CN108803606B - Automatic driving scheduling system and scheduling method - Google Patents
Automatic driving scheduling system and scheduling method Download PDFInfo
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- CN108803606B CN108803606B CN201810590035.3A CN201810590035A CN108803606B CN 108803606 B CN108803606 B CN 108803606B CN 201810590035 A CN201810590035 A CN 201810590035A CN 108803606 B CN108803606 B CN 108803606B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention discloses an automatic travelling crane dispatching system and method, which comprises a travelling crane, safety doors, safety fences and a main control device, wherein the safety fences divide a travelling crane area into a plurality of sub-areas, the end part of each sub-area is respectively provided with the safety doors, and the safety doors are used for isolating the communication between the corresponding sub-area and the outside; the main control device can be in wireless communication with the travelling crane. The invention has the advantages and beneficial effects that: the automatic control of the traveling crane in a workshop is realized, the labor cost input is reduced, and the delivery efficiency of goods is improved; the risk that outside irrelevant personnel enter the driving area at will is avoided; the isolation effect of the travelling crane and the workers is realized, so that the personal safety of the workers is ensured; the personal safety of workers is guaranteed, and the running efficiency of a driving room is also guaranteed.
Description
Technical Field
The invention relates to the field of intelligent logistics, in particular to a driving automatic scheduling system and a scheduling method.
Background
Currently, along with the trend of industrial intelligence, logistics workshops which are less or even unmanned are gradually valued by enterprises, and meanwhile, a crane is a crane which is installed at the top of the workshop and can move on a beam at the top of the workshop, so that the crane is convenient to operate and high in lifting capacity, and is widely applied to the logistics workshops;
along with the gradual increase of the labor cost in China and the increasing concern of the countries with production safety problems, the use and the development of workshops in the fashion industry are widely regarded by enterprises; however, the existing automatic vehicle dispatching can only dispatch the vehicle from a starting point to a target point, and no one watches the vehicle when the automatic vehicle runs, so that once a person walks under a transfer route, an extremely serious dangerous accident can be caused when an article falls.
Disclosure of Invention
In order to solve the problems, the invention provides a driving automatic scheduling system and a scheduling method. The technical scheme includes that a driving area is located in a driving workshop, and the driving and the safety door are controlled by the driving, the safety door, a safety fence and a main control device provided with a safety scheduling system and by the aid of the safety scheduling system to develop a driving process, an entrance process and an avoidance process;
the automatic control of traveling vehicles in a workshop is realized through the traveling process, the investment of labor cost is reduced, and the delivery efficiency of goods is improved;
the auditing effect of the workers is realized through the approach flow, so that the risk that external irrelevant personnel randomly enter a driving area is avoided, and the safety of a workshop is ensured; meanwhile, the situation that a travelling crane in operation meets workers is also avoided by utilizing the approach flow, so that the personal safety of the workers is ensured;
the operation path of the travelling crane avoids the isolation area through the avoiding flow, and the travelling crane and the working personnel in operation are isolated, so that the avoiding flow not only enables the working personnel to work in the isolation area, but also ensures the normal development of the cargo distribution work of the travelling crane as much as possible, thereby not only ensuring the personal safety of the working personnel, but also ensuring the operation efficiency of the travelling crane.
The automatic travelling crane dispatching system comprises travelling cranes, safety doors, safety fences and a main control device, wherein the safety fences divide a travelling crane area of the travelling cranes into a plurality of sub-areas, the safety doors are respectively installed at the end parts of the sub-areas, and the safety doors are used for isolating the communication between the corresponding sub-areas and the outside; the main control device and the travelling crane can be in wireless communication.
In the above scheme, the travelling crane can pass through two adjacent sub-areas from the space above the safety fence, and the moving direction of the travelling crane is parallel to the arrangement direction of each sub-area; the safety door comprises an electric door, a controller, a fingerprint recognizer, a face recognition system, password equipment and an input device; the fingerprint recognizer, the face recognition system, the password equipment and the input device are respectively connected with the controller, and the fingerprint recognizer, the face recognition system, the password equipment and the input device are respectively fixed on one side of the electric door, which is back to the sub-area; the controller is connected with the main control device;
the main control device is internally provided with a safety scheduling system which is used for controlling the running path of the travelling crane in each sub-area of the travelling crane area and positioning the position of the travelling crane in real time; the safety scheduling system is also used for controlling the current state of each sub-area in the driving area.
In the scheme, the travelling crane is provided with at least one travelling crane; the intelligent control board, the mobile positioning module and the wireless transmission device are respectively fixed on the travelling crane, and the intelligent control board is respectively connected with the mobile positioning module, the wireless transmission device and the travelling crane; the wireless antenna is arranged in the main control device, and the main control device realizes wireless communication with the travelling crane through the wireless antenna and the wireless transmission device.
A driving automatic scheduling method utilizes the above-mentioned driving automatic scheduling system, including driving procedure, approach procedure and dodging procedure, make the isolation zone list in the safe scheduling system; if the isolation area list is empty, the safety scheduling system executes a driving process; if the isolation area list is not empty, the safety scheduling system executes an avoidance process; and if the staff need to enter the sub-area, the safety scheduling system executes an approach flow.
In the above scheme, the driving process includes the following steps:
x1. the safety dispatching system outputs the operation path to the running vehicle, and the running vehicle runs in each sub-area of the running area according to the operation path;
x2., the travelling crane positions the current position of the travelling crane in real time through the mobile positioning module, and sends the position information to the intelligent control board; the intelligent control board outputs position information to the main control device through the wireless transmission device;
x3., the intelligent control board also updates the execution progress of the travelling crane in real time according to the position information, if the position information of the travelling crane is inconsistent with the terminal coordinate of the running path, the intelligent control board will continue to control the travelling crane to move according to the running path; if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, the intelligent control board controls the travelling crane to stop;
x4. the safety dispatching system judges whether the running vehicle has completed the running path according to the position information of the running vehicle; if the position information of the travelling crane is inconsistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a working state; and if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a standby state.
In the above scheme, in the X1, the safety scheduling system outputs a running path to the wireless transmission device through the wireless antenna, the wireless transmission device outputs the running path to the intelligent control board, and the intelligent control board controls the start of the traveling crane according to the running path and controls the movement direction of the traveling crane;
in the above scheme, the approach flow includes the following steps:
J1. before entering any sub-area, a worker inputs an entrance application to a safety door corresponding to the sub-area; after receiving the entrance application, the safety door audits the staff; when the staff is approved, the security door generates approval information;
J2. the safety door outputs the audit passing information to the main control device, and the safety scheduling system inquires the current state of the travelling crane after receiving the audit passing information;
if the current state of the travelling crane is a working state, the safety scheduling system outputs a waiting instruction to a safety door through a main control device, and when the travelling crane finishes a running path and enters a standby state, the safety scheduling system sets a sub-region corresponding to the safety door as an isolation region;
if the current state of the travelling crane is a standby state, the safety scheduling system directly sets the sub-area corresponding to the safety door as an isolation area;
J3. the safety scheduling system records the numbers of the sub-areas set as the isolation areas into an isolation area list, and simultaneously outputs opening signals to a controller of the safety door, and the controller controls the electric door to be opened according to the opening signals, so that workers can enter the isolation areas through the electric door;
J4. when the worker leaves from the isolation area, the safety door is operated to close the electric door, and after the safety door is closed, the controller outputs a leaving signal to the main control device; and after the safety scheduling system receives the leaving signal, the safety scheduling system deletes the number of the sub-area corresponding to the safety door which sends the leaving signal in the isolation area list.
In the above scheme, in J1, a worker inputs an entrance application through an input device, the input device outputs the entrance application to the controller, and the controller receives the entrance application and then controls the fingerprint identifier, the face recognition system, and the password device to start;
the auditing of the staff in the J1 includes the following contents:
s1, fingerprint information of a worker is stored in the fingerprint identifier, the worker attaches a fingerprint to the fingerprint identifier, and the fingerprint identifier collects fingerprint data of the worker; if the fingerprint data is matched with the fingerprint information, the fingerprint identifier outputs fingerprint matching data to a controller; if the fingerprint data is not matched with the fingerprint information, the fingerprint identifier stops working;
s2, face information of the workers is stored in the face recognition system, the face recognition system scans faces of the workers to collect face data of the workers, and the face recognition system compares the face information with the face data; if the face information matches face data, the face recognition system outputs face matching data to the controller; if the face information does not match the face data, the face recognition system stops working;
s3, an entrance password is stored in the password equipment, and a worker inputs a login password to the password equipment through operation; if the entrance password is consistent with the login password, the password equipment outputs password matching data to the controller; if the entrance password is inconsistent with the login password, the password equipment stops working;
after the controller receives the fingerprint matching data, the face matching data and the password matching data, the controller determines that the work personnel passes the audit, and at the moment, the controller generates audit passing information;
in the J4, a worker can input a departure application to an input device, the input device outputs a closing signal to the controller according to the departure application, and the controller controls the electric door to be closed according to the closing signal.
In the above scheme, the avoidance process includes the following steps:
B1. the safety scheduling system outputs a running path to the travelling crane, and the travelling crane runs in each sub-area of the travelling area according to the running path; wherein the operation path avoids the isolation regions in the list of isolation regions;
B2. the travelling crane positions the current position in real time through the mobile positioning module, acquires position information and sends the position information to the intelligent control panel; the intelligent control board outputs position information to the main control device through the wireless transmission device;
B3. the intelligent control board also updates the execution progress of the travelling crane in real time according to the position information, and if the position information of the travelling crane is inconsistent with the terminal point coordinate of the running path, the intelligent control board continuously controls the travelling crane to move according to the running path; if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, the intelligent control board controls the travelling crane to stop;
B4. the safety scheduling system judges whether the travelling crane finishes a running path or not according to the position information of the travelling crane; if the position information of the travelling crane is inconsistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a working state; and if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a standby state.
In the above scheme, in the X1, coordinate information of each point of each sub-area is stored in a safety scheduling system, the safety scheduling system outputs a running path to a wireless transmission device through a wireless antenna, the wireless transmission device outputs the running path to an intelligent control board, and the intelligent control board controls a traveling crane to start according to the running path and controls a moving direction of the traveling crane;
in the X1, the operation of the safety scheduling system to output the driving vehicle to avoid the operation path of the isolation zone in the isolation zone list comprises the following steps:
m1, after the safe scheduling system generates a running path, comparing the running path with an isolation area list, and determining whether each coordinate on the running path is not in the range of an isolation area corresponding to each sub-area number in the isolation area list;
if all the coordinates on the operation path are not in the range of the isolation area corresponding to the number of each sub-area in the isolation area list, the safety scheduling system outputs the operation path to the wireless transmission device through the wireless antenna;
if any coordinate on the running path is located in the range of the isolation area corresponding to any sub-area number in the isolation area list, the safety scheduling system stops outputting the running path to the travelling crane;
m2, when the safety scheduling system deletes the number of the sub-area corresponding to the safety door sending the leaving signal in the isolation area list, the safety scheduling system will execute the M1 again.
The invention has the advantages and beneficial effects that: the invention provides an automatic dispatching system and a dispatching method for traveling cranes, which realize the automatic control of traveling cranes in a workshop, reduce the investment of labor cost and improve the delivery efficiency of cargos; the risk that external irrelevant personnel enter a driving area at will is avoided, and the safety of a driving room is ensured; meanwhile, the condition that a travelling crane in operation meets workers is avoided, so that the personal safety of the workers is ensured; the system not only can enable the working personnel to work in the isolation area, but also ensures the normal development of the cargo distribution work of the traveling crane as much as possible, thereby not only ensuring the personal safety of the working personnel, but also ensuring the operating efficiency of the traveling crane room.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram schematically illustrating a configuration of an automatic dispatching system for vehicle traveling according to the present invention;
fig. 2 is a schematic structural diagram of a safety door in the automatic train dispatching system of the present invention.
In the figure: 1. traveling crane 2, safety door 3, safety fence 4 and master control device
5. Driving area 11, intelligent control panel 12, mobile positioning module
13. Wireless transmission device 21, electrically operated gate 22, controller
23. Fingerprint recognizer 24, face recognition system 25, password device
26. Input device 41, wireless antenna 51, and sub-area
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 and 2, the invention is an automatic driving dispatching system, which comprises a driving 1, safety doors 2, a safety fence 3 and a main control device 4, wherein the safety fence 3 divides a driving area 5 of the driving 1 into a plurality of sub-areas 51, the end of each sub-area 51 is provided with the safety door 2, and the safety doors 2 are used for isolating the communication between the corresponding sub-area 51 and the outside; the main control device 4 can perform wireless communication with the traveling vehicle 1.
Specifically, the travelling crane 1 can pass through two adjacent sub-areas 51 from the space above the safety fence 3, and the moving direction of the travelling crane 1 is parallel to the arrangement direction of each sub-area 51; the security gate 2 comprises an electric gate 21, a controller 22, a fingerprint recognizer 23, a face recognition system 24, a password device 25 and an input device 26; the fingerprint recognizer 23, the face recognition system 24, the password device 25 and the input device 26 are respectively connected with the controller 22, and the fingerprint recognizer 23, the face recognition system 24, the password device 25 and the input device 26 are respectively fixed on one side of the electric door 21, which faces away from the sub-area 51; the controller 22 and the main control device 4 are connected with each other;
a safety scheduling system is installed in the main control device 4, and is used for controlling the running path of the travelling crane 1 in each sub-area 51 in the travelling area 5 and positioning the position of the travelling crane 1 in real time; the safety scheduling system is also used for controlling the current state of each sub-area 51 in the driving area 5; the main control device 4 is an integrated circuit.
Specifically, the traveling crane 1 has at least one; an intelligent control panel 11, a mobile positioning module 12 and a wireless transmission device 13 are installed in the travelling crane 1, the intelligent control panel 11, the mobile positioning module 12 and the wireless transmission device 13 are respectively fixed on the travelling crane 1, and the intelligent control panel 11 is respectively connected with the mobile positioning module 12, the wireless transmission device 13 and the travelling crane 1; the main control device 4 is internally provided with a wireless antenna 41, and the main control device 4 realizes wireless communication with the travelling crane 1 through the wireless antenna 41 and the wireless transmission device 13; the intelligent control board 11 is an integrated circuit.
A driving automatic scheduling method utilizes the above-mentioned driving automatic scheduling system, including driving procedure, approach procedure and dodging procedure, make the isolation zone list in the safe scheduling system; if the isolation area list is empty, the safe scheduling system executes the driving process; if the isolation area list is not empty, the safety scheduling system executes an avoidance process; if the staff member needs to enter the sub-area 51, the safety dispatching system executes the approach flow.
Specifically, the driving process comprises the following steps:
x1. the safety dispatching system outputs the running path to the travelling crane 1, and the travelling crane 1 runs in each sub-area 51 in the travelling area 5 according to the running path;
x2., the traveling crane 1 positions the current position of the traveling crane 1 in real time through the mobile positioning module 12, and sends the position information to the intelligent control board 11; the intelligent control board 11 outputs position information to the main control device 4 through the wireless transmission device 13;
x3. the intelligent control board 11 also updates the execution progress of the travelling crane in real time according to the position information, if the position information of the travelling crane 1 is inconsistent with the terminal coordinate of the running path, the intelligent control board 11 will continue to control the travelling crane 1 to move according to the running path; if the position information of the travelling crane 1 is consistent with the terminal point coordinate of the running path, the intelligent control board 11 controls the travelling crane 1 to stop;
x4. the safety dispatching system judges whether the traveling crane 1 has finished the running path according to the position information of the traveling crane 1; if the position information of the travelling crane 1 is inconsistent with the terminal point coordinate of the running path, setting the current state of the travelling crane 1 as a working state; and if the position information of the travelling crane 1 is consistent with the end point coordinate of the running path, setting the current state of the travelling crane 1 as a standby state.
Wherein the travel path comprises the entire process of the travelling crane 1 moving from a certain sub-area 51 to another sub-area 51 in the travelling crane area 5.
Preferably, in X1, the safety dispatching system outputs the operation path to the wireless transmission device 13 through the wireless antenna 41, the wireless transmission device 13 outputs the operation path to the intelligent control board 11, and the intelligent control board 11 controls the traveling crane 1 to start according to the operation path and controls the movement direction of the traveling crane 1;
specifically, the approach flow comprises the following steps:
J1. before entering any sub-area 51, a worker inputs an entrance application to the security gate 2 corresponding to the sub-area 51; after receiving the entrance application, the safety door 2 audits the staff; when the audit of the staff is passed, the safety door 2 generates audit passing information;
J2. the safety door 2 outputs the audit passing information to the main control device 4, and the safety scheduling system inquires the current state of the travelling crane 1 after receiving the audit passing information;
if the current state of the travelling crane 1 is a working state, the safety scheduling system outputs a waiting instruction to the safety door 2 through the main control device 4, and when the travelling crane 1 finishes a running path and enters a standby state, the safety scheduling system sets the sub-area 51 corresponding to the safety door 2 as an isolation area;
if the current state of the travelling crane 1 is a standby state, the safety scheduling system directly sets the sub-area 51 corresponding to the safety door 2 as an isolation area;
J3. the safety scheduling system records the numbers of the sub-areas 51 set as the isolation areas into an isolation area list, and simultaneously outputs opening signals to the controller 22 of the safety door 2, and the controller 22 controls the electric door 21 to be opened according to the opening signals, so that workers can enter the isolation areas through the electric door 21;
J4. when the worker leaves from the isolation area, the safety door 2 is operated to close the electric door 21, and after the safety door 2 is closed, the controller 22 outputs a leaving signal to the main control device 4; when the safety scheduling system receives the leaving signal, the safety scheduling system deletes the number of the sub-area 51 corresponding to the security gate 2 which sends the leaving signal in the isolation area list.
Preferably, in J1, the staff inputs the approach application through the input device, the input device outputs the approach application to the controller 22, and the controller 22 controls the fingerprint identifier 23, the face recognition system 24 and the password device 25 to start after receiving the approach application;
the audit of the staff in J1 includes the following:
s1, fingerprint information of a worker is stored in a fingerprint identifier 23, the worker attaches a fingerprint to the fingerprint identifier 23, and the fingerprint identifier 23 collects fingerprint data of the worker; if the fingerprint data matches the fingerprint information, the fingerprint identifier 23 outputs the fingerprint matching data to the controller 22; if the fingerprint data does not match the fingerprint information, the fingerprint identifier 23 stops working;
s2, face information of the workers is stored in the face recognition system 24, the face recognition system 24 scans faces of the workers to collect face data of the workers, and the face recognition system 24 compares the face information with the face data; if the face information matches the face data, the face recognition system 24 will output the face matching data to the controller 22; if the facial information does not match the facial data, the facial recognition system 24 will stop operating;
s3, an entrance password is stored in the password equipment 25, and a worker inputs a login password to the password equipment 25 through operation; if the entrance password is consistent with the login password, the password device 25 outputs password matching data to the controller 22; if the entrance password is not consistent with the login password, the password device 25 stops working;
when the controller 22 receives the fingerprint matching data, the face matching data and the password matching data, the controller 22 determines that the operator passes the audit, and at this time, the controller 22 generates audit passing information;
in J4, the worker can input the departure application to the input device 26, the input device 26 will output a closing signal to the controller 22 according to the departure application, and the controller 22 controls the power door 21 to close according to the closing signal.
Specifically, the avoidance process comprises the following steps:
B1. the safety scheduling system outputs a running path to the travelling crane 1, and the travelling crane 1 travels in each sub-area 51 in the travelling area 5 according to the running path; wherein the operation path avoids the isolation region in the isolation region list;
B2. the traveling crane 1 positions the current position in real time through the mobile positioning module 12, and sends the position information to the intelligent control panel 11 after obtaining the position information; the intelligent control board 11 outputs position information to the main control device 4 through the wireless transmission device 13;
B3. the intelligent control board 11 also updates the execution progress of the travelling crane in real time according to the position information, and if the position information of the travelling crane 1 is inconsistent with the terminal coordinate of the running path, the intelligent control board 11 will continue to control the travelling crane 1 to move according to the running path; if the position information of the travelling crane 1 is consistent with the terminal point coordinate of the running path, the intelligent control board 11 controls the travelling crane 1 to stop;
B4. the safety scheduling system judges whether the traveling crane 1 finishes the running path or not according to the position information of the traveling crane 1; if the position information of the travelling crane 1 is inconsistent with the terminal point coordinate of the running path, setting the current state of the travelling crane 1 as a working state; and if the position information of the travelling crane 1 is consistent with the end point coordinate of the running path, setting the current state of the travelling crane 1 as a standby state.
Wherein the travel path comprises the entire process of the travelling crane 1 moving from one sub-area 51 in the travel area 6 to another sub-area 51 in the travelling crane area 5.
Preferably, in X1, coordinate information of each point of each sub-region 51 is stored in the safety scheduling system, so that the safety scheduling system can compare each coordinate on the operation path with each coordinate of the isolation region corresponding to the number of any sub-region 51 in the isolation region list;
the safety dispatching system outputs a running path to the wireless transmission device 13 through the wireless antenna 41, the wireless transmission device 13 outputs the running path to the intelligent control board 11, and the intelligent control board 11 controls the traveling crane 1 to start according to the running path and controls the moving direction of the traveling crane 1;
in X1, the operation of the safety dispatching system outputting a travel path avoiding the exclusion zone in the exclusion zone list to the traveling crane 1 includes the steps of:
m1, after the safe scheduling system generates a running path, comparing the running path with the isolation area list, and determining whether each coordinate on the running path is not in the range of the isolation area corresponding to the number of each sub-area 51 in the isolation area list;
m11. if each coordinate on the operation path is not in the range of the isolation region corresponding to the number of each sub-region 51 in the isolation region list, the safety scheduling system outputs the operation path to the wireless transmission device 13 through the wireless antenna 41;
m122. if any coordinate on the operation path is located in the range of the isolation area corresponding to any sub-area 51 number in the isolation area list, the safety scheduling system stops outputting the operation path to the traveling crane 1;
m2. when the safety scheduling system deletes the number of the sub-area 51 corresponding to the security gate 2 which sends the leaving signal in the isolation area list, the safety scheduling system will execute M1 again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The automatic traveling crane dispatching system is characterized by comprising a traveling crane, safety doors, safety fences and a main control device, wherein the safety fences divide a traveling crane area of the traveling crane into a plurality of sub-areas, the safety doors are respectively mounted at the end parts of the sub-areas, and the safety doors are used for isolating the communication between the corresponding sub-areas and the outside; the main control device is in wireless communication with the travelling crane;
the travelling crane passes through two adjacent sub-areas from the space above the safety fence, and the moving direction of the travelling crane is parallel to the arrangement direction of each sub-area; the safety door comprises an electric door, a controller, a fingerprint recognizer, a face recognition system, password equipment and an input device; the fingerprint recognizer, the face recognition system, the password equipment and the input device are respectively connected with the controller, and the fingerprint recognizer, the face recognition system, the password equipment and the input device are respectively fixed on one side of the electric door, which is back to the sub-area; the controller is connected with the main control device;
the main control device is internally provided with a safety scheduling system which is used for controlling the running path of the travelling crane in each sub-area of the travelling crane area and positioning the position of the travelling crane in real time; the safety scheduling system is also used for controlling the current state of each sub-area in the driving area;
the travelling crane is provided with at least one travelling crane; the intelligent control board, the mobile positioning module and the wireless transmission device are respectively fixed on the travelling crane, and the intelligent control board is respectively connected with the mobile positioning module, the wireless transmission device and the travelling crane; the wireless antenna is arranged in the main control device, and the main control device realizes wireless communication with the travelling crane through the wireless antenna and the wireless transmission device.
2. A driving automatic scheduling method, which utilizes the driving automatic scheduling system of claim 1, is characterized by comprising a driving process, an approach process and an avoidance process, wherein an isolation area list is formulated in the safety scheduling system; if the isolation area list is empty, the safety scheduling system executes a driving process; if the isolation area list is not empty, the safety scheduling system executes an avoidance process; if the staff need to enter the sub-area, the safety scheduling system executes an approach flow;
the driving process comprises the following steps:
x1. the safety dispatching system outputs the operation path to the running vehicle, and the running vehicle runs in each sub-area of the running area according to the operation path;
x2., the travelling crane positions the current position of the travelling crane in real time through the mobile positioning module, and sends the position information to the intelligent control board; the intelligent control board outputs position information to the main control device through the wireless transmission device;
x3., the intelligent control board also updates the execution progress of the travelling crane in real time according to the position information, if the position information of the travelling crane is inconsistent with the terminal coordinate of the running path, the intelligent control board will continue to control the travelling crane to move according to the running path; if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, the intelligent control board controls the travelling crane to stop;
x4. the safety dispatching system judges whether the running vehicle has completed the running path according to the position information of the running vehicle; if the position information of the travelling crane is inconsistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a working state; if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a standby state;
the approach flow comprises the following steps:
J1. before entering any sub-area, a worker inputs an entrance application to a safety door corresponding to the sub-area; after receiving the entrance application, the safety door audits the staff; when the staff is approved, the security door generates approval information;
J2. the safety door outputs the audit passing information to the main control device, and the safety scheduling system inquires the current state of the travelling crane after receiving the audit passing information;
if the current state of the travelling crane is a working state, the safety scheduling system outputs a waiting instruction to a safety door through a main control device, and when the travelling crane finishes a running path and enters a standby state, the safety scheduling system sets a sub-region corresponding to the safety door as an isolation region;
if the current state of the travelling crane is a standby state, the safety scheduling system directly sets the sub-area corresponding to the safety door as an isolation area;
J3. the safety scheduling system records the numbers of the sub-areas set as the isolation areas into an isolation area list, and simultaneously outputs opening signals to a controller of the safety door, and the controller controls the electric door to be opened according to the opening signals, so that workers enter the isolation areas through the electric door;
J4. when the worker leaves from the isolation area, the safety door is operated to close the electric door, and after the safety door is closed, the controller outputs a leaving signal to the main control device; and after the safety scheduling system receives the leaving signal, the safety scheduling system deletes the number of the sub-area corresponding to the safety door which sends the leaving signal in the isolation area list.
3. The method as claimed in claim 2, wherein in the X1, the safety dispatching system outputs a running path to a wireless transmission device through a wireless antenna, the wireless transmission device outputs the running path to an intelligent control board, and the intelligent control board controls the start of the traveling crane according to the running path and controls the moving direction of the traveling crane.
4. The automatic dispatching method for driving according to claim 2, wherein in J1, a worker inputs an entrance application through an input device, the input device outputs the entrance application to the controller, and the controller receives the entrance application and then controls the fingerprint identifier, the face recognition system and the password device to start;
the auditing of the staff in the J1 includes the following contents:
s1, fingerprint information of a worker is stored in the fingerprint identifier, the worker attaches a fingerprint to the fingerprint identifier, and the fingerprint identifier collects fingerprint data of the worker; if the fingerprint data is matched with the fingerprint information, the fingerprint identifier outputs fingerprint matching data to a controller; if the fingerprint data is not matched with the fingerprint information, the fingerprint identifier stops working;
s2, face information of the workers is stored in the face recognition system, the face recognition system scans faces of the workers to collect face data of the workers, and the face recognition system compares the face information with the face data; if the face information matches face data, the face recognition system outputs face matching data to the controller; if the face information does not match the face data, the face recognition system stops working;
s3, an entrance password is stored in the password equipment, and a worker inputs a login password to the password equipment through operation; if the entrance password is consistent with the login password, the password equipment outputs password matching data to the controller; if the entrance password is inconsistent with the login password, the password equipment stops working;
after the controller receives the fingerprint matching data, the face matching data and the password matching data, the controller determines that the work personnel passes the audit, and at the moment, the controller generates audit passing information;
in the J4, a worker inputs a departure application to an input device, the input device outputs a closing signal to the controller according to the departure application, and the controller controls the electric door to be closed according to the closing signal.
5. The automatic traffic scheduling method according to claim 2, wherein the avoidance process comprises the following steps:
B1. the safety scheduling system outputs a running path to the travelling crane, and the travelling crane runs in each sub-area of the travelling area according to the running path; wherein the operation path avoids the isolation regions in the list of isolation regions;
B2. the travelling crane positions the current position in real time through the mobile positioning module, acquires position information and sends the position information to the intelligent control panel; the intelligent control board outputs position information to the main control device through the wireless transmission device;
B3. the intelligent control board also updates the execution progress of the travelling crane in real time according to the position information, and if the position information of the travelling crane is inconsistent with the terminal point coordinate of the running path, the intelligent control board continuously controls the travelling crane to move according to the running path; if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, the intelligent control board controls the travelling crane to stop;
B4. the safety scheduling system judges whether the travelling crane finishes a running path or not according to the position information of the travelling crane; if the position information of the travelling crane is inconsistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a working state; and if the position information of the travelling crane is consistent with the terminal point coordinate of the running path, setting the current state of the travelling crane as a standby state.
6. The method according to claim 5, wherein in the X1, coordinate information of each point of each sub-area is stored in a safety scheduling system, the safety scheduling system outputs a running path to a wireless transmission device through a wireless antenna, the wireless transmission device outputs the running path to an intelligent control board, and the intelligent control board controls the start of the travelling crane according to the running path and controls the moving direction of the travelling crane;
in the X1, the operation of the safety scheduling system to output the driving vehicle to avoid the operation path of the isolation zone in the isolation zone list comprises the following steps:
m1, after the safe scheduling system generates a running path, comparing the running path with an isolation area list, and determining whether each coordinate on the running path is not in the range of an isolation area corresponding to each sub-area number in the isolation area list;
if all the coordinates on the operation path are not in the range of the isolation area corresponding to the number of each sub-area in the isolation area list, the safety scheduling system outputs the operation path to the wireless transmission device through the wireless antenna;
if any coordinate on the running path is located in the range of the isolation area corresponding to any sub-area number in the isolation area list, the safety scheduling system stops outputting the running path to the travelling crane;
m2, when the safety scheduling system deletes the number of the sub-area corresponding to the safety door sending the leaving signal in the isolation area list, the safety scheduling system will execute the M1 again.
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