CN115258949A - Crown block control method and device and electronic equipment - Google Patents
Crown block control method and device and electronic equipment Download PDFInfo
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- CN115258949A CN115258949A CN202210661912.8A CN202210661912A CN115258949A CN 115258949 A CN115258949 A CN 115258949A CN 202210661912 A CN202210661912 A CN 202210661912A CN 115258949 A CN115258949 A CN 115258949A
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- crown
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention is suitable for the technical field of crown blocks, and provides a crown block control method, a crown block control device and electronic equipment, wherein the method comprises the following steps: acquiring running information of any two adjacent crown blocks on a crown block track; judging whether the two crown blocks meet preset conditions or not according to the operation information, and if the two crown blocks meet the preset conditions, calculating the optimal collision avoidance distance of the two crown blocks according to the operation information; and controlling the two crown blocks based on the optimal collision avoidance distance. The invention shortens the anticollision distance of the crown block and improves the working efficiency of the crown block on the premise of ensuring the safety of the crown block.
Description
Technical Field
The invention belongs to the technical field of crown blocks, and particularly relates to a crown block control method, a crown block control device and electronic equipment.
Background
With the development of intelligent factories in the metallurgical industry, unmanned systems in reservoir areas are generally concerned.
In the unmanned system of the reservoir area, the running efficiency of the crown blocks is improved, and the safety of the crown blocks is ensured, so that the optimal collision avoidance distance between the crown blocks is an important research direction for the unmanned reservoir area.
In the prior art, the collision avoidance distance of the overhead travelling crane is a fixed value, and in order to ensure the running safety of the overhead travelling crane under various working conditions, the collision avoidance distance is generally set to be large, and the efficiency of warehouse logistics is severely restricted by the overlarge collision avoidance distance. On the premise of ensuring the safety of the overhead travelling crane, the reduction of the collision avoidance distance of the overhead travelling crane has a remarkable effect on the improvement of the efficiency of the reservoir area, and due to an unreasonable collision avoidance strategy, the operation efficiency is low and the user experience is poor.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, and an electronic device for controlling an overhead traveling crane, so as to solve the problems of a large collision avoidance distance and a low operation efficiency of the overhead traveling crane in the prior art.
A first aspect of an embodiment of the present invention provides a crown block control method, including:
acquiring running information of any two adjacent crown blocks on a crown block track;
judging whether the two crown blocks meet preset conditions or not according to the operation information, and if the two crown blocks meet the preset conditions, calculating the optimal collision avoidance distance of the two crown blocks according to the operation information;
and controlling the two crown blocks based on the optimal collision avoidance distance.
Optionally, the running information includes a current speed of the overhead travelling crane; judging whether the two crown blocks meet preset conditions according to the operation information comprises the following steps:
judging whether the two crown blocks are approaching according to the current speeds of the two crown blocks;
and if the judgment result shows that the two crown blocks are approaching, judging that the two crown blocks meet the preset condition.
Optionally, the running information includes the maximum speed, the maximum braking distance and the width of the overhead travelling crane;
the formula for calculating the optimal collision avoidance distance of the two crown blocks according to the running information is as follows:
in the formula, v1、v2Current speeds, v, of two crown blocks, respectivelymaxThe maximum speed of the two crown blocks is shown, a is the maximum braking distance of the two crown blocks, b is a preset deviation coefficient, H is the width of the two crown blocks, and D is a preset distance measurement deviation value.
Optionally, the overhead traveling crane control method further includes:
if the judgment result shows that the two crown blocks do not meet the preset condition, setting the optimal collision avoidance distance of the two crown blocks as y = (H + D);
h is the width of two crown blocks, and D is a preset ranging deviation value.
Optionally, controlling the two crown blocks based on the optimal collision avoidance distance includes:
and controlling the distance between the two crown blocks not to be smaller than the optimal collision avoidance distance.
Optionally, controlling the distance between the two crown blocks to be not less than the optimal collision avoidance distance includes:
acquiring the operation instruction generation time of two crown blocks;
keeping the running state of the first crown block unchanged, and adjusting the running state of the second crown block to ensure that the distance between the two crown blocks is not less than the optimal collision avoidance distance;
the first crown block is the crown block with the earlier operation instruction generation time in the two crown blocks, and the second crown block is the crown block with the later operation instruction generation time in the two crown blocks.
Optionally, controlling the two crown blocks based on the optimal collision avoidance distance further includes:
and if the distance between the two crown blocks at any moment is less than the optimal collision avoidance distance, performing emergency stop control on the two crown blocks.
A second aspect of an embodiment of the present invention provides an overhead traveling crane control apparatus, including:
the acquiring module is used for acquiring the operation information of any two adjacent crown blocks on the crown block track;
the calculation module is used for judging whether the two crown blocks meet the preset condition or not according to the operation information, and if the two crown blocks meet the preset condition, calculating the optimal collision avoidance distance of the two crown blocks according to the operation information;
and the control module is used for controlling the two crown blocks based on the optimal collision avoidance distance.
A third aspect of embodiments of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the overhead traveling crane control method according to the first aspect when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the overhead traveling crane control method according to the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the embodiment of the invention, whether two crown blocks meet the preset condition is judged according to the running information of two adjacent crown blocks on the crown block track, if so, the optimal collision avoidance distance of the two crown blocks is calculated according to the running information, and the two crown blocks are controlled based on the optimal collision avoidance distance, so that the collision avoidance distance of the crown blocks is automatically adjusted. Compared with the prior art, the embodiment of the invention shortens the anti-collision distance of the crown block and improves the running range of the crown block on the premise of ensuring the safety of the crown block, thereby greatly improving the working efficiency of the crown block.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a crown block control method according to an embodiment of the present invention;
fig. 2 is a detailed flow diagram of a crown block control method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an overhead traveling crane control device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to illustrate the technical means of the present invention, the following description is given by way of specific examples.
The embodiment of the invention provides a method for automatically adjusting the optimal collision avoidance distance of crown blocks, which is used for the collision avoidance safety between the unmanned crown blocks after the unmanned technology is implemented on the crown blocks in a metallurgical warehouse, calculating the parameters such as the speed, the running direction and the like of the adjacent crown blocks to obtain the optimal collision avoidance distance between the crown blocks, and applying the data to crown block control to ensure the safe running of the crown blocks.
Referring to fig. 1, the method comprises the steps of:
and step S101, acquiring the running information of any two adjacent crown blocks on the crown block track.
In the embodiment of the invention, the running information of the crown blocks comprises two parts, wherein one part is basic information comprising the maximum speed of the crown blocks, the maximum braking distance of the crown blocks, the width of the crown blocks, the ranging deviation value and the like, and the basic information of each crown block is the same in the same crown block system. The other part is real-time information including the current position of the overhead traveling crane, the current speed of the overhead traveling crane (the running direction is represented by positive and negative), and the like.
And S102, judging whether the two crown blocks meet preset conditions or not according to the running information, and if the two crown blocks meet the preset conditions, calculating the optimal collision avoidance distance of the two crown blocks according to the running information.
As a possible implementation manner, in step S102, it is determined whether the two crown blocks meet the preset condition according to the operation information, which may be detailed as:
judging whether the two crown blocks are approaching according to the current speeds of the two crown blocks;
and if the judgment result shows that the two crown blocks are approaching, judging that the two crown blocks meet the preset condition.
In this embodiment, two crown blocks are approaching, which may specifically include the following operating conditions:
(1) The two crown blocks move oppositely.
(2) The two crown blocks move in the same direction, and the speed of the next crown block is higher than that of the previous crown block.
(3) One crown block is stationary and the other crown block moves in the direction of the stationary crown block.
It can be understood that the minimum value of the collision avoidance distance is different under different working conditions that the two crown blocks are close to each other. The prior art generally sets up the anticollision distance bigger to guarantee the operation safety of overhead traveling crane under the different work condition. And this embodiment makes under the different operating modes, the homoenergetic guarantees that overhead traveling crane safety and crashproof distance are minimum through the optimum crashproof distance of two overhead traveling cranes of dynamic calculation. The calculation formula is as follows:
in the formula, v1、v2Current speeds, v, of two crown blocks, respectivelymaxThe maximum speed of the two crown blocks, a is the maximum braking distance of the two crown blocks, b is a preset deviation coefficient, H is the width of the two crown blocks, D is a preset ranging deviation value, and the ranging deviation value can be obtained in advance through actual measurement.
And step S103, controlling the two crown blocks based on the optimal collision avoidance distance.
As a possible implementation manner, in step S103, controlling two crown blocks based on the optimal collision avoidance distance includes: and in the process that the two crown blocks are close to each other, the running states of the two crown blocks are adjusted so that the distance between the two crown blocks is not less than the optimal collision avoidance distance. Preferably, the distance between the two crown blocks is equal to the optimal collision avoidance distance, so that the safety of the crown blocks can be ensured, and the operation efficiency is improved.
Therefore, the embodiment of the invention judges whether the two crown blocks meet the preset condition according to the running information of the two adjacent crown blocks on the crown block track, calculates the optimal collision avoidance distance of the two crown blocks according to the running information if the two crown blocks meet the preset condition, and controls the two crown blocks based on the optimal collision avoidance distance, thereby realizing the automatic adjustment of the collision avoidance distance of the crown blocks. Compared with the prior art, the embodiment of the invention shortens the anti-collision distance of the crown block and improves the running range of the crown block on the premise of ensuring the safety of the crown block, thereby greatly improving the working efficiency of the crown block.
In one embodiment, the crown block control method may further include:
if the judgment result shows that the two crown blocks do not meet the preset condition, setting the optimal collision avoidance distance of the two crown blocks as y = (H + D);
h is the width of two crown blocks, and D is a preset ranging deviation value.
In this embodiment, two crown blocks do not satisfy the preset condition, and mainly are following several operating modes:
(1) The two crown blocks move in opposite directions.
(2) Both crown blocks are stationary.
(3) The two crown blocks move in the same direction, and the speed of the next crown block is less than that of the previous crown block.
(4) One crown block is static, and the other crown block moves in the opposite direction of the static crown block.
Under above-mentioned several kinds of operating modes, because two overhead traveling cranes can not be close to, consequently, the collision condition can not appear, can not set up optimum crashproof distance or set up the optimum crashproof distance of two overhead traveling cranes to the width and the range deviation sum of value of the overhead traveling crane to can not adjust the running state of two overhead traveling cranes.
As a possible implementation manner, controlling the distance between two crown blocks to be not less than the optimal collision avoidance distance may include:
acquiring the operation instruction generation time of two crown blocks;
keeping the running state of the first crown block unchanged, and adjusting the running state of the second crown block to ensure that the distance between the two crown blocks is not less than the optimal collision avoidance distance;
the first crown block is the crown block with the earlier operation instruction generation time in the two crown blocks, and the second crown block is the crown block with the later operation instruction generation time in the two crown blocks.
In the embodiment of the invention, the crown block carries out sequential operation according to the operation instruction sequence.
In one embodiment, the two crown blocks move in the same direction, and the speed of the next crown block B is greater than that of the previous crown block a, and if the crown block a receives the operation instruction first, the crown block a keeps the original movement state unchanged, and the crown block B decelerates, so that the minimum distance between the two crown blocks is at least the optimal collision avoidance distance.
In one embodiment, where overhead traveling vehicle a is stationary and overhead traveling vehicle B is moving in the direction of overhead traveling vehicle a, assuming overhead traveling vehicle a received the job command first and is working stationary, overhead traveling vehicle B will wait at least the optimal collision avoidance distance from overhead traveling vehicle a. And if the crown block B receives the operation instruction firstly and the crown block A does not receive the operation instruction, controlling the crown block A to move forwards to give way for the crown block B, and ensuring that the crown block B can operate preferentially.
In one embodiment, two crown blocks move in opposite directions, and if the crown block a receives an operation instruction first, the running state of the crown block a is unchanged, the crown block B is controlled to decelerate or reverse to give way for the crown block a, and the crown block a can be ensured to operate preferentially. And after the operation of the crown block A is finished, the crown block B is controlled to reach the operation position.
It can be understood that, under the working condition that the two crown blocks are not close to each other, the operation states of the two crown blocks are not changed by the result obtained by the operation of the steps, that is, the operation states of the two crown blocks do not need to be adjusted.
In addition, no matter how the mobile crane moves, the distance between two adjacent crown blocks is not less than the optimal collision avoidance distance, and the optimal collision avoidance distance is dynamically determined according to the running states of the two crown blocks.
By the method, the optimization of the crown block anti-collision distance is realized, the anti-collision distance of the crown block is shortened, the running range of the crown block is improved, and the working efficiency of the crown block is greatly improved. Meanwhile, the safety of the crown block is ensured, and the future requirements of the development of the unmanned crown block system are met.
In one embodiment, the controlling of the two crown blocks based on the optimal collision avoidance distance further comprises:
and if the distance between the two crown blocks at any moment is less than the optimal collision avoidance distance, performing emergency stop control on the two crown blocks.
In the embodiment of the invention, when the distance between two crown blocks is smaller than the optimal collision avoidance distance, the control of the crown blocks is in fault, and physical emergency stop can be carried out through an emergency stop button at the moment, so that the danger is avoided.
In one embodiment, referring to fig. 2, the overall flow of the crown block control method may be:
acquiring running information of any two adjacent crown blocks on a crown block track;
determining an anti-collision strategy according to the operation information, wherein the anti-collision strategy 0 is that the crown block A and the crown block B move reversely; the anti-collision strategy 1 is that the crown block A is static and the crown block B moves reversely, or the crown block B is static and the crown block A moves reversely; the anti-collision strategy 2 is that the crown block A is static and the crown block B is static; the anti-collision strategy 3 is that the crown block A and the crown block B move in the same direction, and the speed of the next crown block is lower than that of the previous crown block; the anti-collision strategy 4 is that the crown block A and the crown block B move in the same direction, and the speed of the next crown block is higher than that of the previous crown block; the anti-collision strategy 5 is that the crown block A moves towards the crown block B and the crown block B is static, or the crown block B moves towards the crown block A and the crown block A is static; and the collision avoidance strategy 6 is that the crown block A and the crown block B move oppositely.
In the collision avoidance strategies 0, 1, 2 and 3, the two crown blocks are not close to each other and cannot collide with each other, and the optimal collision avoidance distance of the two crown blocks is set to be y = (H + D). In the collision avoidance strategies 4, 5 and 6, two crown blocks are close to each other, and the optimal collision avoidance distance of the two crown blocks is set as
And according to the optimal collision avoidance distance, optimal control of each crown block can be realized.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
An embodiment of the present invention provides an overhead traveling crane control device, and as shown in fig. 3, the device 30 includes:
the acquiring module 31 is configured to acquire operation information of any two adjacent crown blocks on the crown block track.
And the calculating module 32 is configured to judge whether the two crown blocks meet a preset condition according to the operation information, and calculate an optimal collision avoidance distance of the two crown blocks according to the operation information if the two crown blocks meet the preset condition.
And the control module 33 is configured to control the two crown blocks based on the optimal collision avoidance distance.
As a possible implementation, the running information comprises the current speed of the crown block. The calculation module 32 is specifically configured to:
judging whether the two crown blocks are approaching according to the current speeds of the two crown blocks;
and if the judgment result shows that the two crown blocks are approaching, judging that the two crown blocks meet the preset condition.
As a possible implementation, the running information includes the maximum speed, the maximum braking distance and the width of the overhead travelling crane. The calculation module 32 is specifically configured to:
calculating the optimal collision avoidance distance of the two crown blocks according to the following formula:
in the formula, v1、v2Current speeds, v, of two crown blocks, respectivelymaxThe maximum speed of the two crown blocks is shown, a is the maximum braking distance of the two crown blocks, b is a preset deviation coefficient, H is the width of the two crown blocks, and D is a preset distance measurement deviation value.
As a possible implementation, the calculation module 32 is further configured to:
if the judgment result shows that the two crown blocks do not meet the preset condition, setting the optimal collision avoidance distance of the two crown blocks as y = (H + D);
h is the width of two crown blocks, and D is a preset ranging deviation value.
As a possible implementation, the control module 33 is specifically configured to:
and controlling the distance between the two crown blocks not to be smaller than the optimal collision avoidance distance.
As a possible implementation, the control module 33 is specifically configured to:
acquiring the operation instruction generation time of two crown blocks;
keeping the running state of the first crown block unchanged, and adjusting the running state of the second crown block to ensure that the distance between the two crown blocks is not less than the optimal collision avoidance distance;
the first crown block is the crown block with the earlier operation instruction generation time in the two crown blocks, and the second crown block is the crown block with the later operation instruction generation time in the two crown blocks.
As a possible implementation, the control module 33 is further configured to:
and if the distance between the two crown blocks at any moment is less than the optimal collision avoidance distance, performing emergency stop control on the two crown blocks.
Fig. 4 is a schematic diagram of an electronic device 40 according to an embodiment of the present invention. As shown in fig. 4, the electronic apparatus 40 of this embodiment includes: a processor 41, a memory 42 and a computer program 43, such as a crown block control program, stored in the memory 42 and executable on the processor 41. The steps in the above-described embodiments of the respective crown block control method, such as steps S101 to S103 shown in fig. 1, are implemented when the processor 41 executes the computer program 43. Alternatively, the processor 41 implements the functions of the respective modules in the above-described respective apparatus embodiments, for example, the functions of the modules 31 to 33 shown in fig. 3, when executing the computer program 43.
Illustratively, the computer program 43 may be divided into one or more modules/units, which are stored in the memory 42 and executed by the processor 41 to implement the present invention. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 43 in the electronic device 40. For example, the computer program 43 may be divided into an acquisition module 31, a calculation module 32, and a control module 33 (module in a virtual device), and the specific functions of each module are as follows:
the acquiring module 31 is configured to acquire operation information of any two adjacent crown blocks on the crown block track.
And the calculating module 32 is configured to determine whether the two crown blocks meet the preset condition according to the operation information, and calculate an optimal collision avoidance distance of the two crown blocks according to the operation information if the two crown blocks meet the preset condition.
And the control module 33 is configured to control the two crown blocks based on the optimal collision avoidance distance.
The electronic device 40 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The electronic device 40 may include, but is not limited to, a processor 41, a memory 42. Those skilled in the art will appreciate that fig. 4 is merely an example of the electronic device 40, and does not constitute a limitation of the electronic device 40, and may include more or less components than those shown, or combine certain components, or different components, e.g., the electronic device 40 may also include input-output devices, network access devices, buses, etc.
The Processor 41 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 42 may be an internal storage unit of the electronic device 40, such as a hard disk or a memory of the electronic device 40. The memory 42 may also be an external storage device of the electronic device 40, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 40. Further, the memory 42 may also include both internal storage units of the electronic device 40 and external storage devices. The memory 42 is used for storing computer programs and other programs and data required by the electronic device 40. The memory 42 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logic function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A crown block control method is characterized by comprising the following steps:
acquiring running information of any two adjacent crown blocks on a crown block track;
judging whether the two crown blocks meet preset conditions or not according to the operation information, and if the two crown blocks meet the preset conditions, calculating the optimal collision avoidance distance of the two crown blocks according to the operation information;
and controlling the two crown blocks based on the optimal collision avoidance distance.
2. The crown block control method according to claim 1, wherein the running information includes a current speed of the crown block;
judging whether the two crown blocks meet preset conditions according to the operation information comprises the following steps:
judging whether the two crown blocks are approaching according to the current speeds of the two crown blocks;
and if the judgment result shows that the two crown blocks are approaching, judging that the two crown blocks meet the preset condition.
3. The crown block control method according to claim 1, wherein the operation information includes a maximum speed, a maximum braking distance, and a width of the crown block;
and calculating the optimal collision avoidance distance of the two crown blocks according to the running information by the following formula:
in the formula, v1、v2Current speeds, v, of two crown blocks, respectivelymaxThe maximum speed of the two crown blocks is shown, a is the maximum braking distance of the two crown blocks, b is a preset deviation coefficient, H is the width of the two crown blocks, and D is a preset distance measurement deviation value.
4. The crown block control method according to claim 1, further comprising:
if the judgment result shows that the two crown blocks do not meet the preset condition, setting the optimal collision avoidance distance of the two crown blocks as y = (H + D);
h is the width of two crown blocks, and D is a preset ranging deviation value.
5. The crown block control method according to any one of claims 1 to 4, wherein controlling two crown blocks based on the optimal collision avoidance distance comprises:
and controlling the distance between the two crown blocks not to be less than the optimal collision avoidance distance.
6. The crown block control method according to claim 5, wherein controlling the distance between two crown blocks to be not less than the optimal collision avoidance distance includes:
acquiring the operation instruction generation time of two crown blocks;
keeping the running state of the first crown block unchanged, and adjusting the running state of the second crown block to ensure that the distance between the two crown blocks is not less than the optimal collision avoidance distance;
the first crown block is a crown block with an earlier operation instruction generation time in the two crown blocks, and the second crown block is a crown block with a later operation instruction generation time in the two crown blocks.
7. The crown block control method according to claim 5, wherein two crown blocks are controlled based on the optimal collision avoidance distance, further comprising:
and if the distance between the two crown blocks at any moment is less than the optimal collision avoidance distance, performing emergency stop control on the two crown blocks.
8. An overhead traveling crane control apparatus, comprising:
the acquiring module is used for acquiring the operation information of any two adjacent crown blocks on the crown block track;
the calculation module is used for judging whether the two crown blocks meet preset conditions or not according to the operation information, and if the two crown blocks meet the preset conditions, calculating the optimal collision avoidance distance of the two crown blocks according to the operation information;
and the control module is used for controlling the two crown blocks based on the optimal collision avoidance distance.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117263037A (en) * | 2023-10-26 | 2023-12-22 | 上海新创达半导体设备技术有限公司 | Crown block control method, crown block control system, crown block system, server and storage medium |
| CN117284939A (en) * | 2023-11-24 | 2023-12-26 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for intelligent automatic wafer conveying device |
| CN117735414A (en) * | 2024-02-21 | 2024-03-22 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for wafer carrying system |
| CN117263037B (en) * | 2023-10-26 | 2024-05-31 | 华芯智上半导体设备(上海)有限公司 | Crown block control method, crown block control system, crown block system, server and storage medium |
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2022
- 2022-06-13 CN CN202210661912.8A patent/CN115258949A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117263037A (en) * | 2023-10-26 | 2023-12-22 | 上海新创达半导体设备技术有限公司 | Crown block control method, crown block control system, crown block system, server and storage medium |
| CN117263037B (en) * | 2023-10-26 | 2024-05-31 | 华芯智上半导体设备(上海)有限公司 | Crown block control method, crown block control system, crown block system, server and storage medium |
| CN117284939A (en) * | 2023-11-24 | 2023-12-26 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for intelligent automatic wafer conveying device |
| CN117284939B (en) * | 2023-11-24 | 2024-02-02 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for intelligent automatic wafer conveying device |
| CN117735414A (en) * | 2024-02-21 | 2024-03-22 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for wafer carrying system |
| CN117735414B (en) * | 2024-02-21 | 2024-04-26 | 泓浒(苏州)半导体科技有限公司 | Speed control system and method for wafer carrying system |
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