CN113885456B - Intelligent crown block dispatching integrated management system - Google Patents
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Abstract
The invention provides an intelligent crown block dispatching integrated management system, which relates to the technical field of intelligent integration of equipment in the steel industry, and comprises the following components: the system comprises a production informatization management system MES, a scheduling management module, an intelligent auxiliary module and an overhead travelling crane module; the intelligent auxiliary module feeds back auxiliary information for logic judgment to the dispatching management module, the dispatching management module forms an overhead traveling crane production dispatching execution instruction according to the production task instruction and the auxiliary information, the overhead traveling crane production dispatching execution instruction is issued to the overhead traveling crane module, the overhead traveling crane module receives the overhead traveling crane production dispatching execution instruction issued by the dispatching management module and executes the overhead traveling crane production dispatching execution instruction to complete automatic slab material carrying tasks, then the instruction execution result is fed back to the dispatching management module, and the dispatching management module receives the execution result fed back by the overhead traveling crane module and adjusts the overhead traveling crane production dispatching execution instruction. The system provided by the invention can meet the automatic operation of the slab warehouse area and promote the intelligent development of enterprise production.
Description
Technical Field
The invention relates to the technical field of intelligent integration of equipment in the steel industry, in particular to an intelligent crown block dispatching integrated management system.
Background
With the development of global iron and steel industry economy, the demand of iron and steel plate blank materials is increased year by year. At present, slab material handling equipment in a workshop of a factory building in the steel industry basically adopts a mode of common crown block operation, the existing operation mode of the common crown block is mostly dependent on manual work, and objective adverse conditions such as high temperature, high dust and the like exist in the factory building, 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, and meanwhile, the crown block operation, operation and data of slab materials cannot be timely and effectively managed, and the automation and informatization degree are low.
Along with the promotion and development of domestic intelligent manufacturing, the trend of unmanned, intelligent and informatization of enterprise production is more and more obvious, the full-automatic loading and unloading operation of carrying equipment and the automatic tracking of material information are realized, the number of on-site operation personnel can be greatly reduced, the operation efficiency is improved, the cost of enterprises is reduced, the unmanned and intelligent of the material carrying equipment is realized, the information can be circulated more, customers are helped to improve the product competitiveness, the enterprise image is improved, and the method has important significance for the digitalized transformation of enterprises.
In 2019, 5.31.31, china patent (publication No. CN 109823968A) discloses a crown block warehouse area management system, and the system proposed in the patent is applied to management of materials and crown blocks in a warehouse and comprises a material module, a crown block module, a warehouse area module and a ground host; the stock area module comprises a label arranged on the material, and the crown block module comprises a first reader arranged on the crown block, a crown block positioning device, a crown block navigation device and a crown block communication unit for controlling the crown block to operate; the warehouse area module comprises a second reader and a communication device which are arranged in the material storage warehouse; the ground host comprises a right management module, a system setting module, a crown block operation module and a report management module, through the technical scheme provided by the patent, a user can carry out all-round management on the materials in a warehouse and the operation of the crown block, so that the operation efficiency and the enterprise productivity are improved, but the key points of the scheme are intensively attributed to the crown block, the cooperation of the crown block and the system modules of other layers is very important in the actual operation of the crown block, the comprehensive efficient cooperation is more beneficial to the intellectualization of the enterprise production, the digital transformation of the enterprise is promoted, and therefore, how to realize the automatic transportation, the data management, the flow monitoring and the system integration of the steel slab materials is researched, and the intelligent scheduling integrated management system centering on the crown block has great significance.
Disclosure of Invention
In order to solve the problem that when the current steel industry faces material warehouse management, research is focused on a direct operator crown block, and cooperation of other operation layers except the crown block is ignored, so that the intelligent integration level of enterprise production is low, the invention provides an intelligent crown block scheduling management system, which realizes automatic carrying of steel slab materials, slab data management, flow monitoring and system integration and promotes the intelligent development of enterprise production.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
the invention provides an intelligent crown block dispatching integrated management system for carrying dispatching management of slab materials, which comprises the following components:
the system comprises a production informatization management system MES, a scheduling management module, an intelligent auxiliary module and an overhead travelling crane module;
the intelligent auxiliary module feeds back auxiliary information for judging production scheduling logic in slab material handling to the scheduling management module, the scheduling management module forms an overhead traveling crane production scheduling execution instruction according to the production task instruction and the auxiliary information, the overhead traveling crane production scheduling execution instruction is issued to the overhead traveling crane module, the overhead traveling crane module receives the overhead traveling crane production scheduling execution instruction issued by the scheduling management module and executes the overhead traveling crane production scheduling execution instruction to complete the slab material automatic handling 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 traveling crane module to adjust the overhead traveling crane production scheduling execution instruction.
Preferably, the production task instruction issued by the production information management system MES is an operation plan of each day of the slab stock area, and the scheduling management module subdivides the received operation plan of each day of the slab stock area to form a task schedule;
the intelligent auxiliary module feeds back auxiliary information for judging production scheduling logic in slab material handling to the scheduling management module, wherein the auxiliary information comprises the following components: slab data information and slab warehouse field safety information, wherein the slab data information comprises: slab ID information, slab size information, and slab physical coordinate information;
the scheduling management module forms an overhead travelling crane production scheduling execution instruction based on task scheduling, slab ID information, slab size information, slab physical coordinate information and on-site safety information of the slab storage area;
the scheduling management module receives the execution result fed back by the crown block module, and when the slab data information changes, the scheduling management module updates the auxiliary information fed back by the intelligent auxiliary module, 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 stock area.
Preferably, the crown block module comprises a crown block communication unit, a crown block body, an anti-shake positioning unit, a crown block cruising unit, a clamp state detecting unit and a clamp material clamping detecting unit;
One end of the crown block communication unit is respectively connected with the crown block body, the anti-shake 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 in bidirectional connection with the dispatching management module, the crown block communication unit receives crown block production dispatching execution instructions issued by the dispatching management module, the crown block production dispatching execution instructions comprise speed adjustment instructions, anti-shake positioning instructions, automatic cruising instructions, clamp state detection instructions and clamp material clamping detection instructions, the instructions are transmitted to the crown block body, the anti-shake positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit for execution, and finally the execution results of the crown block body, the anti-shake 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 anti-collision and automatic deceleration among multiple crown blocks are realized; the crown block cruising unit cruises crown block planning to the target coordinates according to the target coordinates given in the automatic cruising instruction, and feeds back real-time navigation data to the dispatching management module through the crown block communication unit; the anti-shake positioning unit receives an anti-shake positioning instruction, positions the position of the crown block body, controls the crown block to complete moving and lifting actions according to the position of the crown block body and lifting position signals, and uploads real-time anti-shake positioning data to the dispatching 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 detected real-time data to the dispatching management module through the crown block communication unit; the clamp material clamping detection unit receives clamp material clamping detection instructions, detects the result that the clamp of the crown block clamps the slab material, achieves the purposes of clamping, moving and putting down the slab material, and uploads detected real-time data to the dispatching management module through the crown block communication unit.
Preferably, an anti-shake positioning unit is arranged in the anti-shake positioning unitThe positioning control model, converter and motor, the anti-shake positioning control model includes: 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, the anti-shake positioning control model is a closed-loop control model, the control object in the control object module is a cart or a trolley of the crown block body, and the control device is provided withL window Representing the control criteria threshold value,L min indicating that a given deceleration distance is to be provided,V min representing the minimum given speed of the vehicle,V max representing the maximum given speedLRepresenting the difference value of the control object from the target position, and executing the following operations after the anti-shake positioning unit receives an anti-shake positioning instruction:
s1, judging the difference value of the control object from the target position△LWhether or not it satisfies:L window ﹤△L≤L min if yes, calculating the current speed v of the control object, wherein the formula is as follows:
then executing step S2; otherwise, judging the difference delta of the control object from the target positionLWhether or not it satisfies: and (V) L﹥L min If yes, the current speed v of the control object is obtainedV max Otherwise, the current speed v of the control object is made to be zero, and the 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 toV min If yes, the current speed v of the control object is obtainedV min Executing the step S3, otherwise executing the step S3;
s3, converting the current speed v into a given value through a frequency converter to prevent the current speed v from shaking, and controlling the motor to act for speed conversion after the frequency converter is started at the starting stage through the slope of the frequency converter; if the frequency converter is not started, the speed conversion is directly carried out by controlling the motor to act;
and the crown block cruising unit cruises the crown block to the target coordinates through motor actions based on the anti-shake positioning control model, the frequency converter and the motor arranged in the anti-shake positioning unit according to the target coordinates given in the automatic cruising instruction.
The step S1-S2 is used for obtaining a speed target value to be controlled by the control object, the speed and the given value of the frequency converter have corresponding conversion relations, the corresponding relations of different frequency converters are different, and the frequency converter is directly further controlled through the operation of the step S3 to convert the speed of the control object into the control speed.
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, triggering a touch material switch when the clamp descends, wherein a setting signal 1 indicates that the plate blank material is in stable contact with the clamp, and a setting signal 0 indicates that the plate blank material is not in stable contact with the clamp;
After the clamp is in stable contact with the slab material, the clamp is safely lifted, and if the set height time exceeds ts seconds, if the signal is 0, the clamp state detection unit alarms and the clamp is not lifted;
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 characterization material is clamped stably. According to whether the crown block body moves or not, whether the material moves or not is confirmed; if the trigger touch material switch signal is 0 and the clamp opening and closing switch signal is 0, the characteristic material is put down.
Preferably, the intelligent auxiliary module comprises a data acquisition unit, a slab detection unit, a wireless communication unit and a site safety unit; the data acquisition unit is in charge of data interaction of the crown block module, the dispatching management module and the intelligent auxiliary module; the slab detection unit comprises a slab ID recognition unit, a slab size measurement unit and a slab scanning unit, and is respectively used for recognizing the slab ID, measuring the slab size and determining the slab physical coordinates so as to realize the warehouse-in and warehouse-out data tracking of the slab; the wireless communication unit is used for managing wireless interaction of the crown block module, the dispatching management module and the intelligent auxiliary module; the field safety unit is used for responding to a safety mechanism of the slab stock area.
Preferably, 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, 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, the temperature is reduced in a water-cooling mode, an air cooling device is additionally arranged on the periphery of the laser scanning equipment, and the temperature is reduced in an air cooling mode;
after the slab data information is collected by the slab ID recognition unit, the slab size measurement unit and the slab scanning unit of the slab detection unit, filtering the data through a filtering method, removing points and abnormal points outside a selected boundary, and finally carrying out feature extraction, ID recognition, size measurement and scanning based on a machine recognition and deep learning algorithm.
Preferably, the slab ID recognition unit is provided with a first collector, the first collector includes a slab detection switch, an industrial camera, a light source and a controller, when a slab material enters the intelligent crown block 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 collection is performed, and data transmitted to the dispatching management module by the slab ID recognition unit includes: system time stamp, slab ID number; the plate blank ID recognition unit is arranged on each device at the inlet and the outlet of the plate blank warehouse area, after the scheduling management module obtains the plate blank ID number, the plate blank ID is matched with a production task instruction issued by the production informatization management system MES, if the plate blank ID exists in the production task instruction issued by the production informatization management system MES, a plan is matched, otherwise, the plate blank ID is used as a new addition, the scheduling management module feeds back the new addition plan to the MES as a practical result to process, and plate blank tracking data closed loop is realized.
Preferably, the slab dimension measuring unit is provided with a second collector, the second collector comprises an industrial camera, a light source and a controller, the slab dimension measuring unit realizes the measurement of the physical dimension of the length, width and height of the slab based on a visual field calculation method, and dimension measurement result data are fed back to the dispatching management module, and the method comprises the following steps: the system time stamp, the maximum length of the slab, the minimum length of the slab, the maximum width of the slab, the minimum width of the slab, the maximum thickness of the slab and the minimum thickness of the slab are respectively arranged at the entrance and the exit of the slab warehouse area by the slab dimension measuring unit, so that the closed loop of the slab tracking data is realized.
Preferably, a third collector is arranged on the slab scanning unit, the third collector is a laser scanner, based on point cloud data, the third collector performs slab feature extraction, performs data filtering after acquiring scanned point cloud data, removes points outside a selected boundary and abnormal points, finally combines to generate a PCD file, identifies slab physical coordinates, and feeds identification result data back to the scheduling management module, and the method comprises the following steps: system time stamp, slab length, slab width, and slab center coordinates.
Preferably, the site safety unit comprises an access control sensor and an image acquisition card, wherein the image acquisition card and the access control card are arranged at a plurality of positions in an unmanned implementation scene of a plate blank workshop, when the image acquisition card or the access control sensor acquires that a worker runs into the vehicle, the scheduling management module starts a safety mechanism, the site safety unit responds to the safety mechanism, a signal of the acquired worker running into the vehicle is sent to the scheduling management module, and the scheduling 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 at a common level, the dispatching management module carries out audible and visual alarm and prompts at the UI interface; when the working mechanism is at an important level, the intelligent crown block scheduling integrated management system stops until the safety influence caused by the intrusion of the staff is relieved.
The invention has the beneficial effects that:
the invention provides an intelligent crown block dispatching integrated management system, which integrates crown block modules, dispatching management modules and intelligent auxiliary modules, wherein the crown block modules realize automatic slab handling and are integrated with the dispatching management modules, the dispatching management system dispatches crown block multi-machine collaborative operation, safe avoidance and realizes automatic operation flow, and the intelligent auxiliary modules assist the dispatching management modules to realize data interconnection and material tracking, and cooperate with the crown block modules and the dispatching management modules to realize automatic operation of slab warehouse areas and promote intelligent development of enterprise production.
Drawings
Fig. 1 is a schematic diagram showing an overall structure of an intelligent crown block dispatching integrated management system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall structure of an overhead travelling crane module according to an embodiment of the present invention;
fig. 3 shows a block diagram of an anti-shake positioning unit according to an embodiment of the invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
for better illustration of the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent actual dimensions;
it will be appreciated by those skilled in the art that some well known descriptions in the figures may be omitted.
The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent;
the technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Examples
An intelligent crown block dispatching integrated management system for carrying dispatching management of slab materials, which is oriented to the steel industry, see fig. 1, comprises the following 4 sub-parts:
the system comprises a production informatization management system MES, a scheduling management module, an intelligent auxiliary module and an overhead travelling crane module;
the production informatization management system MES is a set of production informatization management system facing the workshop execution layer of a manufacturing enterprise. The MES can provide management modules for enterprises, such as manufacturing data management, planning and scheduling management, production scheduling management, inventory management, quality management, human resource management, work center/equipment management, tool fixture management, purchasing management, cost management, project signboard management, production process control, bottom-layer data integration analysis, upper-layer data integration decomposition and the like, and a solid, reliable, comprehensive and feasible manufacturing collaborative management platform is created for the enterprises.
In this embodiment, as shown in fig. 1, the cooperation of the production information management system MES, the dispatch management module, the intelligent auxiliary module and the crown block module is as follows:
The intelligent auxiliary module feeds back auxiliary information for judging production scheduling logic in slab material handling to the scheduling management module, the scheduling management module forms an overhead traveling crane production scheduling execution instruction according to the production task instruction and the auxiliary information, the overhead traveling crane production scheduling execution instruction is issued to the overhead traveling crane module, the overhead traveling crane module receives the overhead traveling crane production scheduling execution instruction issued by the scheduling management module and executes the overhead traveling crane production scheduling execution instruction to complete the slab material automatic handling 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 traveling crane module and adjusts the overhead traveling crane production scheduling execution instruction.
In this embodiment, the production task instruction issued by the production information management system MES is an operation plan of each day in the slab stock area, and the scheduling management module subdivides the received operation plan of each day in the slab stock area to form a task schedule;
the intelligent auxiliary module feeds back auxiliary information for judging production scheduling logic in slab material handling to the scheduling management module, wherein the auxiliary information comprises the following components: slab data information and slab warehouse field safety information, wherein the slab data information comprises: slab ID information, slab size information, and slab physical coordinate information;
The scheduling management module forms an overhead travelling crane production scheduling execution instruction based on task scheduling, slab ID information, slab size information, slab physical coordinate information and on-site safety information of the slab storage area;
in this embodiment, the scheduling management module subdivides the received daily operation plan of the slab stock area to form a task schedule, and the content of a specific crown block production scheduling execution instruction corresponding to the task schedule may be:
the method comprises the steps that a task plan obtained by a scheduling management module is set as T, a slab carrying sequence and slab target node information are defined in the task plan T, the scheduling management module determines an execution crown block of the task plan T according to production task instructions and auxiliary information, for example, two crown blocks for executing the task plan T are determined to be Ma and Mb, the task plan T is divided based on the number n of slabs contained in the task plan T, the execution plan task schedule of n slab carrying is obtained, and then the execution type under the execution plan task schedule is determined according to the cooperative coordination condition of the execution crown blocks, for example, the following three types are determined:
crown block M a Execution t k Crown block M b Execution plan t of the k-th slab to be avoided k A single execution;
crown block M a Execution t k Crown block M b Executing the waiting, crown block M b Execution t k-1 Crown block M a Execution plan t of the k-1 th slab to be avoided k-1 Execution plan t with k-th slab k Executing in parallel;
third, execution plan t of k-th slab k Splitting is performed: t is t k =t k1 ,t k2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein t is k1 ,t k2 Respectively represent execution plans t k Split two plans, will t k1 And t k2 Put into the task plan T, reject the original execution plan T k A new task plan T 'is formed, and for the execution plan in the new task plan T', the execution type is selected to be single execution or parallel execution.
According to the overhead travelling crane running time cost function under each execution type, determining an overhead travelling crane slab carrying operation scheduling instruction when the overhead travelling crane running time cost function obtains the minimum value, and then determining a path node of an overhead travelling crane carrying slab according to the overhead travelling crane slab carrying operation scheduling instruction by a scheduling management module, so as to schedule the overhead travelling crane, wherein in the whole process, an intelligent scheduling management system is cooperatively matched with an intelligent auxiliary module, and the intelligent of a scheduling layer is realized based on data interconnection and intercommunication, and comprises the following steps: crown block equipment scheduling, crown block multi-machine collaborative operation, crown block safety avoidance, overall task scheduling and the like.
The scheduling management module receives the execution result fed back by the crown block module, and when the slab data information changes, the scheduling management module updates the auxiliary information fed back by the intelligent auxiliary module, 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 stock area.
In this embodiment, referring to fig. 2, the crown block module includes a crown block communication unit, a crown block body, an anti-shake positioning unit, a crown block cruising unit, a clamp state detecting unit, and a clamp material clamping detecting unit;
one end of the crown block communication unit is respectively connected with the crown block body, the anti-shake 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 in bidirectional connection with the dispatching management module, the crown block communication unit receives crown block production dispatching execution instructions issued by the dispatching management module, the crown block production dispatching execution instructions comprise speed adjustment instructions, anti-shake positioning instructions, automatic cruising instructions, clamp state detection instructions and clamp material clamping detection instructions, the instructions are transmitted to the crown block body, the anti-shake positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit for execution, and finally the execution results of the crown block body, the anti-shake 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;
specific:
the crown block communication unit controls the automatic operation of the crown block body according to the speed regulation instruction, and the anti-collision and automatic deceleration among multiple crown blocks are realized;
The crown block cruising unit cruises crown block planning to the target coordinates according to the target coordinates given in the automatic cruising instruction, and feeds back real-time navigation data to the dispatching management module through the crown block communication unit;
the anti-shake positioning unit receives an anti-shake positioning instruction, positions the position of the crown block body, controls the crown block to complete moving and lifting actions according to the position of the crown block body and lifting position signals, and uploads real-time anti-shake positioning data to the dispatching 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 detected real-time data to the dispatching management module through the crown block communication unit; the clamp material clamping detection unit receives clamp material clamping detection instructions, detects the result that the clamp of the crown block clamps the slab material, achieves the purposes of clamping, moving and putting down the slab material, and uploads detected real-time data to the dispatching management module through the crown block communication unit.
In this embodiment, referring to fig. 3, an anti-shake positioning control model, a frequency converter and a motor are disposed in the anti-shake positioning unit, where the anti-shake positioning control model includes: 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, the anti-shake positioning control model is a closed-loop control model, the control object in the control object module is a cart or a trolley of the crown block body, and the control device is provided with L window Representing the control criteria threshold value,L min indicating that a given deceleration distance is to be provided,V min representing the minimum given speed of the vehicle,V max representing the maximum given speedLRepresenting the difference value of the control object from the target position, and executing the following operations after the anti-shake positioning unit receives an anti-shake positioning instruction:
s1, judging the difference value of the control object from the target position△LWhether or not it satisfies:L window ﹤△L≤L min ("left" defines a difference indicating the distance of the control object from the target position△LWhen the current speed v of the control object is greater than the control standard threshold, the anti-shake positioning control model performs anti-shake control, and if the current speed v of the control object is calculated, the formula is as follows:
then executing step S2; otherwise, judging the distance order of the control objectDifference in target positionLWhether or not it satisfies: and (V)L﹥L min If yes, the current speed v of the control object is obtainedV max Otherwise, the current speed v of the control object is made to be zero, and the 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 toV min If yes, the current speed v of the control object is obtainedV min Step S3 is executed; otherwise, executing the step S3;
s3, converting the current speed v into a given value through a frequency converter to prevent the current speed v from shaking, and controlling the motor to act for speed conversion after the frequency converter is started at the starting stage through the slope of the frequency converter; if the frequency converter is not started, the speed conversion is directly carried out by controlling the motor to act. The corresponding conversion relation exists between the speed and the given value of the frequency converter, and the corresponding relation of different frequency converters is different, and is not repeated here.
Further, the crown block cruising unit cruises the crown block to the target coordinates through motor actions based on an anti-shake positioning control model, a frequency converter and a motor which are arranged in the anti-shake positioning unit according to the target coordinates given in the automatic cruising instruction;
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 touch material switch is triggered, the "setting signal 1" indicates that the slab material is in stable contact with the clamp, and the "setting signal 0" indicates that the slab material is not in stable contact with the clamp;
after the clamp is in stable contact with the slab material, the clamp is safely lifted, and if the set height time exceeds ts seconds, if the signal is 0, the clamp state detection unit alarms and the clamp is not lifted; here, the length of time for the clamp to rise to the set height is set according to specific needs, and in this embodiment, 5s may be set.
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 characterization material is clamped stably. According to whether the crown block body moves or not, whether the material moves or not is confirmed; if the trigger touch material switch signal is 0 and the clamp opening and closing switch signal is 0, the characteristic material is put down.
In this embodiment, the intelligent auxiliary module includes a data acquisition unit, a slab detection unit, a wireless communication unit, and a site safety unit; the data acquisition unit is in charge of data interaction of the crown block module, the dispatching management module and the intelligent auxiliary module; the slab detection unit comprises a slab ID recognition unit, a slab size measurement unit and a slab scanning unit, and is respectively used for recognizing the slab ID, measuring the slab size and determining the slab physical coordinates so as to realize the warehouse-in and warehouse-out data tracking of the slab; the wireless communication unit is used for managing wireless interaction of the crown block module, the dispatching management module and the intelligent auxiliary module; the field safety unit is used for responding to a safety mechanism of the slab stock area.
In the embodiment, a MYSQL communication 8 open source database is adopted as a system DB database by a data acquisition unit, a MYSQL connection pool is built by using a Proxool middleware, restFul WebService interfaces are opened for an crown block module, a scheduling management module and an intelligent auxiliary module, a Servlet service is developed through a Tomcat and a Java Web, and 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 develops WebApi through NetCore for the crown block module, the scheduling management module and the intelligent auxiliary module to call, establishes a message queue intermediate service, opens the scheduling management module to communicate with the data acquisition unit, adopts Redis as real-time data storage, adopts EMQ as subscription and instant pushing service, builds EMQ cluster service, increases a stable and reliable mechanism, and adopts MongoDB as log and message definition storage.
In the embodiment, a slab ID identification unit, a slab dimension measurement unit and a slab scanning unit of the slab detection unit are in a high-temperature environment, 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, the temperature is reduced in a water-cooling mode, an air cooling device is additionally arranged on the periphery of the laser scanning equipment, and the temperature is reduced in an air cooling mode;
after the slab data information is collected by the slab ID recognition unit, the slab size measurement unit and the slab scanning unit of the slab detection unit, filtering the data through a filtering method, removing points and abnormal points outside a selected boundary, and finally carrying out feature extraction, ID recognition, size measurement and scanning based on a machine recognition 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, after the slab material gets into intelligent crown block dispatch integrated management system through the roll table, the slab detection switch is triggered, the recognition function of slab ID recognition unit starts, realize OCR word recognition based on the deep learning algorithm, carry out information acquisition, the data of slab ID recognition unit transmission to dispatch management module includes: system time stamp, slab ID number; the plate blank ID recognition unit is arranged on each device at the inlet and the outlet of the plate blank warehouse area, after the scheduling management module obtains the plate blank ID number, the plate blank ID is matched with a production task instruction issued by the production informatization management system MES, if the plate blank ID exists in the production task instruction issued by the production informatization management system MES, a plan is matched, otherwise, the plate blank ID is used as a new addition, the scheduling management module feeds back the new addition plan to the MES as a practical result to process, and plate blank tracking data closed loop is realized.
In this embodiment, the slab dimension measuring unit is provided with a second collector, the second collector includes an industrial camera, a light source, and a controller, the slab dimension measuring unit is based on a visual field calculating method, and the visual field calculating method has a calculating formula as follows: the field of view FOV (H or V) =working distance (WD) ×target surface size (HorV)/focal length f, realize the length, width, high physical dimension measurement of slab, size measurement result data feedback to dispatch management module includes: the system time stamp, the maximum length of the slab, the minimum length of the slab, the maximum width of the slab, the minimum width of the slab, the maximum thickness of the slab and the minimum thickness of the slab are respectively arranged at the entrance and the exit of the slab warehouse area by the slab dimension measuring unit, so that the closed loop of the slab tracking data is realized.
In this embodiment, a third collector is provided on the slab scanning unit, the third collector is a laser scanner, based on point cloud data, the third collector performs slab feature extraction, performs data filtering after obtaining scanned point cloud data, removes points outside a selected boundary and abnormal points, and finally combines to generate a PCD file, identifies physical coordinates of the slab, and feeds back identification result data to the scheduling management module, including: system time stamp, slab length, slab width, and slab center coordinates. Specifically, the slab scanning unit performs data complement (interpolation filling based on surrounding lattice data if there are no points in the cell) and compression (normalization of a plurality of points in the cell) on the lattice data unit (gridding). The stereoscopic three-dimensional data is then converted into planar data, with the z-axis values represented by contour lines. The method reduces the calculation force requirement during display, blurs the uneven surface of the material, and can meet the search of the boundary of the slab.
In this embodiment, the on-site security unit includes an access control sensor and an image acquisition card, the image acquisition card and the access control card are arranged at a plurality of positions in an unmanned implementation scene of a plate blank workshop, when the image acquisition card or the access control sensor acquires that a worker breaks in, the scheduling management module starts a security mechanism, the on-site security unit responds to the security mechanism, a collected signal of the worker breaking in is sent 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 at a common level, the dispatching management module carries out audible and visual alarm and prompts at the UI interface; when the working mechanism is at an important level, the intelligent crown block scheduling integrated management system stops until the safety influence caused by the intrusion of the staff is relieved.
The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent;
it is to be understood that the above examples of the present invention are provided by way of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. An intelligent crown block scheduling integrated management system for handling scheduling management of slab materials, the system comprising:
the system comprises a production informatization management system MES, a scheduling management module, an intelligent auxiliary module and an overhead travelling crane module;
the intelligent auxiliary module feeds back auxiliary information for judging production scheduling logic in slab material handling to the scheduling management module, the scheduling management module forms an overhead traveling crane production scheduling execution instruction according to the production task instruction and the auxiliary information, the overhead traveling crane production scheduling execution instruction is issued to the overhead traveling crane module, the overhead traveling crane module receives the overhead traveling crane production scheduling execution instruction issued by the scheduling management module and executes the overhead traveling crane production scheduling execution instruction to complete the slab material automatic handling 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 traveling crane module and adjusts the overhead traveling crane production scheduling execution instruction;
the crown block module comprises a crown block communication unit, a crown block body, an anti-shake 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-shake 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 in bidirectional connection with the dispatching management module, the crown block communication unit receives crown block production dispatching execution instructions issued by the dispatching management module, the crown block production dispatching execution instructions comprise speed adjustment instructions, anti-shake positioning instructions, automatic cruising instructions, clamp state detection instructions and clamp material clamping detection instructions, the instructions are transmitted to the crown block body, the anti-shake positioning unit, the clamp state detection unit, the clamp material clamping detection unit and the crown block cruising unit for execution, and finally the execution results of the crown block body, the anti-shake 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 anti-collision and automatic deceleration among multiple crown blocks are realized; the crown block cruising unit cruises crown block planning to the target coordinates according to the target coordinates given in the automatic cruising instruction, and feeds back real-time navigation data to the dispatching management module through the crown block communication unit; the anti-shake positioning unit receives an anti-shake positioning instruction, positions the position of the crown block body, controls the crown block to complete moving and lifting actions according to the position of the crown block body and lifting position signals, and uploads real-time anti-shake positioning data to the dispatching 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 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 the plate blank material by the clamp of the crown block, realizes the clamping, moving and putting down of the plate blank material, and uploads detected real-time data to the dispatching management module through the crown block communication unit;
the intelligent auxiliary module comprises a data acquisition unit, a slab detection unit, a wireless communication unit and a site safety unit; the data acquisition unit is in charge of data interaction of the crown block module, the dispatching management module and the intelligent auxiliary module; the slab detection unit comprises a slab ID recognition unit, a slab size measurement unit and a slab scanning unit, and is respectively used for recognizing the slab ID, measuring the slab size and determining the slab physical coordinates so as to realize the warehouse-in and warehouse-out data tracking of the slab; the wireless communication unit is used for managing wireless interaction of the crown block module, the dispatching management module and the intelligent auxiliary module; the field safety unit is used for responding to a safety mechanism of the slab stock area; the slab ID identification unit, the slab size measurement unit and the slab scanning unit of the slab detection unit are in a high-temperature environment, 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, the temperature is reduced in a water-cooling mode, an air cooling device is additionally arranged on the periphery of the laser scanning equipment, and the temperature is reduced in an air cooling mode;
After the slab data information is collected by the slab ID recognition unit, the slab size measurement unit and the slab scanning unit of the slab detection unit, filtering the data through a filtering method, removing points and abnormal points outside a selected boundary, and finally carrying out feature extraction, ID recognition, size measurement and scanning based on a machine recognition and deep learning algorithm.
2. The intelligent crown block scheduling 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 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 production scheduling logic in slab material handling to the scheduling management module, wherein the auxiliary information comprises the following components: slab data information and slab warehouse field safety information, wherein the slab data information comprises: slab ID information, slab size information, and slab physical coordinate information;
the scheduling management module forms an overhead travelling crane production scheduling execution instruction based on task scheduling, slab ID information, slab size information, slab physical coordinate information and on-site safety information of the slab storage area;
The scheduling management module receives the execution result fed back by the crown block module, and when the slab data information changes, the scheduling management module updates the auxiliary information fed back by the intelligent auxiliary module, 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 stock area.
3. The intelligent crown block dispatching integrated management system of claim 1, wherein an anti-shake positioning control model, a frequency converter and a motor are arranged in the anti-shake positioning unit, and the anti-shake positioning control model comprises: speed controller and controlled object dieThe control system comprises a block, a detection control object position module, a speed controller, a control object module and an anti-shake positioning control model, wherein the 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, the anti-shake 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 the control object in the control object module is a cart or a trolley of a crown block body and is provided withL window Representing the control criteria threshold value,L min indicating that a given deceleration distance is to be provided,V min representing the minimum given speed of the vehicle, V max Representing the maximum given speedLRepresenting the difference value of the control object from the target position, and executing the following operations after the anti-shake positioning unit receives an anti-shake positioning instruction:
s1, judging the difference value of the control object from the target position△LWhether or not it satisfies:L window ﹤△L≤L min if yes, calculating the current speed v of the control object, wherein the formula is as follows:
then executing step S2; otherwise, judging the difference delta of the control object from the target positionLWhether or not it satisfies: and (V)L﹥L min If yes, the current speed v of the control object is obtainedV max Otherwise, the current speed v of the control object is made to be zero, and the 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 toV min If yes, the current speed v of the control object is obtainedV min Executing the step S3, otherwise executing the step S3;
s3, converting the current speed v into a given value through a frequency converter to prevent the current speed v from shaking, and controlling the motor to act for speed conversion after the frequency converter is started at the starting stage through the slope of the frequency converter; if the frequency converter is not started, the speed conversion is directly carried out by controlling the motor to act;
and the crown block cruising unit cruises the crown block to the target coordinates through motor actions based on the anti-shake positioning control model, the frequency converter and the motor arranged in the anti-shake positioning unit according to the target coordinates given in the automatic cruising instruction.
4. The intelligent crown block dispatching integrated management system according to claim 1, wherein 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, a touch material switch is triggered, a setting signal 1 indicates that the slab material is in stable contact with the clamp, and a setting signal 0 indicates that the slab material is not in stable contact with the clamp;
after the clamp is in stable contact with the slab material, the clamp is safely lifted, and if the set height time exceeds ts seconds, if the signal is 0, the clamp state detection unit alarms and the clamp is not lifted;
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 characterization material is clamped stably; according to whether the crown block body moves or not, whether the material moves or not is confirmed; if the trigger touch material switch signal is 0 and the clamp opening and closing switch signal is 0, the characteristic material is put down.
5. The intelligent crown block dispatching integrated management system according to claim 1, wherein a first collector is arranged on the slab ID recognition unit, the first collector comprises a slab detection switch, an industrial camera, a light source and a controller, when a slab material enters the intelligent crown block 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 collection is performed, and data transmitted to the dispatching management module by the slab ID recognition unit comprises: system time stamp, slab ID number; the plate blank ID recognition unit is arranged on each device at the inlet and the outlet of the plate blank warehouse area, after the scheduling management module obtains the plate blank ID number, the plate blank ID is matched with a production task instruction issued by the production informatization management system MES, if the plate blank ID exists in the production task instruction issued by the production informatization management system MES, a plan is matched, otherwise, the plate blank ID is used as a new addition, the scheduling management module feeds back the new addition plan to the MES as a practical result to process, and plate blank tracking data closed loop is realized.
6. The intelligent crown block dispatching integrated management system according to claim 1, wherein a second collector is provided on the slab dimension measuring unit, the second collector includes an industrial camera, a light source, and a controller, the slab dimension measuring unit implements length, width, and height physical dimension measurement of the slab based on a field of view calculation method, dimension measurement result data is fed back to the dispatching management module, and the intelligent crown block dispatching integrated management system includes: the system time stamp, the maximum length of the slab, the minimum length of the slab, the maximum width of the slab, the minimum width of the slab, the maximum thickness of the slab and the minimum thickness of the slab are respectively arranged at the entrance and the exit of the slab warehouse area by the slab dimension measuring unit, so that the closed loop of the slab tracking data is realized.
7. The intelligent crown block dispatching integrated management system of claim 1, wherein a third collector is arranged on the slab scanning unit, the third collector is a laser scanner, based on point cloud data, the third collector performs slab feature extraction, performs data filtering after acquiring scanned point cloud data, removes points outside a selected boundary and abnormal points, finally combines to generate a PCD file, identifies slab physical coordinates, and feeds back identification result data to the dispatching management module, and the intelligent crown block dispatching integrated management system comprises: system time stamp, slab length, slab width, and slab center coordinates.
8. The intelligent crown block dispatching integrated management system according to claim 1, wherein the site safety unit comprises an access control sensor and an image acquisition card, the image acquisition card and the access control card are arranged at a plurality of positions in an unmanned implementation scene of a slab workshop, when the image acquisition card or the access control sensor acquires that staff intrudes, the dispatching management module starts a safety mechanism, the site safety unit responds to the safety mechanism, a collected signal of the staff intrusion is sent 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 at a common level, the dispatching management module carries out audible and visual alarm and prompts at the UI interface; when the working mechanism is at an important level, the intelligent crown block scheduling integrated management system stops until the safety influence caused by the intrusion of the staff is relieved.
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| PCT/CN2022/096973 WO2023065682A1 (en) | 2021-10-19 | 2022-06-02 | Intelligent overhead crane dispatching integrated management system |
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| 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 |
| 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 |
| CN114781785A (en) * | 2022-03-03 | 2022-07-22 | 唐钢国际工程技术有限公司 | Scrap steel warehouse unmanned overhead crane dispatching system and method |
| CN116493518B (en) * | 2023-02-07 | 2024-09-03 | 中交第二航务工程局有限公司 | Cloud platform-based bending and forming steel bar automatic production control system and method |
| CN116969334B (en) * | 2023-09-14 | 2023-12-22 | 华侨大学 | Multi-crown block collaborative operation system |
| CN118034203A (en) * | 2024-02-01 | 2024-05-14 | 无锡洲成科技有限公司 | Intelligent control system and control method for industrial production |
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| CN102354188B (en) * | 2011-09-01 | 2014-03-12 | 河南科技大学 | Full-automatic crown block scheduling system |
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| KR101495262B1 (en) * | 2013-07-29 | 2015-02-24 | 주식회사 씨밀레테크 | Ready-mixed concrete vehicles smart shipment and dispatch management system and method |
| 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 |
| 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 |
| 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 |
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| 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 |
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