3, and the coil of strip center of circle is C；Two layers of warehouse compartment X-axis X-coordinate and one layer of warehouse compartment coordinate X value phase in the model
Together, CE be two layers of coil of strip central projection to the height on ground, Y3 is two layers of warehouse compartment Y-axis Y-coordinate；
Pentagon ACBFD horizontal cuttings in geometrical model are divided into trapezoidal ACED and trapezoidal BCEF, vertical cutting is triangle
ABC and quadrangle ABFD；
With the trapezoidal areal calculation quadrangle ACED of geometry, quadrangle BCEF, quadrangle ABFD areas；With Heron's formula meter
Calculate triangle ABC areas；
The group that establishes an equation simultaneously solves CE and Y3；
Two layers of warehouse compartment coordinate are calculated, X-axis X-coordinate is X1 or X2, and Y-axis Y-coordinate is step（7）The Y3 of calculating, Z axis Z coordinate
For step（7）The CE of calculating adds Z1.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110458269A (en) * | 2019-09-30 | 2019-11-15 | 杭州高达软件系统股份有限公司 | A kind of positioning searching method, apparatus, equipment and the storage medium of coil of strip |
| CN111737843A (en) * | 2019-03-20 | 2020-10-02 | 上海梅山钢铁股份有限公司 | Method for eliminating full-automatic suspension of stacking of two-layer steel coils |
| CN113177753A (en) * | 2021-04-21 | 2021-07-27 | 中物(北京)物流信息服务有限公司 | Storage goods space positioning method and system |
| CN114485437A (en) * | 2022-01-28 | 2022-05-13 | 中冶赛迪重庆信息技术有限公司 | Method for measuring and calculating outer diameter of bottom steel coil in reservoir area |
| CN114633975A (en) * | 2020-12-16 | 2022-06-17 | 宝山钢铁股份有限公司 | Steel coil stacking method, device, equipment and storage medium for continuous wave type saddle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111737843A (en) * | 2019-03-20 | 2020-10-02 | 上海梅山钢铁股份有限公司 | Method for eliminating full-automatic suspension of stacking of two-layer steel coils |
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| CN114633975A (en) * | 2020-12-16 | 2022-06-17 | 宝山钢铁股份有限公司 | Steel coil stacking method, device, equipment and storage medium for continuous wave type saddle |
| CN114633975B (en) * | 2020-12-16 | 2024-01-09 | 宝山钢铁股份有限公司 | Steel coil stacking method and device for continuous wave saddle, equipment and storage medium |
| CN113177753A (en) * | 2021-04-21 | 2021-07-27 | 中物(北京)物流信息服务有限公司 | Storage goods space positioning method and system |
| CN114485437A (en) * | 2022-01-28 | 2022-05-13 | 中冶赛迪重庆信息技术有限公司 | Method for measuring and calculating outer diameter of bottom steel coil in reservoir area |
| CN114485437B (en) * | 2022-01-28 | 2023-09-05 | 中冶赛迪信息技术(重庆)有限公司 | Method for measuring and calculating outer diameter of bottom steel coil in reservoir area |
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