CN113885456A - Intelligent overhead traveling crane dispatching integrated management system - Google Patents
Intelligent overhead traveling crane dispatching integrated management system Download PDFInfo
- Publication number
- CN113885456A CN113885456A CN202111217838.2A CN202111217838A CN113885456A CN 113885456 A CN113885456 A CN 113885456A CN 202111217838 A CN202111217838 A CN 202111217838A CN 113885456 A CN113885456 A CN 113885456A
- Authority
- CN
- China
- Prior art keywords
- slab
- unit
- module
- crown block
- management module
- 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.)
- Granted
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], 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], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
-
- 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]
Abstract
The invention provides an intelligent overhead traveling crane dispatching integrated management system, which relates to the technical field of intelligent integration of equipment in the steel industry and comprises the following steps: the system comprises a production information management system MES, a scheduling management module, an intelligent auxiliary module and an overhead traveling crane module; the production information management system MES sends a production task instruction to the scheduling management module, the intelligent auxiliary module feeds back auxiliary information for logic judgment to the scheduling management module, the scheduling management module forms an overhead crane production scheduling execution instruction according to the production task instruction and the auxiliary information and sends the overhead crane production scheduling execution instruction to the overhead crane module, the overhead crane module receives and executes the overhead crane production scheduling execution instruction sent by the scheduling management module to complete the automatic slab material carrying task, then the instruction execution result is fed back to the scheduling management module, and the scheduling management module receives the execution result fed back by the overhead crane module and adjusts the overhead crane production scheduling execution instruction. The system provided by the invention can meet the requirement of automatic operation of a slab storage area and promote the development of production intelligence of enterprises.
Description
Technical Field
The invention relates to the technical field of intelligent integration of equipment in the steel industry, in particular to an intelligent overhead traveling crane dispatching integrated management system.
Background
With the development of the economy of the global steel industry, the demand of steel plate blanks is increased year by year. At present, slab material handling equipment in a workshop of a steel industry factory is basically in a mode of operation of an ordinary crown block, the existing operation mode of the ordinary crown block mostly depends on manual work, objective adverse conditions such as high temperature, high dust and the like exist in the workshop, so that a series of problems such as high labor intensity of workers, easiness in misoperation, low equipment efficiency, poor safety and the like generally exist, meanwhile, data of running, operation and slab materials of the crown block cannot be timely and effectively managed, and the automation and informatization degrees are low.
Along with the promotion and development of domestic intelligent manufacturing, the tendency of the unmanned, intelligent, informatization of enterprise's production is more and more obvious, realizes the full automatic handling operation of transport equipment and the automatic tracking of material information, can the field operation personnel's that significantly reduces quantity, improves the operating efficiency, reduces the cost of enterprise, realizes moreover that the unmanned and intelligent of material transport equipment can make the information circulate more, helps the customer to improve product competitiveness, promotes the enterprise image, and is significant to enterprise's digital transformation.
31/5/2019, a system for managing a storage area of an overhead traveling crane is disclosed in a Chinese invention patent (publication number: CN109823968A), and the system provided in the patent is applied to the management of materials and overhead traveling cranes in a warehouse and comprises a material module, an overhead traveling crane module, a storage area module and a ground host; the storage area module comprises a label arranged on the material, and the crown block module comprises a first reader arranged on a crown block, a crown block positioning device, a crown block navigation device and a crown block communication unit used for controlling the crown block to operate; the storage area module comprises a second reader and a communication device which are arranged in the material storage warehouse; the ground host computer includes the authority management module, the system sets up the module, overhead traveling crane operation module and report management module, technical scheme through this patent proposes, the user can carry out all-round management to the operation of material and overhead traveling crane in the warehouse, and then improve operating efficiency and enterprise productivity, but the key of this scheme is concentrated to be ascribed to overhead traveling crane itself, and in overhead traveling crane actual work, overhead traveling crane is also very important with the cooperation of the system module of other aspect, comprehensive high-efficient cooperation is more favorable to the production intellectuality of enterprise, promote the digital transformation of enterprise, therefore, how to realize the automatic handling of steel slab material, data management, flow control and system integration, it has great significance to study an intelligent scheduling integrated management system who uses overhead traveling crane as the center.
Disclosure of Invention
In order to solve the problem that the intelligent integration level of enterprise production is low due to the fact that research is concentrated on a direct operator crown block and the cooperation of other operation layers except the crown block is neglected when the material storage management is faced in the current steel industry, the invention provides an intelligent crown block scheduling management system, which realizes the automatic carrying of steel plate blank materials, the plate blank data management, the flow monitoring and the system integration and promotes the development of the intelligent enterprise production.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
the invention provides an intelligent overhead traveling crane dispatching integrated management system, which is used for carrying, dispatching and managing slab materials, and comprises the following components:
the system comprises a production information management system MES, a scheduling management module, an intelligent auxiliary module and an overhead traveling crane module;
the production information management system MES sends a production task instruction to the scheduling management module, the intelligent auxiliary module feeds back auxiliary information used for judging production scheduling logic in slab material handling to the scheduling management module, the scheduling management module forms an overhead crane production scheduling execution instruction according to the production task instruction and the auxiliary information and sends the overhead crane production scheduling execution instruction to the overhead crane module, the overhead crane module receives and executes the overhead crane production scheduling execution instruction sent by the scheduling management module to complete slab material automatic handling tasks, then the instruction execution result is fed back to the scheduling management module, and the scheduling management module receives the execution result fed back by the overhead crane module and adjusts the overhead crane production scheduling execution instruction.
Preferably, the production task instruction issued by the production information management system MES is a daily operation plan of the slab stock area, and the scheduling management module subdivides the received daily operation plan of the slab stock area to form a task schedule;
the intelligent auxiliary module feeds back auxiliary information used for judging the production scheduling logic in slab material handling to the scheduling management module, and the auxiliary information comprises the following steps: slab data information and slab reservoir area on-site safety information, slab data information includes: slab ID information, slab size information and slab physical coordinate information;
the scheduling management module forms a crown block production scheduling execution instruction based on the task scheduling and slab ID information, slab size information, slab physical coordinate information and slab storage area field safety information of a slab storage area;
and the scheduling management module receives the execution result fed back by the crown block module, updates the auxiliary information fed back by the intelligent auxiliary module when the slab data information changes, and adjusts the crown block production scheduling execution instruction according to the production task instruction and the updated auxiliary information and by combining the actual state of the slab storage area.
Preferably, the crown block module comprises a crown block communication unit, a crown block body, an anti-swing positioning unit, a crown block cruising unit, a clamp state detection unit and a clamp material clamping detection unit;
one end of the crown block communication unit is respectively connected with the crown block body, the anti-swing positioning unit, the crown block cruising unit, the clamp state detection unit and the clamp material clamping detection unit, the other end of the crown block communication unit is bidirectionally connected with the dispatching management module, the crown block communication unit receives a crown block production dispatching execution instruction sent by the dispatching management module, the overhead traveling crane production scheduling execution instruction comprises a speed adjusting instruction, an anti-shaking positioning instruction, an automatic cruising instruction, a clamp state detection instruction and a clamp material clamping detection instruction, the command is transmitted to the crown block body, the anti-swing positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit to be executed, and finally the execution results of the crown block body, the anti-swing positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit are fed back to the dispatching management module through the crown block communication unit;
the crown block communication unit controls the automatic operation of the crown block body according to the speed regulation instruction, and the collision avoidance and the automatic deceleration among multiple crown blocks are realized; the overhead traveling crane cruising unit plans and cruises the overhead traveling crane to a target coordinate according to the target coordinate given in the automatic cruising instruction, and feeds back real-time navigation data to the dispatching management module through the overhead traveling crane communication unit; the anti-swing positioning unit receives the anti-swing positioning instruction, positions the position of the crown block body, controls the crown block to finish the movement lifting action according to the position of the crown block body and a lifting position signal, prevents the crown block from swinging, and uploads the real-time anti-swing positioning data to the scheduling management module through the crown block communication unit; the clamp state detection unit receives a clamp state detection instruction, detects whether the clamp state of the crown block is opened or closed, and uploads the detected real-time data to the dispatching management module through the crown block communication unit; the clamp material clamping detection unit receives a clamp material clamping detection instruction, detects the result of clamping a plate blank material by a clamp of the crown block, realizes clamping, moving and putting down of the plate blank material, and uploads the detected real-time data to the scheduling management module through the crown block communication unit.
Preferably, be equipped with in the anti-shake positioning unit and prevent shaking location control model, converter and motor, the anti-shake location control model includes: the system comprises a speed controller, a control object module and a detection control object position module, wherein a target position Lt is used as the input of the speed controller, the speed controller is connected with the control object module, the output of the control object module is used as the input of the detection control object position module, the position Lc of the current control object is fed back to the target position Lt, an anti-shaking positioning control model is a closed-loop control model, the control object in the control object module is a cart or a trolley of a crown block body, and L is arrangedwindowIndicating a control criterion threshold, LminIndicating a given deceleration distance, VminIndicating a minimum given speed, VmaxThe minimum given speed is represented, the delta L represents a difference value of the distance between the control object and the target position, and the anti-shaking positioning unit executes the following operations after receiving the anti-shaking positioning command:
s1, judging whether a difference value delta L between a control object and a target position meets the following requirements: l iswindow﹤△L≤LminIf yes, calculating the current speed v of the control object, wherein the formula is as follows:
then, step S2 is executed; otherwise, judging whether the difference value Delta L between the control object and the target position meets the following conditions: delta L more than LminIf yes, the current speed V of the control object is set to be VmaxOtherwise, the current speed v of the control object is set to zero, and step S3 is executed;
s2, judging whether the current speed v of the control object meets the following conditions: v is less than or equal to VminIf yes, the current speed V of the control object is set to be VminStep S3 is executed; otherwise, go to step S3;
s3, converting the current speed v into a given value through a frequency converter to prevent shaking, and controlling a motor to act to perform speed conversion after the frequency converter is started through the slope of the frequency converter in a starting stage; if the frequency converter is not started, the speed conversion is directly carried out by controlling the action of the motor;
the overhead traveling crane cruise unit plans and cruises the overhead traveling crane to the target coordinate through the action of the motor based on the anti-shaking positioning control model, the frequency converter and the motor which are arranged in the anti-shaking positioning unit according to the target coordinate given in the automatic cruise instruction.
Here, the target speed value to be controlled of the controlled object is obtained in steps S1 to S2, the speed and the given value of the frequency converter have corresponding conversion relations, and the corresponding relations of different frequency converters are different, and the speed of the controlled object can be converted into the control speed by directly further controlling the frequency converter through the operation in step S3.
Preferably, after the clamp state detection unit receives the clamp state detection instruction and the clamp material clamping detection unit receives the clamp material clamping detection instruction, when the clamp descends, the material touch switch is triggered, a signal '1' is set to indicate that the plate blank material is stably contacted with the clamp, and a signal '0' is set to indicate that the plate blank material is not stably contacted with the clamp;
after the clamp is stably contacted with the plate blank material, the clamp safely rises, and when the time of reaching the set height exceeds ts seconds, if the signal is '0', the clamp state detection unit gives an alarm, and the clamp does not rise;
and when the clamp is opened, the signal of the clamp opening and closing switch is '1', when the clamp is closed, the signal of the clamp opening and closing switch is '0', and if the signal of the trigger touch material switch is '1' and the signal of the clamp opening and closing switch is '1', the material is stably clamped. Confirming whether the material moves according to whether the crown block body moves; and if the trigger touch material switch signal is '0' and the clamp opening and closing switch signal is '0', the characteristic that the material is put down is realized.
Preferably, the intelligent auxiliary module comprises a data acquisition unit, a slab detection unit, a wireless communication unit and a field safety unit; the data acquisition unit is responsible for data interaction of the crown block module, the scheduling management module and the intelligent auxiliary module; the slab detection unit comprises a slab ID identification unit, a slab size measurement unit and a slab scanning unit, and is respectively used for identifying the slab ID, measuring the slab size and determining the physical coordinates of the slab so as to realize the data tracking of the slab entering and leaving the warehouse; the wireless communication unit is used for managing wireless interaction of the crown block module, the scheduling management module and the intelligent auxiliary module; the on-site safety unit is used for responding to the safety mechanism of the slab storage area.
Preferably, a slab ID recognition unit, a slab size measurement unit and a slab scanning unit of the slab detection unit are in a high-temperature environment, the slab ID recognition unit, the slab size measurement unit and the slab scanning unit are respectively used for recognizing a slab ID, measuring the slab size and determining the physical coordinates of the slab, and an industrial camera and laser scanning equipment are adopted in the working process, wherein a water-cooling explosion-proof device is additionally arranged on the industrial camera and used for cooling in a water-cooling mode, and an air cooling device is additionally arranged on the periphery of the laser scanning equipment and used for cooling in an air cooling mode;
after a slab ID identification unit, a slab size measurement unit and a slab scanning unit of the slab detection unit collect slab data information, data are filtered through a filtering method, points and abnormal points outside a selected boundary are removed, and finally feature extraction, ID identification, size measurement and scanning are carried out based on a machine identification and deep learning algorithm.
Preferably, be equipped with first collector on the slab ID recognition unit, first collector includes slab detection switch, industry camera, light source and controller, and after the slab material got into intelligent overhead traveling crane dispatch integrated management system through the roll table, slab detection switch was triggered, and the recognition function of slab ID recognition unit starts, based on the degree of depth learning algorithm, realizes OCR characters discernment, carries out information acquisition, and the data that slab ID recognition unit transmitted to dispatch management module include: system time stamp, slab ID number; the slab ID identification unit is arranged at the entrance and the exit of the slab storage area, the scheduling management module acquires the slab ID number, matches the slab ID with a production task instruction issued by the production information management system MES, if the slab ID exists in the production task instruction issued by the production information management system MES, a plan is matched, otherwise, the slab ID is newly added, and the scheduling management module feeds the newly added plan back to the MES to be processed as an actual performance, so that closed loop of slab tracking data is realized.
Preferably, a second collector is arranged on the slab dimension measuring unit, the second collector comprises an industrial camera, a light source and a controller, the slab dimension measuring unit realizes the length, width and height physical dimension measurement of the slab based on a visual field calculation method, and dimension measurement result data are fed back to the scheduling management module, and the method comprises the following steps: the system comprises a system time stamp, a maximum slab length, a minimum slab length, a maximum slab width, a minimum slab width, a maximum slab thickness and a minimum slab thickness, and a slab size measuring unit is arranged at an inlet and an outlet of a slab storage area respectively to realize closed loop of slab tracking data.
Preferably, be equipped with the third collector on the slab scanning unit, the third collector is laser scanner, and based on the point cloud data, the third collector carries out slab feature extraction, acquires the scanning point cloud data after, carries out data filtering, gets rid of the point outside the selected boundary and abnormal point, and the PCD file is generated in last combination, discerns slab physical coordinate, and the data feedback of discernment result includes to dispatch management module: system time stamp, slab length, slab width, and slab center coordinates.
Preferably, the on-site safety unit comprises an access sensor and an image acquisition card, the image acquisition card and the access sensor are arranged at a plurality of positions in an unmanned implementation scene of a slab workshop, when the image acquisition card or the access sensor acquires that a worker intrudes, a scheduling management module starts a safety mechanism, the on-site safety unit responds to the safety mechanism, a signal acquired by the intrusion of the worker is sent to the scheduling management module, the scheduling management module starts a working mechanism according to the received signal, and the working mechanism comprises a common level and an important level; when the working mechanism is in a common level, the scheduling management module performs sound-light alarm and prompts on a UI (user interface); when the working mechanism is in an important level, the intelligent overhead traveling crane dispatching integrated management system stops working until the safety influence caused by the intrusion of working personnel is removed.
The invention has the beneficial effects that:
the invention provides an intelligent crown block dispatching integrated management system, which integrates a crown block module, a dispatching management module and an intelligent auxiliary module, wherein the crown block module realizes automatic carrying of plate blanks and is integrated with the dispatching management module, the dispatching management system dispatches multiple crown block machines to cooperatively operate, safely avoids and realizes automation of an operation process, the intelligent auxiliary module assists the dispatching management module to realize data interconnection and material tracking, and the intelligent crown block dispatching integrated management system cooperates with the crown block module and the dispatching management module to meet automatic operation of a plate blank storage area and promote the development of production intelligence of enterprises.
Drawings
Fig. 1 is a schematic overall structural diagram of an intelligent overhead traveling crane dispatching integrated management system proposed in an embodiment of the present invention;
fig. 2 is a schematic overall structural diagram of an overhead traveling crane module according to an embodiment of the present invention;
fig. 3 shows a structural diagram of the anti-shake positioning unit proposed in the embodiment of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for better illustration of the present embodiment, certain parts of the drawings may be omitted, enlarged or reduced, and do not represent actual dimensions;
it will be understood by those skilled in the art that certain well-known descriptions of the figures may be omitted.
The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
the technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Examples
An intelligent overhead traveling crane dispatching integrated management system is used for carrying, dispatching and managing slab materials, faces to the steel industry, and comprises the following 4 subsections:
the system comprises a production information management system MES, a scheduling management module, an intelligent auxiliary module and an overhead traveling crane module;
the production information management system MES is a set of production information management system facing the execution layer of the workshop of the manufacturing enterprise. The MES can provide management modules for enterprises, such as manufacturing data management, planning scheduling management, production scheduling management, inventory management, quality management, human resource management, work center/equipment management, tool and tool management, purchasing management, cost management, project bulletin board management, production process control, bottom layer data integration analysis, upper layer data integration decomposition and the like, and create a solid, reliable, comprehensive and feasible manufacturing cooperative management platform for the enterprises.
In this embodiment, as shown in fig. 1, the production information management system MES, the scheduling management module, the intelligent auxiliary module, and the overhead traveling crane module are integrated as follows:
the production information management system MES sends a production task instruction to the scheduling management module, the intelligent auxiliary module feeds back auxiliary information used for judging production scheduling logic in slab material handling to the scheduling management module, the scheduling management module forms a crown block production scheduling execution instruction according to the production task instruction and the auxiliary information and sends the crown block production scheduling execution instruction to the crown block module, the crown block module receives and executes the crown block production scheduling execution instruction sent by the scheduling management module to complete slab material automatic handling tasks, then the instruction execution result is fed back to the scheduling management module, and the scheduling management module receives the execution result fed back by the crown block module and adjusts the crown block production scheduling execution instruction.
In the embodiment, a production task instruction issued by a production information management system MES is a daily operation plan of a slab stock area, and a scheduling management module subdivides the received daily operation plan of the slab stock area to form a task schedule;
the intelligent auxiliary module feeds back auxiliary information for judging the production scheduling logic in slab material handling to the scheduling management module, and the auxiliary information comprises the following steps: slab data information and slab reservoir area on-site safety information, slab data information includes: slab ID information, slab size information and slab physical coordinate information;
the scheduling management module forms a crown block production scheduling execution instruction based on the task scheduling and slab ID information, slab size information, slab physical coordinate information and slab storage area field safety information of a slab storage area;
in this embodiment, the scheduling management module subdivides the received operation plan of the slab storage area every day to form a task schedule, and the content of the corresponding specific overhead traveling crane production scheduling execution instruction may be:
setting a task plan obtained by a scheduling management module as T, determining slab carrying sequence and slab target node information in the task plan T, determining an execution crown block of the task plan T by the scheduling management module according to a production task instruction and auxiliary information, if determining two crown blocks of the execution task plan T as Ma and Mb, dividing the task plan T based on the number n of slabs contained in the task plan T to obtain an execution plan task schedule of carrying n slabs, and then determining an execution type under the execution plan task schedule according to the cooperative matching condition of the execution crown blocks, wherein the execution type is as follows:
one, overhead traveling crane MaPerforming tkCrown block MbPlan t for executing the k-th slab to be avoidedkSingle execution;
second, overhead traveling crane MaPerforming tkCrown block MbCarry out avoidance, crown block MbPerforming tk-1Crown block MaExecution plan t for executing (k-1) th slab to be avoidedk-1Execution plan t of the kth slabkExecuting in parallel;
third, execution plan t of kth slabkSplitting and executing: t is tk＝tk1,tk2(ii) a Wherein, tk1,tk2Respectively represent the execution plan tkTwo plans after splitting, will tk1And tk2Putting the task plan T into the system, and removing the original execution plan TkAnd forming a new task plan T ', and selecting the execution type as single execution or parallel execution for the execution plan in the new task plan T'.
According to the overhead traveling crane operation time cost function under each execution type, confirm the overhead traveling crane slab carrying operation scheduling instruction when making the overhead traveling crane operation time cost function obtain the minimum, then the route node of overhead traveling crane carrying slab is confirmed according to overhead traveling crane slab carrying operation scheduling instruction to this scheduling overhead traveling crane, in whole process, intelligent scheduling management system and intelligent auxiliary module cooperate, based on data interconnection, realize the intellectuality of scheduling aspect, include: the method comprises the following steps of overhead traveling crane equipment scheduling, overhead traveling crane multi-machine cooperative operation, overhead traveling crane safety avoidance, overall task scheduling and the like.
And the scheduling management module receives the execution result fed back by the crown block module, updates the auxiliary information fed back by the intelligent auxiliary module when the slab data information changes, and adjusts the crown block production scheduling execution instruction according to the production task instruction and the updated auxiliary information and by combining the actual state of the slab storage area.
In this embodiment, referring to fig. 2, the crown block module includes a crown block communication unit, a crown block body, an anti-swing positioning unit, a crown block cruising unit, a clamp state detection unit and a clamp material clamping detection unit;
one end of the crown block communication unit is respectively connected with the crown block body, the anti-swing positioning unit, the crown block cruising unit, the clamp state detection unit and the clamp material clamping detection unit, the other end of the crown block communication unit is bidirectionally connected with the dispatching management module, the crown block communication unit receives a crown block production dispatching execution instruction sent by the dispatching management module, the overhead traveling crane production scheduling execution instruction comprises a speed adjusting instruction, an anti-shaking positioning instruction, an automatic cruising instruction, a clamp state detection instruction and a clamp material clamping detection instruction, the command is transmitted to the crown block body, the anti-swing positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit to be executed, and finally the execution results of the crown block body, the anti-swing positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit are fed back to the dispatching management module through the crown block communication unit;
specifically, the method comprises the following steps:
the crown block communication unit controls the automatic operation of the crown block body according to the speed regulation instruction, and the collision avoidance and the automatic deceleration among multiple crown blocks are realized;
the overhead traveling crane cruising unit plans and cruises the overhead traveling crane to a target coordinate according to the target coordinate given in the automatic cruising instruction, and feeds back real-time navigation data to the dispatching management module through the overhead traveling crane communication unit;
the anti-swing positioning unit receives the anti-swing positioning instruction, positions the position of the crown block body, controls the crown block to finish the movement lifting action according to the position of the crown block body and a lifting position signal, prevents the crown block from swinging, and uploads the real-time anti-swing positioning data to the scheduling management module through the crown block communication unit;
the clamp state detection unit receives a clamp state detection instruction, detects whether the clamp state of the crown block is opened or closed, and uploads the detected real-time data to the dispatching management module through the crown block communication unit; the clamp material clamping detection unit receives a clamp material clamping detection instruction, detects the result of clamping a plate blank material by a clamp of the crown block, realizes clamping, moving and putting down of the plate blank material, and uploads the detected real-time data to the scheduling management module through the crown block communication unit.
In this embodiment, referring to fig. 3, be equipped with anti-shake location control model, converter and motor in the anti-shake location unit, anti-shake location control model includes: the system comprises a speed controller, a control object module and a detection control object position module, wherein a target position Lt is used as the input of the speed controller, the speed controller is connected with the control object module, the output of the control object module is used as the input of the detection control object position module, the position Lc of the current control object is fed back to the target position Lt, and the anti-shaking positioning control model is a moduleA closed-loop control model, wherein the control object in the control object module is a cart or a trolley of the crown block body and is provided with LwindowIndicating a control criterion threshold, LminIndicating a given deceleration distance, VminIndicating a minimum given speed, VmaxThe minimum given speed is represented, the delta L represents a difference value of the distance between the control object and the target position, and the anti-shaking positioning unit executes the following operations after receiving the anti-shaking positioning command:
s1, judging whether a difference value delta L between a control object and a target position meets the following requirements: l iswindow﹤△L≤Lmin(when the limitation of the left side indicates that the difference value delta L of the control object from the target position is greater than the control standard threshold, the anti-shaking positioning control model performs anti-shaking control), if yes, the current speed v of the control object is calculated, and the formula is as follows:
then, step S2 is executed; otherwise, judging whether the difference value Delta L between the control object and the target position meets the following conditions: delta L more than LminIf yes, the current speed V of the control object is set to be VmaxOtherwise, the current speed v of the control object is set to zero, and step S3 is executed;
s2, judging whether the current speed v of the control object meets the following conditions: v is less than or equal to VminIf yes, the current speed V of the control object is set to be VminStep S3 is executed; otherwise, go to step S3;
s3, converting the current speed v into a given value through a frequency converter to prevent shaking, and controlling a motor to act to perform speed conversion after the frequency converter is started through the slope of the frequency converter in a starting stage; if the frequency converter is not started, the speed conversion is directly carried out by controlling the action of the motor. The speed and the given value of the frequency converter have corresponding conversion relations, and the corresponding relations of different frequency converters are different, and are not described again here.
Further, the overhead traveling crane cruising unit plans and cruises the overhead traveling crane to the target coordinate through the action of the motor based on an anti-shaking positioning control model, a frequency converter and the motor which are arranged in the anti-shaking positioning unit according to the target coordinate given in the automatic cruising command;
in this embodiment, after the clamp state detection unit receives the clamp state detection instruction and the clamp material clamping detection unit receives the clamp material clamping detection instruction, when the clamp descends, the material touch switch is triggered, a signal "1" is set to indicate that the slab material is stably contacted with the clamp, and a signal "0" is set to indicate that the slab material is not stably contacted with the clamp;
after the clamp is stably contacted with the plate blank material, the clamp safely rises, and when the time of reaching the set height exceeds ts seconds, if the signal is '0', the clamp state detection unit gives an alarm, and the clamp does not rise; the length of the set height time for the raising of the clamp is set according to specific needs, and in the embodiment, 5s can be set.
And when the clamp is opened, the signal of the clamp opening and closing switch is '1', when the clamp is closed, the signal of the clamp opening and closing switch is '0', and if the signal of the trigger touch material switch is '1' and the signal of the clamp opening and closing switch is '1', the material is stably clamped. Confirming whether the material moves according to whether the crown block body moves; and if the trigger touch material switch signal is '0' and the clamp opening and closing switch signal is '0', the characteristic that the material is put down is realized.
In this embodiment, the intelligent auxiliary module includes a data acquisition unit, a slab detection unit, a wireless communication unit and a field safety unit; the data acquisition unit is responsible for data interaction of the crown block module, the scheduling management module and the intelligent auxiliary module; the slab detection unit comprises a slab ID identification unit, a slab size measurement unit and a slab scanning unit, and is respectively used for identifying the slab ID, measuring the slab size and determining the physical coordinates of the slab so as to realize the data tracking of the slab entering and leaving the warehouse; the wireless communication unit is used for managing wireless interaction of the crown block module, the scheduling management module and the intelligent auxiliary module; the on-site safety unit is used for responding to the safety mechanism of the slab storage area.
In this embodiment, the data acquisition unit adopts a MYSQL Community 8 open-source database as a system DB database, a Proxol middleware is used for building a MYSQL connection pool, RestFul WebService interfaces are opened for the overhead travelling crane module, the scheduling management module and the intelligent auxiliary module, and a Servlet service is developed through Tomcat and JavaWeb, wherein the Servlet service supports any cross-platform system; if the crown block module, the scheduling management module and the intelligent auxiliary module require a WebApi interface mode, the data acquisition system passes through the WebApi developed by NetCore to be called by the crown block module, the scheduling management module and the intelligent auxiliary module, message queue intermediate service is established, the scheduling management module is communicated with the data acquisition unit, Redis is adopted as real-time data storage, EMQ is adopted as subscription and instant push service, EMQ cluster service is built, the stability and reliability mechanism of the EMQ cluster service is increased, and MongoDB is adopted as log and message definition storage.
In the embodiment, a slab ID recognition unit, a slab size measurement unit and a slab scanning unit of a slab detection unit are in a high-temperature environment, the slab ID recognition unit, the slab size measurement unit and the slab scanning unit are respectively used for recognizing a slab ID, measuring the slab size and determining the physical coordinates of the slab, and an industrial camera and a laser scanning device are adopted in the working process, wherein a water-cooling explosion-proof device is additionally arranged on the industrial camera and used for cooling in a water-cooling mode, and an air cooling device is additionally arranged on the periphery of the laser scanning device and used for cooling in an air cooling mode;
after a slab ID identification unit, a slab size measurement unit and a slab scanning unit of the slab detection unit collect slab data information, data are filtered through a filtering method, points and abnormal points outside a selected boundary are removed, and finally feature extraction, ID identification, size measurement and scanning are carried out based on a machine identification and deep learning algorithm.
In this embodiment, be equipped with first collector on the slab ID recognition unit, first collector includes slab detection switch, industry camera, light source and controller, and after the slab material got into intelligent overhead traveling crane dispatch integrated management system through the roll table, slab detection switch was triggered, and the recognition function of slab ID recognition unit starts, based on the degree of depth learning algorithm, realizes OCR characters discernment, carries out information acquisition, and the data that slab ID recognition unit transmitted to dispatch management module include: system time stamp, slab ID number; the slab ID identification unit is arranged at the entrance and the exit of the slab storage area, the scheduling management module acquires the slab ID number, matches the slab ID with a production task instruction issued by the production information management system MES, if the slab ID exists in the production task instruction issued by the production information management system MES, a plan is matched, otherwise, the slab ID is newly added, and the scheduling management module feeds the newly added plan back to the MES to be processed as an actual performance, so that closed loop of slab tracking data is realized.
In this embodiment, a second collector is arranged on the slab size measurement unit, the second collector includes an industrial camera, a light source, and a controller, the slab size measurement unit is based on a visual field calculation method, and a calculation formula of the visual field calculation method is as follows: the field of view range fov (h or v) × Working Distance (WD) × target surface dimension (HorV)/focal length f, realizes the length, width and height physical dimension measurement of the slab, and the dimension measurement result data is fed back to the scheduling management module, including: the system comprises a system time stamp, a maximum slab length, a minimum slab length, a maximum slab width, a minimum slab width, a maximum slab thickness and a minimum slab thickness, and a slab size measuring unit is arranged at an inlet and an outlet of a slab storage area respectively to realize closed loop of slab tracking data.
In this embodiment, be equipped with the third collector on the slab scanning unit, the third collector is laser scanner, and based on point cloud data, the third collector carries out slab feature extraction, acquires scanning point cloud data after, carries out data filtering, gets rid of the point outside the selected boundary and abnormal point, and the PCD file is generated in last combination, discerns slab physical coordinate, and the dispatch management module is given back to the identification result data, includes: system time stamp, slab length, slab width, and slab center coordinates. Specifically, the slab scanning unit cells (meshes) the lattice data, performs data completion (interpolation and filling are performed based on the surrounding lattice data if there is no dot in the cell) and compression (normalization of a plurality of dots in the cell into one dot). And then converting the three-dimensional data into planar data, and representing the value of the z axis by using contour lines. The calculation force requirement during display is reduced, the uneven surface of the material is blurred, and meanwhile the requirement for searching the blank boundary can be met.
In this embodiment, the on-site security unit includes an access sensor and an image acquisition card, the image acquisition card and the access sensor are disposed at a plurality of positions in an unmanned implementation scene of a slab workshop, when the image acquisition card or the access sensor acquires that a worker intrudes, the scheduling management module starts a security mechanism, the on-site security unit responds to the security mechanism, and sends an acquired signal of the intrusion of the worker to the scheduling management module, and the scheduling management module starts a working mechanism according to the received signal, wherein the working mechanism includes a common level and an important level; when the working mechanism is in a common level, the scheduling management module performs sound-light alarm and prompts on a UI (user interface); when the working mechanism is in an important level, the intelligent overhead traveling crane dispatching integrated management system stops working until the safety influence caused by the intrusion of working personnel is removed.
The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An intelligent overhead traveling crane dispatching integrated management system is used for carrying, dispatching and managing slab materials, and is characterized by comprising the following components:
the system comprises a production information management system MES, a scheduling management module, an intelligent auxiliary module and an overhead traveling crane module;
the production information management system MES sends a production task instruction to the scheduling management module, the intelligent auxiliary module feeds back auxiliary information used for judging production scheduling logic in slab material handling to the scheduling management module, the scheduling management module forms an overhead crane production scheduling execution instruction according to the production task instruction and the auxiliary information and sends the overhead crane production scheduling execution instruction to the overhead crane module, the overhead crane module receives and executes the overhead crane production scheduling execution instruction sent by the scheduling management module to complete slab material automatic handling tasks, then the instruction execution result is fed back to the scheduling management module, and the scheduling management module receives the execution result fed back by the overhead crane module and adjusts the overhead crane production scheduling execution instruction.
2. The intelligent overhead traveling crane dispatching integrated management system according to claim 1, wherein the production task instruction issued by the production information management system MES is a daily operation plan of a slab stock area, and the dispatching management module subdivides the received daily operation plan of the slab stock area to form a task schedule;
the intelligent auxiliary module feeds back auxiliary information used for judging the production scheduling logic in slab material handling to the scheduling management module, and the auxiliary information comprises the following steps: slab data information and slab reservoir area on-site safety information, slab data information includes: slab ID information, slab size information and slab physical coordinate information;
the scheduling management module forms a crown block production scheduling execution instruction based on the task scheduling and slab ID information, slab size information, slab physical coordinate information and slab storage area field safety information of a slab storage area;
and the scheduling management module receives the execution result fed back by the crown block module, updates the auxiliary information fed back by the intelligent auxiliary module when the slab data information changes, and adjusts the crown block production scheduling execution instruction according to the production task instruction and the updated auxiliary information and by combining the actual state of the slab storage area.
3. The intelligent overhead traveling crane dispatching integrated management system according to claim 1, wherein the overhead traveling crane module comprises an overhead traveling crane communication unit, an overhead traveling crane body, an anti-swing positioning unit, an overhead traveling crane cruising unit, a clamp state detection unit and a clamp material clamping detection unit;
one end of the crown block communication unit is respectively connected with the crown block body, the anti-swing positioning unit, the crown block cruising unit, the clamp state detection unit and the clamp material clamping detection unit, the other end of the crown block communication unit is bidirectionally connected with the dispatching management module, the crown block communication unit receives a crown block production dispatching execution instruction sent by the dispatching management module, the overhead traveling crane production scheduling execution instruction comprises a speed adjusting instruction, an anti-shaking positioning instruction, an automatic cruising instruction, a clamp state detection instruction and a clamp material clamping detection instruction, the command is transmitted to the crown block body, the anti-swing positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit to be executed, and finally the execution results of the crown block body, the anti-swing positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit are fed back to the dispatching management module through the crown block communication unit;
the crown block communication unit controls the automatic operation of the crown block body according to the speed regulation instruction, and the collision avoidance and the automatic deceleration among multiple crown blocks are realized; the overhead traveling crane cruising unit plans and cruises the overhead traveling crane to a target coordinate according to the target coordinate given in the automatic cruising instruction, and feeds back real-time navigation data to the dispatching management module through the overhead traveling crane communication unit; the anti-swing positioning unit receives the anti-swing positioning instruction, positions the position of the crown block body, controls the crown block to finish the movement lifting action according to the position of the crown block body and a lifting position signal, prevents the crown block from swinging, and uploads the real-time anti-swing positioning data to the scheduling management module through the crown block communication unit; the clamp state detection unit receives a clamp state detection instruction, detects whether the clamp state of the crown block is opened or closed, and uploads the detected real-time data to the dispatching management module through the crown block communication unit; the clamp material clamping detection unit receives a clamp material clamping detection instruction, detects the result of clamping a plate blank material by a clamp of the crown block, realizes clamping, moving and putting down of the plate blank material, and uploads the detected real-time data to the scheduling management module through the crown block communication unit.
4. An intelligent overhead traveling crane dispatching integrated management system according to claim 3, wherein an anti-swing positioning control model, a frequency converter and a motor are arranged in the anti-swing positioning unit, and the anti-swing positioning control model comprises: speed controller, control object module and module for detecting position of control objectThe control object in the control object module is a cart or a trolley of a crown block body, and L is setwindowIndicating a control criterion threshold, LminIndicating a given deceleration distance, VminIndicating a minimum given speed, VmaxThe minimum given speed is represented, the delta L represents a difference value of the distance between the control object and the target position, and the anti-shaking positioning unit executes the following operations after receiving the anti-shaking positioning command:
s1, judging whether a difference value delta L between a control object and a target position meets the following requirements: l iswindow﹤△L≤LminIf yes, calculating the current speed v of the control object, wherein the formula is as follows:
then, step S2 is executed; otherwise, judging whether the difference value Delta L between the control object and the target position meets the following conditions: delta L more than LminIf yes, the current speed V of the control object is set to be VmaxOtherwise, the current speed v of the control object is set to zero, and step S3 is executed;
s2, judging whether the current speed v of the control object meets the following conditions: v is less than or equal to VminIf yes, the current speed V of the control object is set to be VminStep S3 is executed; otherwise, go to step S3;
s3, converting the current speed v into a given value through a frequency converter to prevent shaking, and controlling a motor to act to perform speed conversion after the frequency converter is started through the slope of the frequency converter in a starting stage; if the frequency converter is not started, the speed conversion is directly carried out by controlling the action of the motor;
the overhead traveling crane cruise unit plans and cruises the overhead traveling crane to the target coordinate through the action of the motor based on the anti-shaking positioning control model, the frequency converter and the motor which are arranged in the anti-shaking positioning unit according to the target coordinate given in the automatic cruise instruction.
5. The intelligent crown block dispatching integrated management system according to claim 3, wherein the clamp state detection unit receives the clamp state detection instruction and the clamp material clamping detection unit receives the clamp material clamping detection instruction, and then when the clamp descends, the material touch switch is triggered, a signal "1" is set to indicate that the slab material is in stable contact with the clamp, and a signal "0" is set to indicate that the slab material is not in stable contact with the clamp;
after the clamp is stably contacted with the plate blank material, the clamp safely rises, and when the time of reaching the set height exceeds ts seconds, if the signal is '0', the clamp state detection unit gives an alarm, and the clamp does not rise;
when the clamp is opened, the clamp opening and closing switch signal is '1', when the clamp is closed, the clamp opening and closing switch signal is '0', and if the trigger touch material switch signal is '1' and the clamp opening and closing switch signal is '1', the material is stably clamped; confirming whether the material moves according to whether the crown block body moves; and if the trigger touch material switch signal is '0' and the clamp opening and closing switch signal is '0', the characteristic that the material is put down is realized.
6. The intelligent overhead traveling crane dispatching integrated management system according to claim 1, wherein the intelligent auxiliary module comprises a data acquisition unit, a slab detection unit, a wireless communication unit and a field safety unit; the data acquisition unit is responsible for data interaction of the crown block module, the scheduling management module and the intelligent auxiliary module; the slab detection unit comprises a slab ID identification unit, a slab size measurement unit and a slab scanning unit, and is respectively used for identifying the slab ID, measuring the slab size and determining the physical coordinates of the slab so as to realize the data tracking of the slab entering and leaving the warehouse; the wireless communication unit is used for managing wireless interaction of the crown block module, the scheduling management module and the intelligent auxiliary module; the field safety unit is used for responding to a safety mechanism of the slab storage area; the slab ID recognition unit, the slab size measurement unit and the slab scanning unit of the slab detection unit are in a high-temperature environment, the slab ID recognition unit, the slab size measurement unit and the slab scanning unit are respectively used for recognizing the slab ID, measuring the slab size and determining the physical coordinates of the slab, and an industrial camera and laser scanning equipment are adopted in the working process, wherein a water-cooling explosion-proof device is additionally arranged on the industrial camera and used for cooling in a water-cooling mode, and an air cooling device is additionally arranged on the periphery of the laser scanning equipment and used for cooling in an air cooling mode;
after a slab ID identification unit, a slab size measurement unit and a slab scanning unit of the slab detection unit collect slab data information, data are filtered through a filtering method, points and abnormal points outside a selected boundary are removed, and finally feature extraction, ID identification, size measurement and scanning are carried out based on a machine identification and deep learning algorithm.
7. The intelligent overhead traveling crane dispatching integrated management system according to claim 6, characterized in that, the slab ID recognition unit is provided with a first collector, the first collector comprises a slab detection switch, an industrial camera, a light source and a controller, when the slab material enters the intelligent overhead traveling crane dispatching integrated management system through a roller way, the slab detection switch is triggered, the recognition function of the slab ID recognition unit is started, OCR character recognition is realized based on a deep learning algorithm, information acquisition is performed, and the data transmitted to the dispatching management module by the slab ID recognition unit comprises: system time stamp, slab ID number; the slab ID identification unit is arranged at the entrance and the exit of the slab storage area, the scheduling management module acquires the slab ID number, matches the slab ID with a production task instruction issued by the production information management system MES, if the slab ID exists in the production task instruction issued by the production information management system MES, a plan is matched, otherwise, the slab ID is newly added, and the scheduling management module feeds the newly added plan back to the MES to be processed as an actual performance, so that closed loop of slab tracking data is realized.
8. The intelligent overhead traveling crane dispatching integrated management system according to claim 6, wherein the slab size measuring unit is provided with a second collector, the second collector comprises an industrial camera, a light source and a controller, the slab size measuring unit realizes the length, width and height physical size measurement of the slab based on a visual field calculation method, and the size measurement result data is fed back to the dispatching management module, and the system comprises: the system comprises a system time stamp, a maximum slab length, a minimum slab length, a maximum slab width, a minimum slab width, a maximum slab thickness and a minimum slab thickness, and a slab size measuring unit is arranged at an inlet and an outlet of a slab storage area respectively to realize closed loop of slab tracking data.
9. The intelligent overhead traveling crane dispatching integrated management system according to claim 6, wherein a third collector is arranged on the slab scanning unit, the third collector is a laser scanner, based on the point cloud data, the third collector extracts slab features, after scanning point cloud data is obtained, data filtering is performed, points and abnormal points outside a selected boundary are removed, a PCD file is generated by final combination, physical coordinates of the slab are identified, and identification result data are fed back to the dispatching management module, and the system comprises: system time stamp, slab length, slab width, and slab center coordinates.
10. The intelligent overhead traveling crane dispatching integrated management system according to claim 6, wherein the on-site security unit comprises an entrance guard sensor and an image acquisition card, the image acquisition card and the entrance guard card are arranged at a plurality of positions in an unmanned implementation scene of a slab workshop, when the image acquisition card or the entrance guard sensor acquires that a worker intrudes, the dispatching management module starts a security mechanism, the on-site security unit responds to the security mechanism and sends an acquired signal of the intrusion of the worker to the dispatching management module, and the dispatching management module starts a working mechanism according to the received signal, wherein the working mechanism comprises a common level and an important level; when the working mechanism is in a common level, the scheduling management module performs sound-light alarm and prompts on a UI (user interface); when the working mechanism is in an important level, the intelligent overhead traveling crane dispatching integrated management system stops working until the safety influence caused by the intrusion of working personnel is removed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111217838.2A CN113885456B (en) | 2021-10-19 | 2021-10-19 | Intelligent crown block dispatching integrated management system |
| PCT/CN2022/096973 WO2023065682A1 (en) | 2021-10-19 | 2022-06-02 | Intelligent overhead crane dispatching integrated management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111217838.2A CN113885456B (en) | 2021-10-19 | 2021-10-19 | Intelligent crown block dispatching integrated management system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113885456A true CN113885456A (en) | 2022-01-04 |
| CN113885456B CN113885456B (en) | 2023-05-05 |
Family
ID=79003701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111217838.2A Active CN113885456B (en) | 2021-10-19 | 2021-10-19 | Intelligent crown block dispatching integrated management system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113885456B (en) |
| WO (1) | WO2023065682A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114022054A (en) * | 2022-01-05 | 2022-02-08 | 机科发展科技股份有限公司 | AGV operation automatic scheduling system and MES system interface integration method |
| WO2023065682A1 (en) * | 2021-10-19 | 2023-04-27 | 株洲天桥起重机股份有限公司 | Intelligent overhead crane dispatching integrated management system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116969334B (en) * | 2023-09-14 | 2023-12-22 | 华侨大学 | Multi-crown block collaborative operation system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354188A (en) * | 2011-09-01 | 2012-02-15 | 河南科技大学 | Full-automatic crown block scheduling system |
| CN102419579A (en) * | 2011-09-29 | 2012-04-18 | 北京首钢自动化信息技术有限公司 | Crown block logistics informatization control system |
| CN108762202A (en) * | 2018-04-20 | 2018-11-06 | 天津重电气自动化有限公司 | A kind of novel overhead traveling crane intelligent dispatching system and its scheduling flow |
| CN110844789A (en) * | 2019-11-27 | 2020-02-28 | 衡阳镭目科技有限责任公司 | Full-automatic unmanned operation management system of overhead traveling crane |
| 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 |
| CN213445850U (en) * | 2020-11-05 | 2021-06-15 | 湖南省军创智能科技有限公司 | Intelligent control system of unmanned overhead travelling crane |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101495262B1 (en) * | 2013-07-29 | 2015-02-24 | 주식회사 씨밀레테크 | Ready-mixed concrete vehicles smart shipment and dispatch management system and method |
| CN113885456B (en) * | 2021-10-19 | 2023-05-05 | 株洲天桥起重机股份有限公司 | Intelligent crown block dispatching integrated management system |
-
2021
- 2021-10-19 CN CN202111217838.2A patent/CN113885456B/en active Active
-
2022
- 2022-06-02 WO PCT/CN2022/096973 patent/WO2023065682A1/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354188A (en) * | 2011-09-01 | 2012-02-15 | 河南科技大学 | Full-automatic crown block scheduling system |
| CN102419579A (en) * | 2011-09-29 | 2012-04-18 | 北京首钢自动化信息技术有限公司 | Crown block logistics informatization control system |
| CN108762202A (en) * | 2018-04-20 | 2018-11-06 | 天津重电气自动化有限公司 | A kind of novel overhead traveling crane intelligent dispatching system and its scheduling flow |
| CN110844789A (en) * | 2019-11-27 | 2020-02-28 | 衡阳镭目科技有限责任公司 | Full-automatic unmanned operation management system of overhead traveling crane |
| 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 |
| CN213445850U (en) * | 2020-11-05 | 2021-06-15 | 湖南省军创智能科技有限公司 | Intelligent control system of unmanned overhead travelling crane |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023065682A1 (en) * | 2021-10-19 | 2023-04-27 | 株洲天桥起重机股份有限公司 | Intelligent overhead crane dispatching integrated management system |
| CN114022054A (en) * | 2022-01-05 | 2022-02-08 | 机科发展科技股份有限公司 | AGV operation automatic scheduling system and MES system interface integration method |
| CN114022054B (en) * | 2022-01-05 | 2022-04-12 | 机科发展科技股份有限公司 | AGV operation automatic scheduling system and MES system interface integration method |
| US11619931B1 (en) | 2022-01-05 | 2023-04-04 | Machinery Technology Development Co., Ltd | Interface integration method of AGV job automatic scheduling system and MES system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023065682A1 (en) | 2023-04-27 |
| CN113885456B (en) | 2023-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113885456A (en) | Intelligent overhead traveling crane dispatching integrated management system | |
| CN103612860B (en) | Based on Wide and Thick Slab warehouse for finished product warehouse-in location and the position-recognizing system of machine vision | |
| CN202924613U (en) | Automatic control system for efficient loading and unloading work of container crane | |
| CN104723350A (en) | Industrial robot safety protection intelligent control method and system | |
| CN213445850U (en) | Intelligent control system of unmanned overhead travelling crane | |
| CN206218619U (en) | A kind of intelligent plate yard system suitable for shipyard | |
| CN113240356B (en) | Intelligent tower crane cooperative control system and method based on task tree model | |
| CN108083113A (en) | Track crane automation case area is automatically brought into operation management system | |
| CN113822528A (en) | Crown block scheduling method, terminal, scheduling system and operation scheduling center for slab handling | |
| CN114180353A (en) | Multi-type material preparation unmanned overhead crane intelligent control system and method | |
| CN114819887B (en) | Unmanned intelligent manufacturing system | |
| CN114118703A (en) | Intelligent scheduling management system and method for construction engineering | |
| CN109597382A (en) | Coal machine and manufactures intelligence blanking production system | |
| CN105668418B (en) | A kind of automatic hoisting device and method | |
| CN110127500A (en) | Coil of strip is made an inventory of goods in a warehouse crane control system and control method | |
| CN113844813B (en) | Slab identification, tracking, scheduling and management system based on machine vision | |
| CN114037373A (en) | Centralized control rapid access control system based on big data analysis | |
| CN115636345A (en) | Automatic opening and closing system and method for cable trench cover plate of transformer substation | |
| CN113627738A (en) | Intelligent factory production control method and system based on edge Agent | |
| CN210788905U (en) | A mould recognition device that is used for full-automatic intelligent mould hoist overhead traveling crane | |
| CN115953278A (en) | Municipal works wisdom building site management system based on BIM | |
| CN115392559A (en) | Intelligent remote control method of unmanned carrying equipment based on 5G | |
| CN113487156A (en) | Worker behavior monitoring and identifying method and device based on cloud-edge architecture | |
| CN111716318A (en) | Roll call and inspection robot managed by labor tools | |
| CN215048123U (en) | Wireless monitoring system for large material lifting station of crane |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |