CN111736543A - Overhead crane scheduling method, overhead crane management device and terminal equipment - Google Patents

Overhead crane scheduling method, overhead crane management device and terminal equipment Download PDF

Info

Publication number
CN111736543A
CN111736543A CN202010414967.XA CN202010414967A CN111736543A CN 111736543 A CN111736543 A CN 111736543A CN 202010414967 A CN202010414967 A CN 202010414967A CN 111736543 A CN111736543 A CN 111736543A
Authority
CN
China
Prior art keywords
slab
crown block
position information
plan
overhead traveling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010414967.XA
Other languages
Chinese (zh)
Inventor
刘送杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lysteel Co Ltd
Original Assignee
Lysteel Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lysteel Co Ltd filed Critical Lysteel Co Ltd
Priority to CN202010414967.XA priority Critical patent/CN111736543A/en
Publication of CN111736543A publication Critical patent/CN111736543A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0081—Transmission between base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G06F17/12—Simultaneous equations, e.g. systems of linear equations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Mathematical Analysis (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Computational Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Algebra (AREA)
  • Automation & Control Theory (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • Manufacturing & Machinery (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

A method, a device and a terminal device for scheduling overhead cranes of a slab yard are disclosed, which comprises the steps of obtaining a destacking plan according to a production plan, and generating an operation plan of an overhead crane based on the destacking plan, wherein the operation plan comprises a movement route of the overhead crane; receiving crown block signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and determining the position information of a crown block according to the crown block signals and the position information of the UWB signal processing micro base stations; the crown block signal is generated for a UWB positioning label of the crown block; and controlling the crown block to execute the operation plan according to the position information and the movement route of the crown block. The dispatching method has the advantages of small environmental interference on crown block positioning, high positioning accuracy and lower cost, thereby laying a foundation for smooth operation plan execution of the crown block. The overhead traveling crane dispatching method of the slab warehouse is small in environmental interference, stable and smooth in operation and low in cost.

Description

Overhead crane scheduling method, overhead crane management device and terminal equipment
Technical Field
The application belongs to the technical field of crown blocks, and particularly relates to a crown block scheduling method, a crown block management device and terminal equipment of a slab library.
Background
The overhead traveling crane is indispensable equipment in industrial production and commodity circulation, realizes the transport to different volume size and different weight article, and it can show improvement production and transportation efficiency.
With the continuous promotion of industrial automation and artificial intelligence strategies in China, crown blocks are applied more and more in iron and steel enterprises. The overhead traveling crane of the slab warehouse is mainly used for carrying slabs, how fully combine the slab stacking position condition of the slab warehouse under the production plan, arrange a reasonable stack-reversing plan, and accurately position the overhead traveling crane to obtain a target position, so that the movement distance of the overhead traveling crane can be reduced, and the improvement of the transport efficiency and the control efficiency of the overhead traveling crane are particularly important. And the overhead crane positioning is a basic link for realizing automation of the slab warehouse, and the operation plan can be executed only by accurately acquiring the position data of the slab warehouse, so that the automatic operation of the overhead crane is ensured.
However, the slab library belongs to an environment with high temperature, high radiation and certain dust, and the positioning accuracy of the slab library is reduced due to more interference on a positioning system. Such as a laser-based positioning system and a precise crown block positioning system based on active vision control of a diagram. Other overhead traveling crane positioning systems based on RFID and WIA wireless networks, overhead traveling crane positioning systems based on coded cables and address modulators and overhead traveling crane positioning systems based on gray buses have the problem of high installation cost or high maintenance. Therefore, it is important to provide an overhead traveling crane scheduling method for a slab warehouse, which is accurate in positioning and high in installation cost or maintenance.
Disclosure of Invention
The embodiment of the application provides a crown block scheduling method, a crown block management method and a crown block management device of a slab warehouse, and a terminal device method and a terminal device, and can solve the technical problem that scheduling or installation cost is influenced or maintenance is high due to inaccurate positioning.
In a first aspect, an embodiment of the present application provides a method for scheduling overhead traveling cranes in a slab yard, including the following steps:
obtaining a stack-reversing plan according to the production plan, and generating an operation plan of the overhead travelling crane based on the stack-reversing plan, wherein the operation plan comprises a movement route of the overhead travelling crane;
receiving crown block signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and determining the position information of a crown block according to the crown block signals and the position information of the UWB signal processing micro base stations; the crown block signal is generated for a UWB positioning label of the crown block;
and controlling the crown block to execute the operation plan according to the position information and the movement route of the crown block.
Optionally, the step of obtaining the inverted stacking plan according to the production plan comprises:
acquiring the rolling sequence of a target slab, the position information of the target slab and the position information of an alternative slab capable of replacing the target slab according to a rolling unit plan in a production plan;
and obtaining a stack reversing plan by adopting a genetic algorithm according to the position information of the target slab and the position information of the alternative slab.
Optionally, the step of obtaining the inverted stack plan by using a genetic algorithm according to the position information of the target slab and the position information of the candidate slabs comprises:
establishing a set K which is { 1., M } by using the position information of the target slab in the rolling unit plan, wherein M is the total number of the target slabs included in the rolling unit plan;
establishing a set S ═ { 1., N } by using the position information of the alternative slabs in the rolling unit plan, wherein N is the total number of the alternative slabs included in the rolling unit plan;
Siset of candidate slabs corresponding to the ith target slab, SkSet of candidate slabs corresponding to the kth target slab, Si∩SkΦ, Φ is the empty set, where i, K ∈ K, but i ≠ K;
setting the decision variables as:
Figure BDA0002494654580000021
1 denotes the selection of the jth candidate slab if the ith target slab in the rolling unit plan, where i ∈ K, j ∈ Si(ii) a 0 means unselected;
obtaining a planning model:
Figure BDA0002494654580000031
Figure BDA0002494654580000032
Figure BDA0002494654580000033
Figure BDA0002494654580000034
Figure BDA0002494654580000036
Ci,jrepresenting the required net stack-reversing times when the target slab i needs the alternative slab j; djNumber of original slabs above the candidate slab j before the scheduled execution, Ci,jThe specific expression is as follows:
Figure BDA0002494654580000035
solving the formula (6) by adopting a genetic algorithm to obtain Ci,jThe stack-reversing plan is obtained.
Optionally, the step of receiving the crown block signals respectively collected by at least four UWB signal processing micro base stations distributed in a slab base, and determining the position information of the crown block according to the crown block signals and the position information of the UWB signal processing micro base stations includes:
acquiring corresponding distance difference between the crown block and each UWB signal processing micro base station according to the time of the crown block signal acquired by each UWB signal processing micro base station;
and determining the position information of the crown block according to the distance difference and the position information of the UWB signal processing micro base station.
Optionally, the step of determining the location information of the crown block based on the distance difference and the location information of the UWB signal processing micro base station comprises:
the number of the UWB positioning micro base stations is 4, and the position information of the UWB positioning micro base stations is R respectively1(X1,Y1)、R2(X2,Y2)、R3(X3,Y3)、R4(X4,Y4) The time of the crown block signal collected by the corresponding UWB signal processing micro base station is t1、t2、t3、t4And calculating the position information of the overhead travelling crane by adopting a TDOA algorithm formula:
Figure BDA0002494654580000041
Figure BDA0002494654580000042
Figure BDA0002494654580000043
where v is the propagation velocity of the pulse signal.
Optionally, the overhead traveling crane signal includes a cart signal and a cart signal; the cart signal is generated by a UWB positioning tag of the cart, and the trolley signal is generated by a UWB positioning tag of the trolley;
correspondingly, the step of controlling the crown block to execute the operation plan according to the position information and the movement route of the crown block comprises the following steps:
and controlling the cart and the trolley to execute the operation plan according to the position information of the cart, the position information of the trolley and the movement route.
In a second aspect, an embodiment of the present application provides a method for managing an overhead traveling crane of a slab yard, including the overhead traveling crane scheduling method of the slab yard; and monitoring at least one parameter of temperature, amplitude, speed, weight, safety distance and running time of the crown block after controlling the crown block to execute the operation plan.
In a third aspect, an embodiment of the present application provides an overhead traveling crane scheduling apparatus for a slab warehouse, including:
the operation plan generating module is used for obtaining a stack-reversing plan according to the production plan and generating an operation plan of the crown block based on the stack-reversing plan;
the overhead traveling crane position determining module is used for receiving overhead traveling crane signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and determining the position information of the overhead traveling crane according to the overhead traveling crane signals and the position information of the UWB signal processing micro base stations;
and the crown block control module is used for controlling the crown block to execute the operation plan according to the position information and the movement route of the crown block.
In a fourth aspect, the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method when executing the computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the method described above.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that: and obtaining a stack-reversing plan according to the production plan, receiving crown block signals collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and positioning the crown blocks by utilizing a UWB technology. UWB technology can greatly reduce the number of UWB signal processing micro base stations and UWB positioning tags. Compared with other technologies, the hardware and hardware deployment workload and the research and development workload of the system are greatly reduced. Meanwhile, the UWB signal processing micro base station based on the UWB positioning technology and the UWB positioning tag communicate wirelessly through UWB, so that dust and the like in a slab library cannot influence the micro base station, and external interference factors are small. Secondly, the jitter or the aim of the overhead travelling crane does not influence the transmission and the reception of signals and the processing of the signals, and in addition, the influence of high temperature on the UWB tag is small. Therefore, the positioning of the crown block is slightly interfered by the environment, the positioning accuracy is high, and the cost is lower, thereby laying a foundation for the smooth execution of the operation plan of the crown block. The overhead traveling crane dispatching method of the slab warehouse is small in environmental interference, stable and smooth in operation and low in cost.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of an overhead traveling crane scheduling method for a slab yard provided in embodiment 1 of the present application;
FIG. 2 is a schematic structural diagram of a slab warehouse and a crown block;
FIG. 3 is a library level view of a stack of slabs;
FIG. 4 illustrates the composition and operation of a UWB positioning tag;
FIG. 5 is the composition and operation of a UWB signal processing micro-base station;
FIG. 6 is a diagram of a UWB based crown block positioning simulation;
fig. 7 is a schematic flowchart of an overhead traveling crane scheduling method for a slab yard according to embodiment 2 of the present application;
fig. 8 is a schematic flowchart of an overhead traveling crane scheduling method for a slab yard according to embodiment 4 of the present application;
FIG. 9 is a schematic diagram of the TDOA algorithm provided in embodiment 5 of the present application;
fig. 10 is a schematic flowchart of an overhead traveling crane management method for a slab yard according to embodiment 4 of the present application;
fig. 11 is a schematic diagram of an overhead crane dispatching device of a slab warehouse according to an embodiment of the present application;
fig. 12 is a schematic hardware structure diagram of an overhead traveling crane dispatching device of a slab library according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Referring to fig. 1, an embodiment of the present application provides an overhead traveling crane scheduling method for a slab warehouse, including the following steps:
and S100, obtaining a destacking plan according to the production plan, and generating an operation plan of the crown block based on the destacking plan, wherein the operation plan comprises a movement route of the crown block.
A schematic diagram of a slab bank and a crown block is shown in fig. 2. The bars in the lower part of figure 2 are slab piles and the overhead travelling crane and overhead travelling crane rails are arranged above the slab piles. The slab yard comprises a plurality of slab stacks, each of which stacks a plurality of slabs. In order to improve the utilization efficiency of the overhead travelling crane, whether the operation plan of the overhead travelling crane is scientific and reasonable plays a very critical role, so an efficient operation plan of the overhead travelling crane needs to be arranged. The crown block operation plan is strongly linked with the slab reversing plan, and the lower the slab reversing times, the higher the crown block operation efficiency, so the slab reversing plan of the slab warehouse needs to be further optimized. When arranging the slab stack-reversing plan of the slab library, firstly, the production plan needs to be considered, and then the operation plan of the crown block is directly connected with the production plan.
The production plan of the steel mill comprises a plurality of rolling unit plans, each rolling unit plan comprises a plurality of rolling items, and each rolling item corresponds to one slab. The rolling unit plan records the rolling sequence, specifies the target slab corresponding to each rolling stage, and actually determines the rolling sequence of all slabs in the slab library. The rolling unit plan also records the position of each slab, such as the slab being in a slab stack, the stack height of the slab, and the height of the slab within the slab stack, so that the target slab can be quickly found.
Specifically, the structure of each of the crenels in the slab library is shown in fig. 3, where the target slab in fig. 3 refers to the desired slab that the rolling unit is planning to currently produce, and is represented by the dark box in fig. 3. The slabs above the target slab are the reverse stacked slabs, and the target slab can be exposed only when the reverse stacked slabs are moved to other stacking positions, so that the reverse stacking by the overhead traveling crane is required. After the target plate blank is exposed, the target plate blank is transported to a corresponding heating furnace through a crown block to be heated, and then rolling can be carried out. The set of concrete ways in which all slabs in the production plan of the steel mill complete the process is the unstacking plan. The process of the overhead traveling crane completing the destacking plan is an operation plan, and the overhead traveling crane movement route in the process is generated accordingly. The stack height refers to the total number of slabs stacked at the stack position. The numbering of the slabs in this example is from the bottom of the pile, the slab of the bottom being the first slab in the pile. Of course, counting from the top of the stack may also be used, which is substantially the same and will not be described further.
S200, receiving crown block signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and determining the position information of the crown block according to the crown block signals and the position information of the UWB signal processing micro base stations; the crown block signal is generated for the UWB positioning tag of the crown block.
The determination of the position information of the overhead traveling crane is actually realized by using an Ultra Wide Band (UWB) positioning technology. The main equipment comprises a UWB signal processing micro base station arranged in a slab base and a UWB positioning tag arranged on a crown block.
The UWB positioning tag is a UWB tag signal transmitter. Mature electronic elements are adopted for packaging design, UWB signal transmission is achieved, UWB positioning tags are packaged through the products, and research and development difficulty is reduced. The working principle arrangement in the UWB positioning tag is as shown in fig. 4, and the UWB signal transmitting module includes a signal generator, a signal encoding element, a pulse controller, a signal transmitter, and the like.
According to the requirement of crown block positioning, the invention designs the UWB signal processing micro base station as a Master base station (Master) and a Slave base station (Slave). The UWB signal processing micro base station mainly receives UWB signals transmitted by the micro tags to achieve signal receiving and forwarding, signal coverage of the whole slab base is achieved through the plurality of positioning micro base stations, and data information of the UWB positioning tags is detected. Similar to the UWB positioning tag, the relevant hardware components and operation principle of the UWB signal processing micro base station are organized herein as shown in fig. 5.
The crown block is positioned by adopting the UWB positioning technology, and the method has the following advantages:
referring to fig. 6, on one hand, the deployment number of sensors can be greatly reduced by the UWB technology, for example, only 1-2 UWB signal transmitting micro-tags need to be deployed on one overhead traveling crane. One span of a slab library only needs to deploy 4 UWB signal processing micro base stations at the same height level to realize uninterrupted data receiving and transmitting, namely one head, one middle and one tail. And two crown blocks occupy two crown block spans, and the three base stations can be multiplexed. Of course, more than 4 UWB signal processing micro base stations may be used. Compared with other technologies, the system greatly reduces the research and development workload, the hardware cost and the deployment workload.
On the other hand, the micro-tag and the micro base station based on the UWB positioning technology communicate wirelessly through UWB, so that dust and the like in a slab library cannot affect the micro-tag and the micro base station, and external interference factors are small. Secondly, the jitter or the aim of the overhead travelling crane does not influence the transmission and the reception of signals and the processing of the signals, and in addition, the influence of high temperature on the UWB tag is small. It is understood that the position of the crown block can be obtained continuously in real time in step S200.
Compared with other schemes, the hardware equipment required by the embodiment of the application has lower cost and more convenient deployment, and has very strong robustness to the environment and higher reliability under severe environments such as a slab library.
And S300, controlling the crown block to execute the operation plan according to the position information and the movement route of the crown block.
The overhead traveling crane is provided with a main control device and a traveling device, the position information and the movement route information of the overhead traveling crane can be sent to the main control device, and the traveling device is controlled by the main control device to enable the overhead traveling crane to travel along the movement route to complete the operation plan.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Compared with the prior art, the embodiment of the application has the advantages that: and obtaining a stack-reversing plan according to the production plan, receiving crown block signals collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and positioning the crown blocks by utilizing a UWB technology. UWB technology can greatly reduce the number of UWB signal processing micro base stations and UWB positioning tags. Compared with other technologies, the hardware and hardware deployment workload and the research and development workload of the system are greatly reduced. Meanwhile, the UWB signal processing micro base station based on the UWB positioning technology and the UWB positioning tag communicate wirelessly through UWB, so that dust and the like in a slab library cannot influence the micro base station, and external interference factors are small. Secondly, the jitter or the aim of the overhead travelling crane does not influence the transmission and the reception of signals and the processing of the signals, and in addition, the influence of high temperature on the UWB tag is small. Therefore, the positioning of the crown block is slightly interfered by the environment, the positioning accuracy is high, and the cost is lower, thereby laying a foundation for the smooth execution of the operation plan of the crown block. The overhead traveling crane dispatching method of the slab warehouse is small in environmental interference, stable and smooth in operation and low in cost.
Fig. 7 is a schematic flow chart of an overhead crane scheduling method for a slab warehouse provided in embodiment 2 of the present application, other steps are the same as in embodiment 1, and the step S100 of obtaining a destacking plan according to a production plan includes:
s110, acquiring the rolling sequence of the target slab, the position information of the target slab and the position information of the alternative slab capable of replacing the target slab according to the rolling unit plan in the production plan;
and S120, obtaining a stack reversing plan by adopting a genetic algorithm according to the position information of the target slab and the position information of the alternative slab.
A rolling unit plan of a slab library is composed of a plurality of rolling items, the sequence and position of which are determined in a hot rolling plan, and are fixed and unchangeable according to the requirements of the production process. Generally, before one rolling unit plan is implemented, 3-5 pre-selection rolling unit plans need to be made, so that a plan pre-selection pool is formed from corresponding slabs. Namely, each target slab has 3-5 exchangeable slabs which are similar to the target slab in specification, composition and the like and serve as alternative slabs. The set of candidate slabs is a planned pre-selection pool. The alternative slabs also have corresponding position information. The crown block actually identifies and determines the slab by its position information. Thus, the position information of the target slab may also be understood as being replaced with the position information of the alternative slab.
And obtaining a stack reversing plan by adopting a genetic algorithm according to the position information of the target slab and the position information of the alternative slab. The alternative slab is arranged, so that the whole scheduling process has a plurality of alternative schemes, and the whole scheduling method has strong robustness to the environment and high reliability.
Other steps of the overhead crane scheduling method for the slab library provided in embodiment 3 of the present application are the same as those in embodiment 2, and the step S120 of obtaining the reverse stacking plan by using the genetic algorithm according to the position information of the target slab and the position information of the candidate slab includes:
establishing a set K which is { 1., M } by using the position information of the target slab in the rolling unit plan, wherein M is the total number of the target slabs included in the rolling unit plan;
establishing a set S ═ { 1., N } by using the position information of the alternative slabs in the rolling unit plan, wherein N is the total number of the alternative slabs included in the rolling unit plan; siSet of candidate slabs corresponding to the ith target slab, SkSet of candidate slabs corresponding to the kth target slab, Si∩SkΦ, Φ is the empty set, where i, K ∈ K, but i ≠ K;
setting the decision variables as:
Figure BDA0002494654580000101
1 denotes the selection of the jth candidate slab if the ith target slab in the rolling unit plan, where i ∈ K, j ∈ Si(ii) a 0 means unselected;
obtaining a planning model:
Figure BDA0002494654580000102
Figure BDA0002494654580000103
Figure BDA0002494654580000104
Figure BDA0002494654580000111
Figure BDA0002494654580000113
Ci,jrepresenting the required net stack-reversing times when the target slab i needs the alternative slab j; djNumber of original slabs above the candidate slab j before the scheduled execution, Ci,jThe specific expression is as follows:
Figure BDA0002494654580000112
solving the formula (6) by adopting a genetic algorithm to obtain Ci,jThe stack-reversing plan is obtained.
Specifically, the known parameters are as follows:
k { 1., M } is the set of rolling positions of the constituent items of the entire rolling unit plan, i.e., the set of rolling positions of all target slabs of all rolling unit plans, and M is the number of items that the rolling unit plan includes. For example, a rolling unit plan is prepared to produce 20 products, i.e., the rolling unit plan includes 20 component items, each component item corresponds to a slab, which is a target slab, and the number of M is 20. Each target slab contains its own position information.
And S { 1., N } is the set of slabs in all planned pre-selection pools, and N is the total number of slabs in one planned pre-selection pool of the slab library. The description continues with the above example. Each of the 20 target slabs has a certain number of candidate slabs, the set of all the candidate slabs is S, and the number of the candidate slabs is assumed to be 200. I.e. 20 target slabs, can be produced, which can be selected from the above 200 alternative slabs. Each candidate slab includes its own location information.
SiSet of candidate slabs corresponding to the ith target slab, SkSet of candidate slabs corresponding to the kth target slab, Si∩SkΦ, Φ is the empty set, where i, K ∈ K, but i ≠ K.
Still taking the example of a rolling unit planning to produce 20 products, the ith target slab represents the rolling unit planning the ith product. SiNamely the set of the candidate slabs corresponding to the ith target slab. In the same way, SkNamely the set of the alternative slabs corresponding to the kth target slab.
The decision variables are:
Figure BDA0002494654580000121
1 denotes that if the ith position in the rolling unit plan is selected for the jth slab, the ith position corresponds to the ith position i ∈ K, j ∈Si. 0 means unselected.
A mathematical programming model can thus be obtained:
Figure BDA0002494654580000122
Figure BDA0002494654580000123
Figure BDA0002494654580000124
Figure BDA0002494654580000125
Figure BDA0002494654580000127
here coefficient Ci,jIndicating the net number of inversions required when the target slab i requires the alternate slab j. It is dynamically variable, not a constant, and its value depends on the slab stacking situation selected by the previous (i-1) items. Ci,jShould be a net number, set DjThe number of original slabs above the jth candidate slab before the scheduled execution, Ci,jThe specific expression is as follows:
Figure BDA0002494654580000126
the objective function (1) is to minimize the total number of times of stack inversions. Constraint (2) entails that there must be one and only one slab per rolling position, i.e. only the target slab for each rolling position is unique. The constraint (3) is such that any slab can be allocated at most only to the corresponding position in the plan of the individual rolling units. The constraint (4) is such that each rolling position must be filled by any slab of its corresponding set of candidate slabs. The constraint (5) is such that each rolling position cannot be filled by slabs other than its corresponding set of candidate slabs. The inverse stacking plan becomes a quadratic planning model, and it is quite difficult to solve the optimal solution. According to the related art, a genetic algorithm is an ideal processing method. The Genetic Algorithm (GA) is a self-adaptive search algorithm based on natural evolution and selection mechanism, and is successfully applied to solving of various optimization problems, so that the optimal stack-reversing problem is solved by the genetic algorithm, and after an optimal stack-reversing plan is obtained, the optimal movement route of the crown block is generated, and the generation of the optimal scheduling plan of the crown block is realized.
Fig. 8 is a schematic flowchart of a method for scheduling an overhead traveling crane of a slab yard provided in embodiment 4 of the present application, and other steps are the same as those in embodiment 1, where step S200 receives overhead traveling crane signals respectively acquired by at least four UWB signal processing micro base stations distributed in a distributed manner, and the step of determining position information of the overhead traveling crane according to the overhead traveling crane signals and the position information of the UWB signal processing micro base stations includes:
s210: acquiring corresponding distance difference between the crown block and each UWB signal processing micro base station according to the time of the crown block signal acquired by each UWB signal processing micro base station;
s220: and determining the position information of the crown block according to the distance difference and the position information of the UWB signal processing micro base station.
Because the distances between the crown block and each UWB signal processing micro-base station are different, the crown block signal time collected by each UWB signal processing micro-base station is different. And calculating the corresponding distance difference between the crown block and each UWB signal processing micro base station according to the time difference. Since the UWB signal processing micro base station is at a preset position, its position information is in a known state. And determining the position information of the crown block by using the distance difference and the position information of the UWB signal processing micro base station, namely calculating the position information of the crown block and determining the position of the crown block.
The slab library crown block scheduling method provided in embodiment 5 of the present application includes the following steps, which are the same as those in embodiment 4, and the step of determining the position information of the crown block according to the distance difference and the position information of the UWB signal processing micro base station includes:
referring to fig. 9, the number of UWB positioning micro base stations is 4, and the position information of the UWB positioning micro base stations is R, respectively1(X1,Y1)、R2(X2,Y2)、R3(X3,Y3)、R4(X4,Y4) The time of the crown block signal collected by the corresponding UWB signal processing micro base station is t1、t2、t3、t4And calculating the position information of the overhead travelling crane by adopting a TDOA algorithm formula:
Figure BDA0002494654580000131
Figure BDA0002494654580000132
Figure BDA0002494654580000133
where v is the propagation velocity of the pulse signal.
For the positioning Of UWB, in view Of the higher positioning accuracy Of TDOA (Time Difference Of Arrival Time Difference) positioning, the present embodiment uses the TDOA positioning principle to measure the Time Difference Of the UWB positioning tag relative to the propagation Of radio signals between two different UWB signal processing micro base stations, so as to obtain the distance Difference Of the UWB positioning tag relative to four sets Of positioning micro base stations, and TDOA is a one-way ranging technique, and only needs to measure the one-way distance between the positioning micro base stations and the UWB positioning tag.
TDOA location is a method of computation that uses time differences. Accurate absolute time is relatively difficult to measure, the distance difference from the signal to each UWB positioning micro base station is calculated by comparing the time difference from the signal to each UWB positioning micro base station, hyperbolas with the UWB positioning micro base stations as focuses and the distance difference as long axes can be made, and the intersection point of the three groups of hyperbolas is the position of the UWB positioning label. The working principle diagram of the simulated TDOA algorithm is shown as 9.
As shown in fig. 9: the coordinates of the UWB positioning micro base station are respectively R1(X1,Y1)、R2(X2,Y2)、R3(X3,Y3)、R4(X4,Y4) UWB positioning micro base station R1、R2、R3、R4When the UWB positioning tag is installed and deployed, the position is fixed, the coordinates are known, and the coordinates of the UWB positioning tag are determined to be R0(X0,Y0) The propagation speed of the pulse signal is constant, v 3 × 108m/S, assuming that the pulse signal arrives at the base station R from the tag O1、R2、R3、R4Time of t1、t2、t3、t4Respectively with (R)1,R4)，(R2,R4)，(R3,R4) As a focus, UWB positioning tag R0The distance difference between the transmitted signals and two base stations is constant, 3 groups of hyperbolas can be obtained, and the intersection point of the hyperbolas is the coordinate of the UWB positioning tag O. Solving for coordinates (X)0,Y0) The system of equations (a) is shown as follows:
Figure BDA0002494654580000141
Figure BDA0002494654580000142
Figure BDA0002494654580000143
in the formula, an equation of calculating three and one is adopted, so that the solution of the equation, namely the coordinate of the UWB positioning tag can be accurately calculated, and the position information of the crown block can be obtained.
Step S100 of the overhead traveling crane scheduling method for a slab yard provided in embodiment 7 of the present application is the same as that in embodiment 1, and in step S200, the overhead traveling crane signal includes a cart signal and a cart signal; the cart signal is generated by the UWB positioning label of the cart, and the trolley signal is generated by the UWB positioning label of the trolley.
Correspondingly, the step of controlling the overhead traveling crane to execute the operation plan according to the position information and the movement route of the overhead traveling crane in step S300 includes:
and controlling the cart and the trolley to execute the operation plan according to the position information of the cart, the position information of the trolley and the movement route.
According to the structure of the crown block, the large crown block of the crown block can move left and right on a crown block rail of the storehouse along the rail, and the small crown block can move back and forth in the large crown block. UWB positioning tags are respectively arranged on the cart and the trolley. The mobile terminal is characterized in that one mobile terminal is attached to the cart, one mobile terminal is attached to the trolley, the UWB signal is used between the UWB positioning tag and the UWB signal processing micro base station for communication, the UWB signal processing micro base station obtains the mobile position information of the crown block in real time, the real-time position information calculation can be carried out through a UWB-TDOA positioning algorithm, then data are uploaded to the server, further calculation and visual presentation are carried out through a related software system, so that managers or other data systems in a warehouse can master the motion track of the crown block at any time, and efficient crown block scheduling management is facilitated. If TDOA is adopted, the cart and the trolley can be respectively positioned to acquire the position information of the cart and the trolley, so that the cart and the trolley can be better controlled to operate. The cart and the trolley are independently positioned in the mode, and the reliability is better.
In other embodiments, the cart and cart position information may actually have some correlation, as the cart is moving within the cart. As shown in fig. 6, the direction in which the crown block rail extends is the Y-axis direction, and the direction perpendicular to the crown block rail is the X-axis direction. The cart is arranged parallel to the X axis and can move along the Y axis direction. The small car can move along the X-axis direction in the big car. The cart and the trolley are relatively static in the Y-axis direction, so that the Y-axis coordinate of the cart can be determined by the Y-axis coordinate of the trolley. And the cart itself is stationary in the X-axis direction, i.e. its X-axis coordinate is constant. In this case, the position information of the cart can be actually determined from the position information of the cart. Therefore, the crown block can complete the positioning of the cart and the trolley only by arranging a UWB positioning tag on the trolley actually. The mode can further save cost, and the UWB positioning tag is more convenient to install and deploy.
The embodiment 8 of the present application provides a crown block management method for a slab yard, which includes the crown block scheduling method for the slab yard described above with reference to fig. 10; after controlling the overhead traveling crane to execute the operation plan, the method further includes step S400: at least one of temperature, amplitude, speed, weight, safety distance and length of operation of the overhead travelling crane is monitored.
Because the slab warehouse belongs to the environment of high temperature and high radiation, the overhead traveling crane works in such a severe environment, and the working state of the overhead traveling crane needs to be monitored in real time. When the day car equipment breaks down, in time overhaul it, change spare part for it resumes work as soon as possible. The working state monitoring of the overhead travelling crane mainly comprises the step of collecting data by installing related sensors. If a temperature sensor is installed to collect the real-time temperature condition of the overhead travelling crane, the operation needs to be prompted to stop when the temperature exceeds 200 ℃; a vibration sensor is arranged to collect the vibration condition of the overhead travelling crane, when the amplitude exceeds 15mm, an alarm is given immediately, and a deceleration prompt is sent out; installing a speed sensor to detect the speed of the crown block, and forbidding the speed of the crown block to be more than 10 m/S; the lifting capacity of the overhead travelling crane is also an important parameter, so the weight of the overhead travelling crane needs to be monitored by a gravity sensor; the collision avoidance of the crown blocks is also an important function, so that a laser transmitter is arranged on the crown blocks, the distance between the two crown blocks is detected in real time, and the crown blocks are prevented from colliding; the working time and distance of the crown block are calculated by using a limit sensor, and when the working time exceeds 4 hours, the crown block is required to rest. The overhead traveling crane is monitored, the running stability, the safety and the early warning performance of the overhead traveling crane can be improved, the equipment failure rate and the equipment maintenance time are reduced, the operation and the maintenance of personnel are more convenient, and the production efficiency and the equipment running life cycle are improved.
Of course, since the position information of the overhead traveling crane can be obtained by real-time detection, the running speed of the overhead traveling crane can also be obtained by detecting the running distance of the overhead traveling crane within the preset time. Meanwhile, when two crown blocks in the slab warehouse run simultaneously, the position of each crown block can be obtained by positioning in real time, so that the distance between the two crown blocks can be actually calculated in real time.
Referring to fig. 11, fig. 11 is a crown block dispatching device 300 for slab libraries according to an embodiment of the present application, where the crown block dispatching device 300 for slab libraries includes units for executing steps in the embodiment corresponding to fig. 1. Please refer to fig. 1 for the related description of the corresponding embodiment. Fig. 11 is a schematic diagram of an overhead traveling crane scheduling apparatus, including:
the operation plan generating module 310 is used for obtaining a stack-reversing plan according to the production plan and generating an operation plan of the overhead travelling crane based on the stack-reversing plan;
the crown block position determining module 320 is used for receiving crown block signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and determining the position information of a crown block according to the crown block signals and the position information of the UWB signal processing micro base stations;
and the crown block control module 330 is configured to control the crown block to execute the operation plan according to the position information and the movement route of the crown block.
Fig. 12 is a schematic hardware structure diagram of an overhead traveling crane dispatching device 400 of a slab library according to an embodiment of the present application. As shown in fig. 12, the overhead traveling crane dispatching apparatus 400 of the slab yard includes: a processor 410, a memory 420, and a computer program 430, such as a power adjustment program, a brake system fault notification program, etc., stored in the memory 420 and operable on the processor 410. The processor 410, when executing the computer program 430, implements the methods in the various embodiments described above, such as S100, S200, and S300 shown in fig. 1.
Illustratively, the computer program 430 may be partitioned into one or more modules/units that are stored in the memory 420 and executed by the processor 410 to implement the present invention. One or more of the modules/units may be a series of instruction segments of the computer program 430 capable of performing specific functions, which are used to describe the execution process of the computer program 430 in the overhead traveling crane dispatching equipment of the slab library. For example, the computer program 430 may be divided into a job plan generation module, an overhead traveling crane position determination module, and an overhead traveling crane control module (a module in the virtual device), and the specific functions of each module are as follows:
the operation plan generating module is used for obtaining a stack-reversing plan according to the production plan and generating an operation plan of the crown block based on the stack-reversing plan;
the overhead traveling crane position determining module is used for receiving overhead traveling crane signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and determining the position information of the overhead traveling crane according to the overhead traveling crane signals and the position information of the UWB signal processing micro base stations;
and the crown block control module is used for controlling the crown block to execute the operation plan according to the position information and the movement route of the crown block.
The Processor may be a Central Processing Unit (CPU), or may be other general purpose Processor, a Digital Signal Processor (DSP), which may be any conventional Processor. The processor is used for executing the computer program.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), random-access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. The overhead crane scheduling method for the slab library is characterized by comprising the following steps of:
obtaining a stack-reversing plan according to a production plan, and generating an operation plan of the overhead travelling crane based on the stack-reversing plan, wherein the operation plan comprises a movement route of the overhead travelling crane;
receiving crown block signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a slab base, and determining the position information of the crown block according to the crown block signals and the position information of the UWB signal processing micro base stations; the crown block signal is generated for a UWB positioning tag of the crown block;
and controlling the crown block to execute the operation plan according to the position information of the crown block and the movement route.
2. The method for scheduling overhead traveling cranes of a slab yard as claimed in claim 1, wherein the step of obtaining a destacking plan according to a production plan comprises:
acquiring the rolling sequence of a target slab, the position information of the target slab and the position information of an alternative slab capable of replacing the target slab according to a rolling unit plan in the production plan;
and obtaining a stack reversing plan by adopting a genetic algorithm according to the position information of the target slab and the position information of the alternative slab.
3. The method for scheduling overhead traveling cranes of a slab yard according to claim 2, wherein the step of obtaining a plan for reversing stacks by using a genetic algorithm based on the position information of the target slab and the position information of the alternative slabs comprises:
establishing a set K ═ { 1., M } with the position information of the target slabs within the rolling unit plan, wherein M is the total number of the target slabs included in the rolling unit plan;
establishing a set S ═ { 1., N } with the position information of the candidate slabs in the rolling unit plan, wherein N is the total number of the candidate slabs included in the rolling unit plan;
Siset of candidate slabs corresponding to the ith target slab, SkSet of candidate slabs corresponding to the kth target slab, Si∩SkΦ, Φ is the empty set, where i, K ∈ K, but i ≠ K;
setting the decision variables as:
Figure FDA0002494654570000021
1 denotes that if the ith target slab in the rolling unit plan selects the jth candidate slab, where i ∈ K, j ∈ Si(ii) a 0 means unselected;
obtaining a planning model:
Figure FDA0002494654570000022
Figure FDA0002494654570000023
Figure FDA0002494654570000024
Figure FDA0002494654570000025
xi,j0, i ∈ K, j ∈ S, however
Figure FDA0002494654570000026
Ci,jRepresenting the required net stack-reversing times when the target slab i needs the alternative slab j; djNumber of original slabs above the candidate slab j before the scheduled execution, Ci,jThe specific expression is as follows:
Figure FDA0002494654570000027
solving the formula (6) by adopting a genetic algorithm to obtain Ci,jTo obtain the said reverse stacking plan.
4. The overhead traveling crane scheduling method for slab yard according to claim 1, wherein said step of receiving said overhead traveling crane signals collected by at least four UWB signal processing micro base stations arranged in a distributed manner in said slab yard, and determining position information of said overhead traveling crane based on said overhead traveling crane signals and position information of said UWB signal processing micro base stations comprises:
acquiring corresponding distance difference between the crown block and each UWB signal processing micro base station according to the time of the crown block signal acquired by each UWB signal processing micro base station;
and determining the position information of the crown block according to the distance difference and the position information of the UWB signal processing micro base station.
5. The slab library crown block scheduling method according to claim 4, wherein the step of determining the location information of the crown block based on the distance difference and the location information of the UWB signal processing micro base station comprises:
the number of the UWB positioning micro base stations is 4, and the position information of the UWB positioning micro base stations is R respectively1(X1,Y1)、R2(X2,Y2)、R3(X3,Y3)、R4(X4,Y4) The time of the crown block signal collected by the corresponding UWB signal processing micro base station is t1、t2、t3、t4Calculating the position information of the overhead travelling crane by adopting a TDOA algorithm formulaInformation:
Figure FDA0002494654570000031
Figure FDA0002494654570000032
Figure FDA0002494654570000033
where v is the propagation velocity of the pulse signal.
6. The overhead traveling crane dispatching method for slab warehouse as claimed in claim 1, characterized in that the overhead traveling crane signals comprise a cart signal and a cart signal; the cart signal is generated by the UWB positioning label of the cart, and the trolley signal is generated by the UWB positioning label of the trolley.
Correspondingly, the step of controlling the overhead traveling crane to execute the operation plan according to the position information of the overhead traveling crane and the movement route includes:
and controlling the cart and the trolley to execute the operation plan according to the position information of the cart, the position information of the trolley and the movement route.
7. An overhead traveling crane management method for a slab yard, comprising the overhead traveling crane scheduling method for a slab yard according to any one of claims 1 to 6; and monitoring at least one parameter of temperature, amplitude, speed, weight, safety distance and running time of the crown block after controlling the crown block to execute the operation plan.
8. The utility model provides a crown block scheduling device of slab storehouse which characterized in that includes:
the operation plan generating module is used for obtaining a stack-reversing plan according to a production plan and generating an operation plan of the crown block based on the stack-reversing plan;
the overhead traveling crane position determining module is used for receiving overhead traveling crane signals respectively collected by at least four UWB signal processing micro base stations which are distributed in a scattered manner in the slab base, and determining the position information of the overhead traveling crane according to the overhead traveling crane signals and the position information of the UWB signal processing micro base stations;
and the crown block control module is used for controlling the crown block to execute the operation plan according to the position information of the crown block and the movement route.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
CN202010414967.XA 2020-05-15 2020-05-15 Overhead crane scheduling method, overhead crane management device and terminal equipment Pending CN111736543A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010414967.XA CN111736543A (en) 2020-05-15 2020-05-15 Overhead crane scheduling method, overhead crane management device and terminal equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010414967.XA CN111736543A (en) 2020-05-15 2020-05-15 Overhead crane scheduling method, overhead crane management device and terminal equipment

Publications (1)

Publication Number Publication Date
CN111736543A true CN111736543A (en) 2020-10-02

Family

ID=72647401

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010414967.XA Pending CN111736543A (en) 2020-05-15 2020-05-15 Overhead crane scheduling method, overhead crane management device and terminal equipment

Country Status (1)

Country Link
CN (1) CN111736543A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112320601A (en) * 2020-10-14 2021-02-05 南京沃旭通讯科技有限公司 UWB ranging-based crane positioning system and bin management method
CN113145649A (en) * 2021-04-01 2021-07-23 首钢京唐钢铁联合有限责任公司 Slab feeding control method and device
CN114351189A (en) * 2021-10-13 2022-04-15 杭州三耐环保科技股份有限公司 Electrolytic production monitoring method and system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201280393Y (en) * 2008-08-15 2009-07-29 大连美恒时代科技有限公司 Multifunctional laser anti-collision apparatus of bridge crane
CN106011941A (en) * 2016-08-02 2016-10-12 重庆大学 Control method for aluminum electrolysis crown block stock bin material level online monitoring and fault alarm system
CN107161855A (en) * 2017-07-04 2017-09-15 惠安县惠祥科技有限公司 A kind of materials allocating Overhead travelling crane system
JP2018007293A (en) * 2016-06-27 2018-01-11 トヨタ自動車株式会社 Manufacturing method of rotor core
CN110282552A (en) * 2019-07-04 2019-09-27 武汉般若易修工业技术服务有限公司 Overhead traveling crane early warning system
CN111123868A (en) * 2019-12-21 2020-05-08 唐山钢铁集团微尔自动化有限公司 System and method for realizing intelligent scheduling of unmanned overhead travelling crane of hot-rolled slab warehouse

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201280393Y (en) * 2008-08-15 2009-07-29 大连美恒时代科技有限公司 Multifunctional laser anti-collision apparatus of bridge crane
JP2018007293A (en) * 2016-06-27 2018-01-11 トヨタ自動車株式会社 Manufacturing method of rotor core
CN106011941A (en) * 2016-08-02 2016-10-12 重庆大学 Control method for aluminum electrolysis crown block stock bin material level online monitoring and fault alarm system
CN107161855A (en) * 2017-07-04 2017-09-15 惠安县惠祥科技有限公司 A kind of materials allocating Overhead travelling crane system
CN110282552A (en) * 2019-07-04 2019-09-27 武汉般若易修工业技术服务有限公司 Overhead traveling crane early warning system
CN111123868A (en) * 2019-12-21 2020-05-08 唐山钢铁集团微尔自动化有限公司 System and method for realizing intelligent scheduling of unmanned overhead travelling crane of hot-rolled slab warehouse

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
唐立新，等: "热轧实施计划中最优倒垛问题的整数规划模型及遗传算法", 《自动化学报》 *
张旭阳，等: "浅谈UWB在商用车装配过程的应用", 《汽车实用技术》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112320601A (en) * 2020-10-14 2021-02-05 南京沃旭通讯科技有限公司 UWB ranging-based crane positioning system and bin management method
CN113145649A (en) * 2021-04-01 2021-07-23 首钢京唐钢铁联合有限责任公司 Slab feeding control method and device
CN113145649B (en) * 2021-04-01 2022-12-13 首钢京唐钢铁联合有限责任公司 Slab feeding control method and device
CN114351189A (en) * 2021-10-13 2022-04-15 杭州三耐环保科技股份有限公司 Electrolytic production monitoring method and system

Similar Documents

Publication Publication Date Title
CN111736543A (en) Overhead crane scheduling method, overhead crane management device and terminal equipment
CN108469786B (en) Large-scale intelligent storage distributed sorting system
US10068394B2 (en) Dynamic industrial vehicle measure
CN111634636B (en) Full-automatic material taking control system of bucket wheel machine
CN108647753A (en) A kind of construction site method for prewarning risk based on BIM and RFID technique
CN101860786A (en) Method and system for managing domain-based mobile node
CN111133395B (en) Intelligent manufacturing system
CN110615362B (en) Intelligent control system and method for tower crane
CN110516939A (en) Warehouse homework dispatches system
CN206720104U (en) A kind of automated storage and retrieval system
CN108945911A (en) The Intelligent logistics managing and control system of discrete manufacturing business
Chen et al. Simulation-based time-efficient and energy-efficient performance analysis of an overhead robotic compact storage and retrieval system
CN100392540C (en) High precision positioning and accessing system for waste nuclear material
CN112423383B (en) Positioning method based on positioning base station and positioning label in multi-floor environment
CN201012841Y (en) Positioning system of automatic tiered warehouse facility
RU2470316C1 (en) Method of automatic control of warehousing platform trucks and device for its implementation
CN117234214A (en) Automatic shuttle for stacking industrial goods
CN113591295A (en) Power cable management method based on digital twinning
CN101118439A (en) Continuous casting steel-brank storehouse section travelling crane handling automatic recognition system
CN204496554U (en) A kind of digitized mine goods and materials supervisory system
CN115716603A (en) Bucket wheel machine material taking path planning method and system
Lian et al. A novel multi-warehouse mobile robot hierarchical scheduling strategy based on industrial cyber-physical system
Luo et al. Optimization of Continuous Berth Scheduling by Taking into Account Double‐Line Ship Mooring
Zhang et al. Research on the dynamic dispatch of guides in smart tourist attractions based on the RFID model under the internet of things
CN1986375A (en) Radio crane guiding system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20201002

RJ01 Rejection of invention patent application after publication