CN112529444A - Intelligent storage unmanned overhead crane scheduling method - Google Patents
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Abstract
The utility model discloses an intelligent storage unmanned overhead traveling crane scheduling method, which comprises the following steps: generating a new task according to the requirement; calculating all relevant available crown blocks in the task area; selecting a most suitable crown block Cm from all relevant available crown blocks; adding the task into a task linked List List m of the crown block Cm; carrying out priority sequencing on a task linked List m; a Task execution unit Um of the crown block Cm acquires a Task m with the highest priority from a Task linked List m; the Task execution unit Um starts to schedule and execute the Task m, marks the movement action sequence items move 1 and move 2 … … move n of the Task m, and sequentially executes each specific action according to the action sequence. According to the method, the unmanned overhead traveling crane is intelligently applied through automatic assignment of the overhead traveling crane tasks, automatic scheduling of the overhead traveling crane tasks and automatic collision avoidance of the overhead traveling crane.
Description
Technical Field
The application relates to scheduling of intelligent storage unmanned overhead traveling cranes.
Background
Traditional storage and warehousing management and overhead traveling crane control are independent, and manual operation of overhead traveling cranes is needed for carrying out storage area operations such as material taking, material discharging, information inputting and the like. However, the labor cost is increased, people are easy to have lacked and tired mood when working for a long time, and the production safety problem is easily caused by the non-normative of manual operation.
Disclosure of Invention
The application provides an unmanned overhead traveling crane scheduling method of intelligent warehousing, adopts automatic dispatching of overhead traveling crane tasks, automatic scheduling of overhead traveling crane tasks, and overhead traveling crane collision avoidance scheduling to realize the automatic scheduling of unmanned overhead traveling cranes, thereby achieving the unmanned of intelligent warehousing, improving the safety production of factories, improving the production management level, and improving the product quality and the economic benefit.
According to an aspect of the embodiments of the present application, a method for scheduling an intelligent warehousing unmanned overhead traveling crane is provided, including:
generating a new task according to the requirement;
calculating all relevant available crown blocks in the task area;
selecting a most suitable crown block Cm from all relevant available crown blocks;
adding the task into a task linked List List m of the crown block Cm;
carrying out priority sequencing on a task linked List m;
a Task execution unit Um of the crown block Cm acquires a Task m with the highest priority from a Task linked List m;
the Task execution unit Um starts to schedule and execute the Task m, marks the movement action sequence items move 1 and move 2 … … move n of the Task m, and sequentially executes each specific action according to the action sequence.
In some examples, when the action item move m (m belongs to 1-n), global crown block routing management and control are performed first, and whether other crown blocks stay on the mobile routing route m of the action item move m or have intersection with other crown block routes is judged;
if the crown block Ci which does not execute the Task stops, a tuning-away Task i of the crown block Ci is formed, the Task i gives the highest priority, the Ci is tuned away from the range of the route m in the same direction, and the route m is added into the global management and control route;
if the crown block Cj executing the Task stops, the route m fails to dispatch, the Task m fails to execute, the failure action sequence m is marked, the continuous execution is stopped and returned, the Task m is added into the Task linked List m again, the priority of the Task m is adjusted according to a relevant strategy, and when the Task m is taken out from the Task queue to execute again, the Task is continuously executed from the last failure action sequence m;
if the route i of the crown block Ci is intersected with the route m, and the route i and the route m are in the same direction, adding the crown blocks Ci and Cm into the distance management and control of the crown blocks to enable the two crown blocks to be kept out of the safe distance, taking the first crown block in the same direction as the reference, moving and stopping the two crown blocks, and enabling the route m to be in the global route management and control;
if the route i of the crown block Ci is intersected with the route m, and the route i and the route m are opposite, the route m fails to dispatch, a failure action sequence m is marked, the continuous execution is stopped and returned, the Task m is added into the Task linked List m again, the priority of the Task m is adjusted according to a relevant strategy, and when the Task m is taken out from the Task queue to be executed again, the Task is continuously executed from the last failure action sequence m.
In some examples, if a specified number of failed executions is exceeded within a specified time period, the task is stripped from the set of overhead traveling crane objects and the overhead traveling crane task assignment is resumed.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 shows a flowchart of a smart warehousing unmanned overhead crane scheduling method according to an embodiment of the present application.
Detailed Description
As shown in fig. 1, a scheduling method of an intelligent warehousing unmanned overhead crane includes the following steps:
step 1, identifying all task types of the crown block, operating each task type, and combining into a crown block action sequence according to the crown block action items. The action items comprise moving, stopping, clamping the material and loosening the material.
And constructing all warehousing information, wherein the warehousing information comprises warehousing ID, name and warehousing size information attributes, and the warehousing ID is uniquely identified by a 32-byte character string generated by an algorithm. And constructing all functional storage areas in the warehouse, wherein the functional storage areas have ID, name and regional horizontal range information attributes, and the functional storage area ID is uniquely identified by a 32-byte character string generated by an algorithm. And constructing all dangerous areas in the warehouse, wherein the dangerous areas have area IDs, area names, area horizontal ranges and area height information attributes, and each area ID is uniquely identified by a 32-byte character string generated by an algorithm. And constructing each storage bit in the warehouse, wherein the storage bit has ID, number, (x, y, z) address coordinates and information attribute of the affiliated storage functional area, and each storage bit ID is uniquely identified by a 32-byte character string generated by an algorithm. And constructing all the crown blocks in the warehouse, wherein the crown blocks have crown block IDs, crown block names and crown block activity area information attributes, and each crown block ID is uniquely identified by a 32-byte character string generated by an algorithm. Task tasks are constructed, each task is configured with a task ID, a task name, a task source address, a task destination address, a task type, a reserved execution time, a level and an attribute overhead travelling crane information attribute, and each task ID is uniquely identified through a 32-byte character string generated by an algorithm.
And 2, in order to ensure that each task is executed by an overhead traveling crane, an automatic overhead traveling crane task assignment method is adopted to assign the task to a specific overhead traveling crane object (the term "overhead traveling crane object" is not an actual overhead traveling crane but a simulation of an actual overhead traveling crane, and the later-described "overhead traveling crane object" refers to the simulation). Each crown block object has a unique task linked list, the assigned crown block tasks enter the crown block task linked list, and the crown block object obtains a task with the highest priority from the task linked list to execute. The task chain table can carry out comprehensive priority sequencing according to the task type and the task starting execution time.
And setting a task assignment calculation formula, and selecting the crown block with the minimum weight value obtained according to the calculation formula from all assignable crown blocks to perform operation assignment. In practical application, the factors influencing task assignment include the current task number num of the crown block, the length len of the span, the distance between the destination address of the last task in the current task linked list of the crown block and the start address of the task to be assigned in the moving direction (horizontal distance along the X axis and vertical distance along the Y axis), and assuming that the weight is weight and the influence factor is a (a is greater than or equal to 0 and less than or equal to 1), the weight calculation formula can be designed as follows:
weight＝num*len*a+distance*(1-a)；
considering that the span length is typically hundreds of meters, and is relatively long, if the impact factor is greater than 0.5, it is more likely to be a low-duty crown block, and therefore, in one possible embodiment, a is less than 0.5, and initially 0.4.
And 3, configuring a crown block task execution unit for each crown block object, wherein the crown block task execution unit is used for executing the crown block object task, monitoring the execution condition and processing the abnormity.
Step 4, the task execution unit of the overhead traveling crane executes specific tasks, each task sequentially executes each specific action according to an action sequence, and the execution of the next action in the action sequence depends on the successful execution of the previous action; and if the execution of a certain action fails, quitting the execution of the task, recording the execution failure point, and directly starting the execution from the failure point when the execution of the task is restarted next time.
And 5, in order to prevent a plurality of crown blocks from colliding during task execution, adopting a real-time route control mechanism of all crown blocks in the warehouse and an automatic evading scheduling mechanism of the crown blocks.
The route management and control real-time updating mechanism comprises the following specific updating mechanisms:
(1) for each route R in the route management and control, assuming that its start point coordinate is (X1, y1) and its end point coordinate is (X2, y2) (assuming movement along the X axis), the overhead crane C associated with the route R is acquired, then the real-time coordinate (X, y, z) of the overhead crane C is acquired, if the value of X is between X1 and X2, the route R is updated, and its start point coordinate (X1, y1) is set to (X, y 1).
(2) Repeat step 1 every 30 seconds.
The automatic evading scheduling mechanism of the crown block specifically comprises the following steps:
for a route to be listed in a management and control plan, if there are other overhead traveling cranes on the route, according to the moving direction of the route, automatically dispatching the other overhead traveling cranes to a position n Δ t away from the destination address of the route (denoted as autoDest i), where n represents the number of the overhead traveling cranes on the route, starting from 1, Δ t represents the safety distance between the overhead traveling cranes, and the value of autoDest is processed by following several cases, and here, the following case is taken as an example that the overhead traveling cranes move along the X-axis direction:
(1) route moving forward along X axis
In the method, the distances of Δ t to be separated from the other crown blocks in the route are the greater the crown blocks closer to the route end point (X2, y2), and assuming that there are m crown blocks in the route, which are numbered C1 and C2 … Cm, and the distances of (X2, y2) are Cm, C (m-1) and C1 from near to far (the distance here can be directly obtained from the absolute value of X-2 of the X-coordinate value of the point), the coordinates to which C1 and C2 … … Cm are finally moved are (X2+ m Δ t, y2), (X2+ (m-1) Δ t, y2) … … (X2+ Δ t, y 2).
If x2+ i delta t is larger than or equal to the horizontal length of the span of the crown block (wherein 1 is larger than or equal to i and smaller than or equal to m), the route can not be listed in route control, and the crown block can not move due to collision avoidance.
Wherein, the autoDest has the value of (x2+ Δ t, y2), (x2+2 Δ t, y2), and so on.
(2) Route moving in the negative direction of the X axis
In the method, the distances of Δ t to be far away from other crown blocks in the route are more as the crown blocks are closer to the route end point (X2, y2), and assuming that there are m crown blocks in the route, which are numbered as C1 and C2 … Cm, and the distances of the distances (X2 and y2) are Cm, C (m-1) and C1 from near to far (the distances here can be directly obtained from the absolute value of X2 which is the value of X coordinate of the change point), the coordinates to which C1 and C2 … … Cm are finally moved are (X2-m Δ t, y2), (X2- (m-1) Δ t, y2) … … (X2- Δ t, y 2).
If x2-i Δ t is less than or equal to 0 (wherein 1 is less than or equal to i is less than or equal to m), the route cannot be listed in the route management control, and the crown block cannot move due to collision avoidance.
The movement of the crown block along the Y axis is handled in the same manner as the movement along the X axis.
And 6, in order to prevent the certain overhead traveling crane from failing to execute the certain task all the time and influencing the execution of other tasks, a time period and the number of failed execution times are determined, and if the predetermined number of failed execution times is exceeded in the predetermined time period, the task is separated from the overhead traveling crane object, and the overhead traveling crane task assignment is carried out again. When task assignment is carried out, the overhead travelling crane is excluded, if no overhead travelling crane capable of being assigned is found, the task is assigned to the overhead travelling crane object, and the priority of the task is adjusted; otherwise, the task is dispatched to the found crown block object.
Claims (3)
1. An intelligent warehousing unmanned overhead traveling crane scheduling method is characterized by comprising the following steps:
generating a new task according to the requirement;
calculating all relevant available crown blocks in the task area;
selecting a most suitable crown block Cm from all relevant available crown blocks;
adding the task into a task linked List List m of the crown block Cm;
carrying out priority sequencing on a task linked List m;
a Task execution unit Um of the crown block Cm acquires a Task m with the highest priority from a Task linked List m;
the Task execution unit Um starts to schedule and execute the Task m, marks the movement action sequence items move 1 and move 2 … … move n of the Task m, and sequentially executes each specific action according to the action sequence.
2. The scheduling method of an intelligent storage unmanned overhead traveling crane according to claim 1, wherein when an action item move m (m belongs to 1-n) is executed, global overhead traveling crane routing management and control are performed first, and whether other overhead traveling cranes stay on a mobile route m of the action item move m or have intersections with other overhead traveling crane routes is judged;
if the crown block Ci which does not execute the Task stops, a tuning-away Task i of the crown block Ci is formed, the Task i gives the highest priority, the Ci is tuned away from the range of the route m in the same direction, and the route m is added into the global management and control route;
if the crown block Cj executing the Task stops, the route m fails to dispatch, the Task m fails to execute, the failure action sequence m is marked, the continuous execution is stopped and returned, the Task m is added into the Task linked List m again, the priority of the Task m is adjusted according to a relevant strategy, and when the Task m is taken out from the Task queue to execute again, the Task is continuously executed from the last failure action sequence m;
if the route i of the crown block Ci is intersected with the route m, and the route i and the route m are in the same direction, adding the crown blocks Ci and Cm into the distance management and control of the crown blocks to enable the two crown blocks to be kept out of the safe distance, taking the first crown block in the same direction as the reference, moving and stopping the two crown blocks, and enabling the route m to be in the global route management and control;
if the route i of the crown block Ci is intersected with the route m, and the route i and the route m are opposite, the route m fails to dispatch, a failure action sequence m is marked, the continuous execution is stopped and returned, the Task m is added into the Task linked List m again, the priority of the Task m is adjusted according to a relevant strategy, and when the Task m is taken out from the Task queue to be executed again, the Task is continuously executed from the last failure action sequence m.
3. The method according to claim 2, wherein if the number of failed executions exceeds a predetermined number within a predetermined time period, the task is stripped from the overhead traveling crane object and the overhead traveling crane task assignment is resumed.
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| CN113205277A (en) * | 2021-05-26 | 2021-08-03 | 华中科技大学 | Workshop production and crown block cooperative scheduling method and device based on space-time rule |
| CN116934059A (en) * | 2023-09-18 | 2023-10-24 | 华芯(嘉兴)智能装备有限公司 | Crown block scheduling method, crown block scheduling device, crown block scheduling equipment and readable storage medium |
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