CN116128240A - Crown block scheduling method, crown block scheduling system, crown block processor and storage medium - Google Patents
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Abstract
The embodiment of the application provides a method, a system, a processor and a storage medium for crown block scheduling. The method comprises the following steps: acquiring a plurality of steelmaking tasks of a steelmaking workshop; determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task aiming at any steelmaking task; determining a target path of a candidate crown block for executing the steelmaking subtask according to a starting station and an ending station of the steelmaking subtask aiming at each steelmaking subtask; acquiring the crown block state of each candidate crown block; determining the running state of each station; determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask; and controlling the target crown block of each steelmaking subtask to move to the corresponding station according to the corresponding target path so as to execute the steelmaking task. Thereby improving the intelligent level of the dispatching command of steelmaking production and improving the production efficiency and the yield.
Description
Technical Field
The application relates to the field of overhead travelling crane operation scheduling, in particular to a scheduling method, a scheduling system, a scheduling processor and a scheduling storage medium for overhead travelling cranes.
Background
The content of the dispatching task of the steel mill is usually uncertain, while the dispatching task of the crown block in the production process can be predicted in an auxiliary way through the production plan of the workshop MES, the dispatching task of the crown block and other temporarily inserted dispatching tasks of the crown block (such as deslagging, casting surplus molten steel and the like) generated by the empty ladle circulation of the steel ladle are often uncertain, and the tasks cannot be predicted, so that on-site personnel are often required to confirm in real time. In addition, because of complex smelting process and high technical difficulty of high-temperature molten steel (iron), the time of the smelting process fluctuates, so that the occurrence time of a subsequent crown block transportation task cannot be accurately predicted in advance, and the efficiency and safety of steelmaking production are seriously affected.
Disclosure of Invention
The embodiment of the application aims to provide a scheduling method, a scheduling system, a scheduling processor and a scheduling storage medium for an overhead travelling crane.
In order to achieve the above object, a first aspect of the present application provides a scheduling method of an overhead travelling crane, including:
acquiring a plurality of steelmaking tasks of a steelmaking workshop, wherein each steelmaking task comprises a plurality of steelmaking subtasks;
determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task aiming at any steelmaking task;
Determining a target path of a candidate crown block for executing the steelmaking subtask according to a starting station and an ending station of the steelmaking subtask aiming at each steelmaking subtask;
acquiring the crown block state of each candidate crown block, wherein the crown block state comprises the current position and the idle state of the candidate crown block;
determining the running state of each station;
determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask;
and controlling the target crown block of each steelmaking subtask to move to the corresponding station according to the corresponding target path so as to execute the steelmaking task.
In an embodiment of the present application, for each steelmaking subtask, determining a target path of a candidate crown block for performing the steelmaking subtask according to a start station and an end station of the steelmaking subtask includes: traversing a plurality of paths from a start station to an end station for each steelmaking subtask, wherein each steelmaking subtask comprises at least two stations; for each steelmaking subtask, the stations of the steelmaking subtask are ordered according to the process time sequence to determine a target path from a plurality of paths.
In an embodiment of the present application, for each steelmaking subtask, determining a target crown block for performing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the operation state of each station, and the target path includes: aiming at each steelmaking subtask, determining a first time cost function corresponding to each candidate crown block for executing the steelmaking subtask according to the crown block state of each candidate crown block, the running state of each station and the target path; determining a second time cost function corresponding to the steelmaking task according to the first time cost function corresponding to all steelmaking subtasks aiming at each steelmaking task; and determining the candidate crown block corresponding to the second time cost function with the minimum function solution as a target crown block according to each steelmaking subtask.
In an embodiment of the present application, determining, for each steelmaking subtask, a candidate crown block corresponding to a minimum value of the second time cost function as the target crown block includes: determining a target crown block according to the following formula (1):
wherein T is the collection of steelmaking subtasks contained in the steelmaking task, and Cost T Refers to a second time cost function corresponding to a steelmaking task, and u= { u i } i Is a set of idle states of all stations and crown block states of all crown blocks, v= { V j } j Refers to the positions of all stations and the set of steelmaking processes, E= { E k } k∈{} Corresponding steelmaking subtasks are carried out from each second starting station to each second finishing station, wherein { K } refers to the set of all crown blocksAnd t refers to the process time sequence of the steelmaking subtasks contained in the steelmaking task, and p refers to the target path corresponding to the steelmaking subtasks.
In an embodiment of the present application, for each steelmaking task, determining a second time cost function corresponding to the steelmaking task according to the first time cost functions corresponding to all steelmaking subtasks includes: determining an avoidance crown block for performing avoidance operation when each candidate crown block executes a steelmaking subtask according to the plurality of target sub-paths; determining a third time cost function corresponding to the avoidance crown block aiming at each steelmaking subtask; and determining a second time cost function according to the first time cost function corresponding to all the steelmaking subtasks and the third time cost function corresponding to all the steelmaking subtasks for each steelmaking task.
In an embodiment of the present application, for each steelmaking subtask, determining, according to the crown block state of each candidate crown block, the idle state of each station, and the target sub-path, a first time cost function corresponding to the steelmaking subtask executed by each candidate crown block includes: determining a fourth time cost function corresponding to the sum of a path between the current position of each candidate crown block and the starting station and a target path of each candidate crown block according to each steelmaking subtask; aiming at each steelmaking subtask, determining a fifth time cost function corresponding to each candidate crown block to give up the current steelmaking subtask according to the idle state of each candidate crown block; determining a steelmaking process of each steelmaking subtask; determining a sixth time cost function corresponding to the steelmaking process for each steelmaking subtask; for each steelmaking subtask, determining a first time cost function according to the fourth time cost function, the fifth time cost function and the sixth time cost function.
In an embodiment of the present application, the scheduling method further includes: after determining a candidate crown block corresponding to a second time cost function with the minimum function solution as a target crown block, acquiring a real-time crown block state of each candidate crown block, a steelmaking subtask corresponding to each crown block and an operation time point corresponding to each steelmaking subtask; aiming at each steelmaking subtask, real-time cost functions for executing the steelmaking tasks are determined in real time according to the real-time crown block state, the operation time point, the idle state of each station and the target path of each crown block; aiming at each steelmaking subtask, the target crown block is adjusted according to the crown block corresponding to the real-time cost function with the minimum function solution, so as to obtain the adjusted target crown block.
A second aspect of the present application provides a processor configured to perform the above-described scheduling method of an overhead travelling crane.
A third aspect of the present application provides a dispatching system for an overhead travelling crane, including:
the plurality of crown blocks are used for executing steelmaking tasks;
a plurality of stations for performing a steelmaking process of a steelmaking task;
and the processor is configured to execute the scheduling method of the crown block.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to perform the method of scheduling an overhead travelling crane described above.
By the scheduling method, the scheduling system, the scheduling processor and the scheduling storage medium of the crown block, a plurality of steelmaking tasks of a steelmaking workshop are acquired, wherein each steelmaking task comprises a plurality of steelmaking subtasks; determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task aiming at any steelmaking task; determining a target path of a candidate crown block for executing the steelmaking subtask according to a starting station and an ending station of the steelmaking subtask aiming at each steelmaking subtask; acquiring the crown block state of each candidate crown block, wherein the crown block state comprises the current position and the idle state of the candidate crown block; determining the running state of each station; determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask; and controlling the target crown block of each steelmaking subtask to move to the corresponding station according to the corresponding target path so as to execute the steelmaking task. Therefore, the intelligent level of steelmaking production scheduling command can be improved, the limitation and the difference that production scheduling completely depends on manual decision are solved, the smoothness of logistics is improved, and the production efficiency and the yield are improved.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
fig. 1 schematically shows a flow diagram of a scheduling method of an overhead travelling crane according to an embodiment of the present application;
FIG. 2 schematically illustrates a schematic diagram of a dispatch network diagram of a steel plant according to an embodiment of the present application;
fig. 3 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Fig. 1 schematically shows a flow diagram of a method of crown block scheduling according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, a method for scheduling an overhead travelling crane is provided, and this embodiment is mainly applied to a processor for illustration, and includes the following steps:
s102, acquiring a plurality of steelmaking tasks of a steelmaking workshop, wherein each steelmaking task comprises a plurality of steelmaking subtasks.
S104, determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task aiming at any steelmaking task.
S106, determining a target path of a candidate crown block for executing the steelmaking subtask according to the starting station and the finishing station of the steelmaking subtask aiming at each steelmaking subtask.
S108, acquiring the crown block state of each candidate crown block, wherein the crown block state comprises the current position and the idle state of the candidate crown block.
S110, determining the running state of each station.
And S112, determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask.
S114, controlling the target crown block of each steelmaking subtask to move to a corresponding station according to a corresponding target path so as to execute the steelmaking task.
The steelmaking task refers to a series of process operations from raw materials to finished products based on the finished products of steelmaking, and the crown block performs a lifting operation according to the series of process operations to complete the steelmaking task. Each steelmaking task comprises a plurality of steelmaking subtasks, and the steelmaking subtasks are one link in the steelmaking tasks. The method can be specifically any one of ladle lifting, scrap steel lifting, converter iron adding, converter scrap steel adding, converter tapping and ladle lifting to a refining and continuous casting machine. In the steelmaking process in a steelmaking plant, a plurality of steelmaking tasks are usually performed simultaneously. The processor can acquire a plurality of steelmaking tasks of the steelmaking workshop, and then for any one steelmaking task, the processor can determine a starting station and an end station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task. The starting station refers to production equipment corresponding to the starting point of the steelmaking subtask executed by the crown block. The terminal station refers to production equipment corresponding to the terminal of the steelmaking subtask executed by the crown block. The processor may then determine a target path for the candidate crown block performing the steelmaking sub-task based on the start and end stations of the steelmaking sub-task. The candidate crown block refers to a crown block that may be selected to perform a steelmaking task. The target path is the optimal path of the candidate crown block from the starting station to the ending station. It will be appreciated that the steelmaking shop is provided with a corresponding crown block track, and the target path may specifically be a path with the shortest path corresponding to the candidate crown block moving from the start station to the end station along the crown block track.
Further, after determining the target path of each steelmaking subtask, the condition of each candidate crown block needs to be confirmed. The processor may obtain an overhead traveling crane status for each candidate overhead traveling crane, the overhead traveling crane status including a current location and an idle status of the candidate overhead traveling crane. The current position refers to the position of the candidate crown block at the current crown block track. The idle state refers to the occupation condition of the candidate crown block for executing the steelmaking task. Specifically, the method can be divided into idle state, locking state, executing state, completion state and the like. The processor can also acquire the running state of each station, wherein the running state refers to whether the production equipment is in steelmaking operation or not and the production data of the production equipment in the steelmaking operation. Then, for each steelmaking subtask, the processor determines a target crown block for performing the steelmaking subtask from the candidate crown blocks based on the crown block state of each candidate crown block, the operating state of each station, and the target path. The target crown block refers to a crown block that performs a steelmaking subtask, and is in a locked state before the crown block is determined as the target crown block and the corresponding steelmaking subtask is not performed. The processor can control the target crown block of each steelmaking subtask to move to the corresponding station according to the corresponding target path so as to execute the steelmaking task. Therefore, the intelligent level of steelmaking production scheduling command can be improved, the limitation and the difference that production scheduling completely depends on manual decision are solved, the smoothness of logistics is improved, and the production efficiency and the yield are improved.
In one embodiment, for each steelmaking subtask, determining a target path for a candidate crown block performing the steelmaking subtask from a start station and an end station of the steelmaking subtask comprises: traversing a plurality of paths from a start station to an end station for each steelmaking subtask, wherein each steelmaking subtask comprises at least two stations; for each steelmaking subtask, the stations of the steelmaking subtask are ordered according to the process time sequence to determine a target path from a plurality of paths.
There may be multiple paths between the start and end stations for each steelmaking subtask. The process sequence refers to the execution sequence and execution time of the steelmaking subtasks. The processor may traverse multiple paths from the start station to the end station. Where each path may be routed to multiple stations. The processor may then sequence the stations of the steelmaking subtasks according to the process sequence to determine a target path from the plurality of paths.
Specifically, for a plurality of steelmaking subtasks, a certain constraint is formed on the travelling path of the crown block based on a start station and an end station corresponding to each steelmaking subtask and corresponding process time sequence. Then, each station of the path required by the steelmaking subtask can be abstracted into each vertex in the dispatching network diagram, and the travelling route of the crown block along the crown block track is abstracted into an edge connecting the vertex and the vertex. Whether the crown block can dispatch raw materials from one station to another station or not abstracts the problem of whether two vertexes in a dispatching network diagram are reachable in space path and time sequence through specific edges or not. As shown in fig. 2, the path from the molten iron area to the station of the 2# plate CCM may be path 1: molten iron zone → 1#bof → 2#lf → 2#ccm, path 2: molten iron area- →3#bof →2#ccm. The path from the scrap section to the station of the 2# board CCM may be path 3: scrap zone→1#bof→2#lf→2#ccm, path 4: scrap zone→3#bof→2#ccm. In the dispatching network diagram, the lifting can only be lifted from the molten iron area and the scrap area to the converter, and the lifting can be lifted from the converter to the refining furnace or the continuous casting machine, so that the dispatching network is unidirectional. Then, the target path of any steelmaking subtask can be solved in linear time through a directed acyclic graph based on Dijkstra and a topological sorting algorithm.
The idea of this algorithm is to relax the vertices in topological order. Because of each edge V i →V j All can be relaxed once, when V i When relaxed, there are:
dis[V j ]≤dis[V i ]+e.weight (2)
wherein dis [ V ] j ]Refers to the distance between the current node and the next node j, V i Refers to the distance between the current node and node i, and e.weight refers toDistance between node i and node j.
This inequality holds before the algorithm ends because dis V i ]Is unchanged. Because vertices are relaxed in topological order, at V i The algorithm will not process any pointing V after being relaxed i Is [ V ] j ]Only becomes small. Thus, the optimality condition for the shortest path is established after all vertices reachable from the source point are added to the tree. The topological order is that all vertexes of the DAG are arranged into a linear sequence, so that any pair of vertexes V in the graph i And V j If edge (V) i ,V j ) E (G), then V i Appear in V in the linear sequence j Before. Typically, such a linear sequence is referred to as a sequence satisfying a topological order (Topological Order), abbreviated as a topological sequence. Briefly, a full order on a collection is derived from a partial order on the collection, an operation called topological ordering. The topology ordering implementation algorithm comprises an input degree table and a DFS, and the time complexity of the topology ordering implementation algorithm is O (V+E).
In one embodiment, for each steelmaking subtask, determining a target crown block from the candidate crown blocks to perform the steelmaking subtask according to the crown block state of each candidate crown block, the operating state of each station, and the target path comprises: aiming at each steelmaking subtask, determining a first time cost function corresponding to each candidate crown block for executing the steelmaking subtask according to the crown block state of each candidate crown block, the running state of each station and the target path; determining a second time cost function corresponding to the steelmaking task according to the first time cost function corresponding to all steelmaking subtasks aiming at each steelmaking task; and determining the candidate crown block corresponding to the second time cost function with the minimum function solution as a target crown block according to each steelmaking subtask.
As shown in fig. 2, in the dispatch network diagram, the handling is only from the molten iron area and the scrap area to the converter, from the converter to the finery or the continuous caster, so that the dispatch network is unidirectional. The cost of each crown block for executing the lifting task is different and can be abstracted into weighted edges in the diagram, and each vertex and each edge in the diagram have attributes. Then each millThe steel subtasks can be T m ＝(V i ,u i ；V j ,u j ；E k ,u k ) Expressed, wherein T is m Representing the steelmaking subtasks to be performed, V i The initial lifting station i in the diagram can be a molten steel area lifting station, a converter station, a refining furnace station and the like, and u i The attribute of the starting station i; v (V) j The end station j for lifting in the diagram can be a converter station, a continuous caster station, u j The attribute of the terminal station j is represented; e (E) k Indicating that candidate crown block k is used for executing the task, u k Is an attribute of the candidate crown block. Therefore, for each steelmaking subtask, the processor can determine a first time cost function corresponding to each candidate crown block for executing the steelmaking subtask according to the crown block state of each candidate crown block, the running state of each station and the target path. The first time cost function refers to the time cost required to move along the target path as each candidate crown block performs the steelmaking subtask. The second time cost function refers to the time cost required by the candidate crown block when the candidate crown block executes the steelmaking tasks corresponding to all the steelmaking subtasks. It can be understood that the execution schemes of the candidate crown blocks corresponding to each steelmaking subtask are different, and the first time cost function corresponding to each steelmaking subtask is different, so that a plurality of results are obtained when the second time cost function corresponding to all the steelmaking subtasks are executed. Thus, the processor may determine a second time cost function corresponding to the steelmaking task based on the first time cost functions corresponding to all of the steelmaking subtasks. Then, in order to improve the efficiency of the crown block in performing the steelmaking task, the production efficiency and the yield are improved. For each steelmaking subtask, the processor can determine the candidate crown block corresponding to the second time cost function with the smallest function solution as the target crown block. That is, the time cost of the scheduling scheme of the crown block is controlled to be minimum.
Through the definition of each attribute of the steelmaking subtask, the dispatching network diagram of the whole crown block can be expressed as: t= (u; V; E). Wherein, the liquid crystal display device comprises a liquid crystal display device,
is a collection of scheduled tasks，u＝{u i } i Is a set of global all attributes, v= { V j } j Is the set of all global vertices, e= { E k } k∈{} Is a set of overhead crane handling operations from one station to another, and { K } is a set of all overhead cranes. By the definition, the crown block scheduling problem can be modeled as the minimum cost problem of all task scheduling in the weighted vertex and weighted edge directed acyclic graph under the constraint of the time sequence t and the path p of the candidate crown block for executing the steelmaking task.
In one embodiment, for each steelmaking subtask, determining the candidate crown block corresponding to the minimum value of the second time cost function as the target crown block comprises: determining a target crown block according to the following formula (1):
wherein T is the collection of steelmaking subtasks contained in the steelmaking task, and Cost T Refers to a second time cost function corresponding to a steelmaking task, and u= { u i } i Is a set of idle states of all stations and crown block states of all crown blocks, v= { V j } j Refers to the positions of all stations and the set of steelmaking processes, E= { E k } k∈{} Corresponding steelmaking subtasks are collected from each second starting station to each second finishing station, { K } refers to a collection of all crown blocks, t refers to a process time sequence of the steelmaking subtasks contained in the steelmaking tasks, and p refers to a target path corresponding to the steelmaking subtasks.
In a practical scenario, each scheduling task is relatively independent, and a few time conflicts can be independently optimized, so that the problem can be approximated as a solution problem of the sum of the shortest paths of each task.
Wherein T refers to a collection of steelmaking subtasks contained in the steelmaking task, T m Refers to a steelmaking sub-task included in the steelmaking task,
refers to a first time cost function corresponding to each sub-steelmaking task.
The optimization problem is converted into a shortest path problem with a continuous casting machine as a starting point and a ladle storage area and a scrap steel storage area as end points in a directed acyclic graph of a single task, and the shortest path problem can be solved in linear time by using an algorithm based on Dijkstra and topological sorting.
In one embodiment, for each steelmaking task, determining a second time cost function corresponding to the steelmaking task from the first time cost functions corresponding to all steelmaking subtasks comprises: determining an avoidance crown block for performing avoidance operation when each candidate crown block executes a steelmaking subtask according to the plurality of target sub-paths; determining a third time cost function corresponding to the avoidance crown block aiming at each steelmaking subtask; and determining a second time cost function according to the first time cost function corresponding to all the steelmaking subtasks and the third time cost function corresponding to all the steelmaking subtasks for each steelmaking task.
The third cost function corresponding to each steelmaking task executed by the candidate crown block mainly comprises two parts, wherein one part is the cost generated by each candidate crown block executing all steelmaking subtasks, the other part is the cost generated by the rest candidate crown block avoiding cooperation or avoidance when each steelmaking task is executed, and the difference between the two calculation modes is only that the second part has no operation cost.
Cost total ＝Cost c +Cost t (3)
Wherein, cost total Refers to executing a second time Cost function corresponding to each steelmaking task c Refers to the sum of all first time Cost functions corresponding to all steelmaking subtasks executed by each candidate crown block t And the third time cost function corresponding to the residual avoidance crown block or the avoidance candidate crown block is matched when each steelmaking task is executed. The processor may then determine the first time cost function corresponding to all steelmaking subtasks, and all refinementsThe steel subtasks correspond to the third time cost function to determine a second time cost function corresponding to each steelmaking task. In this way, accurate calculations can be made to account for all time costs incurred in performing each steelmaking task, thereby achieving a more optimal scheduling scheme.
In one embodiment, for each steelmaking subtask, determining a first time cost function corresponding to each candidate crown block executing the steelmaking subtask according to the crown block state of each candidate crown block, the idle state of each station and the target sub-path includes: determining a fourth time cost function corresponding to the sum of a path between the current position of each candidate crown block and the starting station and a target path of each candidate crown block according to each steelmaking subtask; aiming at each steelmaking subtask, determining a fifth time cost function corresponding to each candidate crown block to give up the current steelmaking subtask according to the idle state of each candidate crown block; determining a steelmaking process of each steelmaking subtask; determining a sixth time cost function corresponding to the steelmaking process for each steelmaking subtask; for each steelmaking subtask, determining a first time cost function according to the fourth time cost function, the fifth time cost function and the sixth time cost function.
The first time cost function corresponding to the candidate crown block for each steelmaking subtask is executed, and the first time cost function comprises a fourth time cost function corresponding to the sum of a path between the current position of each candidate crown block and a starting station and a target path, a fifth time cost function for discarding the current steelmaking subtask and a sixth time cost function for executing a steelmaking process corresponding operation (such as iron charging) of the steelmaking subtask. The fifth time cost function of the candidate crown block to give up the current task is determined by the real-time state of the candidate crown block, for example, the cost of the crown block from performing the empty ladle lifting task or the deslagging task to performing the iron/steel ladle and the scrap steel can be different, and can be configured according to practical situations. The sixth time cost function of the steelmaking process corresponding operation of the steelmaking subtask may be slightly different for each crown block tonnage or capacity. The times for adding scrap may be slightly different for 120 ton and 200 ton crown blocks. The fourth time cost function is a path which is passed between the starting station from the current place to the operation and the end station from the starting station to the destination point, and is mainly expressed as time cost and can be calculated by experience values and the passed path segments.
Then, for each steelmaking subtask, the processor may determine a first time cost function from the fourth time cost function, the fifth time cost function, and the sixth time cost function.
Cost c ＝Cost trans +Cost action +Cost path (4)
Wherein, cost c Refers to a first time Cost function corresponding to a candidate crown block for executing each steelmaking subtask trans Means that each candidate crown block moves from the current position of each candidate crown block to a fourth time Cost function corresponding to the sum of the path between the starting station and the target path action Refers to a fifth time Cost function of giving up the current steelmaking subtask, cost path Refers to a sixth time cost function of the steelmaking process corresponding operation of performing the steelmaking sub-task. Thus, the time cost required by each candidate crown block for executing a complete set of process flows of each steelmaking subtask can be calculated, and the scheduling operation can be efficiently guided.
In one embodiment, the scheduling method further comprises: after determining a candidate crown block corresponding to a second time cost function with the minimum function solution as a target crown block, acquiring a real-time crown block state of each crown block, a steelmaking subtask corresponding to each crown block and an operation time point corresponding to each steelmaking subtask; aiming at each steelmaking subtask, real-time cost functions for executing the steelmaking tasks are determined in real time according to the real-time crown block state, the operation time point, the idle state of each station and the target path of each crown block; aiming at each steelmaking subtask, the target crown block is adjusted according to the crown block corresponding to the real-time cost function with the minimum function solution, so as to obtain the adjusted target crown block.
Through the scheme, the pre-scheduling tasks and the joint optimization are performed on the plurality of steelmaking tasks and the steelmaking subtasks. However, for the robustness of the pre-scheduling, a certain margin is often left, so that the actual execution completion time may fluctuate. In addition, in practice, accidents often occur on site, the production rhythm is disturbed, so that production cannot be performed on time according to a pre-scheduling plan, and a real-time scheduling network diagram needs to be added in the pre-scheduling network diagram. After determining the candidate crown block corresponding to the second time cost function with the minimum function solution as the target crown block, the processor can acquire the real-time crown block state of each crown block, the steelmaking subtask corresponding to each crown block and the operation time point corresponding to each steelmaking subtask. The real-time crown block state refers to a real-time position and a real-time idle state of the crown block in the process of executing a steelmaking task, and is specifically divided into idle, locking, executing, completing and other states. The real-time scheduling needs to receive the actual operation time points of all the steelmaking subtasks in the field, and real-time task information of all the current crown blocks is obtained. For each steelmaking subtask, the processor can determine a real-time cost function for executing the steelmaking task in real time according to the real-time crown block state, the operation time point, the idle state of each station and the target path of each crown block. The time nodes of the pre-tasking can be continuously adjusted to calculate the time cost function. For each steelmaking subtask, the processor can adjust the target crown block according to the crown block corresponding to the real-time cost function with the minimum function solution, so as to determine the crown block corresponding to the crown block with the minimum real-time cost function as the target crown block, and thus the optimal crown block scheduling scheme is adjusted. For example, in the case that the crane completes the hoisting work of the steelmaking task in advance, the pre-scheduling time of the crane for executing the steelmaking task next time can be determined, and the destination of the crane is recalculated to determine whether the time is abundant.
By the scheduling method, the scheduling system, the scheduling processor and the scheduling storage medium of the crown block, a plurality of steelmaking tasks of a steelmaking workshop are acquired, wherein each steelmaking task comprises a plurality of steelmaking subtasks; determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task aiming at any steelmaking task; determining a target path of a candidate crown block for executing the steelmaking subtask according to a starting station and an ending station of the steelmaking subtask aiming at each steelmaking subtask; acquiring the crown block state of each candidate crown block, wherein the crown block state comprises the current position and the idle state of the candidate crown block; determining the running state of each station; determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask; and controlling the target crown block of each steelmaking subtask to move to the corresponding station according to the corresponding target path so as to execute the steelmaking task. And determining the scheduling scheme of the crown block by calculating the time cost function of each candidate crown block for executing each steelmaking subtask. And in the process of executing the steelmaking task, the real-time cost function for executing the steelmaking task can be calculated according to the real-time field condition, so that the scheduling scheme of the crown block can be continuously adjusted. The intelligent level of steelmaking production scheduling command is improved, the limitation and the difference that production scheduling completely depends on manual decision are solved, the smoothness of logistics is improved, and the production efficiency and the yield are improved.
Fig. 1 is a flow chart of a scheduling method of an overhead travelling crane in an embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, a scheduling system is provided, comprising:
the plurality of candidate crown blocks are used for executing steelmaking tasks;
a plurality of stations for performing a steelmaking process of a steelmaking task;
and the processor is configured to execute the scheduling method of the crown block.
Each of the plurality of candidate crown blocks may be configured to perform a steelmaking task, and the processor may select a target crown block for performing each steelmaking subtask by the scheduling method of the crown block to perform a plurality of steelmaking tasks in the steelmaking plant. Each of the plurality of stations is configured to perform a steelmaking process that is required to be performed in the steelmaking task. The processor can control the target crown block to move to a station corresponding to the steelmaking task so as to sequentially perform corresponding process operations.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the dispatching method for the crown block is realized by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the application provides a storage medium, on which a program is stored, which when executed by a processor, implements the above-mentioned scheduling method of the crown block.
The embodiment of the application provides a processor for running a program, wherein the scheduling method of the crown block is executed when the program runs.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data of a scheduling method of the crown block. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a scheduling method for the crown block.
It will be appreciated by those skilled in the art that the structure shown in fig. 3 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps:
acquiring a plurality of steelmaking tasks of a steelmaking workshop, wherein each steelmaking task comprises a plurality of steelmaking subtasks; determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task aiming at any steelmaking task; determining a target path of a candidate crown block for executing the steelmaking subtask according to a starting station and an ending station of the steelmaking subtask aiming at each steelmaking subtask; acquiring the crown block state of each candidate crown block, wherein the crown block state comprises the current position and the idle state of the candidate crown block; determining the running state of each station; determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask; and controlling the target crown block of each steelmaking subtask to move to the corresponding station according to the corresponding target path so as to execute the steelmaking task.
In an embodiment of the present application, for each steelmaking subtask, determining a target path of a candidate crown block for performing the steelmaking subtask according to a start station and an end station of the steelmaking subtask includes: traversing a plurality of paths from a start station to an end station for each steelmaking subtask, wherein each steelmaking subtask comprises at least two stations; for each steelmaking subtask, the stations of the steelmaking subtask are ordered according to the process time sequence to determine a target path from a plurality of paths.
In an embodiment of the present application, for each steelmaking subtask, determining a target crown block for performing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the operation state of each station, and the target path includes: aiming at each steelmaking subtask, determining a first time cost function corresponding to each candidate crown block for executing the steelmaking subtask according to the crown block state of each candidate crown block, the running state of each station and the target path; determining a second time cost function corresponding to the steelmaking task according to the first time cost function corresponding to all steelmaking subtasks aiming at each steelmaking task; and determining the candidate crown block corresponding to the second time cost function with the minimum function solution as a target crown block according to each steelmaking subtask.
In an embodiment of the present application, determining, for each steelmaking subtask, a candidate crown block corresponding to a minimum value of the second time cost function as the target crown block includes: determining a target crown block according to the following formula (1):
wherein T is the collection of steelmaking subtasks contained in the steelmaking task, and Cost T Refers to a second time cost function corresponding to a steelmaking task, and u= { u i } i Is a set of idle states of all stations and crown block states of all crown blocks, v= { V j } j Refers to the positions of all stations and the set of steelmaking processes, E= { E k } k∈{K} Corresponding steelmaking subtasks are collected from each second starting station to each second finishing station, { K } refers to a collection of all crown blocks, t refers to a process time sequence of the steelmaking subtasks contained in the steelmaking tasks, and p refers to a target path corresponding to the steelmaking subtasks.
In an embodiment of the present application, for each steelmaking task, determining a second time cost function corresponding to the steelmaking task according to the first time cost functions corresponding to all steelmaking subtasks includes: determining an avoidance crown block for performing avoidance operation when each candidate crown block executes a steelmaking subtask according to the plurality of target sub-paths; determining a third time cost function corresponding to the avoidance crown block aiming at each steelmaking subtask; and determining a second time cost function according to the first time cost function corresponding to all the steelmaking subtasks and the third time cost function corresponding to all the steelmaking subtasks for each steelmaking task.
In an embodiment of the present application, for each steelmaking subtask, determining, according to the crown block state of each candidate crown block, the idle state of each station, and the target sub-path, a first time cost function corresponding to the steelmaking subtask executed by each candidate crown block includes: determining a fourth time cost function corresponding to the sum of a path between the current position of each candidate crown block and the starting station and a target path of each candidate crown block according to each steelmaking subtask; aiming at each steelmaking subtask, determining a fifth time cost function corresponding to each candidate crown block to give up the current steelmaking subtask according to the idle state of each candidate crown block; determining a steelmaking process of each steelmaking subtask; determining a sixth time cost function corresponding to the steelmaking process for each steelmaking subtask; for each steelmaking subtask, determining a first time cost function according to the fourth time cost function, the fifth time cost function and the sixth time cost function.
In an embodiment of the present application, the scheduling method further includes: after determining a candidate crown block corresponding to a second time cost function with the minimum function solution as a target crown block, acquiring a real-time crown block state of each crown block, a steelmaking subtask corresponding to each crown block and an operation time point corresponding to each steelmaking subtask; aiming at each steelmaking subtask, real-time cost functions for executing the steelmaking tasks are determined in real time according to the real-time crown block state, the operation time point, the idle state of each station and the target path of each crown block; aiming at each steelmaking subtask, the target crown block is adjusted according to the crown block corresponding to the real-time cost function with the minimum function solution, so as to obtain the adjusted target crown block.
The present application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of:
acquiring a plurality of steelmaking tasks of a steelmaking workshop, wherein each steelmaking task comprises a plurality of steelmaking subtasks; determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to the steelmaking task aiming at any steelmaking task; determining a target path of a candidate crown block for executing the steelmaking subtask according to a starting station and an ending station of the steelmaking subtask aiming at each steelmaking subtask; acquiring the crown block state of each candidate crown block, wherein the crown block state comprises the current position and the idle state of the candidate crown block; determining the running state of each station; determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask; and controlling the target crown block of each steelmaking subtask to move to the corresponding station according to the corresponding target path so as to execute the steelmaking task.
In an embodiment of the present application, for each steelmaking subtask, determining a target path of a candidate crown block for performing the steelmaking subtask according to a start station and an end station of the steelmaking subtask includes: traversing a plurality of paths from a start station to an end station for each steelmaking subtask, wherein each steelmaking subtask comprises at least two stations; for each steelmaking subtask, the stations of the steelmaking subtask are ordered according to the process time sequence to determine a target path from a plurality of paths.
In an embodiment of the present application, for each steelmaking subtask, determining a target crown block for performing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the operation state of each station, and the target path includes: aiming at each steelmaking subtask, determining a first time cost function corresponding to each candidate crown block for executing the steelmaking subtask according to the crown block state of each candidate crown block, the running state of each station and the target path; determining a second time cost function corresponding to the steelmaking task according to the first time cost function corresponding to all steelmaking subtasks aiming at each steelmaking task; and determining the candidate crown block corresponding to the second time cost function with the minimum function solution as a target crown block according to each steelmaking subtask.
In an embodiment of the present application, determining, for each steelmaking subtask, a candidate crown block corresponding to a minimum value of the second time cost function as the target crown block includes: determining a target crown block according to the following formula (1):
wherein T is the collection of steelmaking subtasks contained in the steelmaking task, and Cost T Refers to a second time cost function corresponding to a steelmaking task, and u= { u i } i Is a set of idle states of all stations and crown block states of all crown blocks, v= { V j } j Refers to the positions of all stations and the set of steelmaking processes, E= { E k } k∈{K} Corresponding steelmaking subtasks are collected from each second starting station to each second finishing station, { K } refers to a collection of all crown blocks, t refers to a process time sequence of the steelmaking subtasks contained in the steelmaking tasks, and p refers to a target path corresponding to the steelmaking subtasks.
In an embodiment of the present application, for each steelmaking task, determining a second time cost function corresponding to the steelmaking task according to the first time cost functions corresponding to all steelmaking subtasks includes: determining an avoidance crown block for performing avoidance operation when each candidate crown block executes a steelmaking subtask according to the plurality of target sub-paths; determining a third time cost function corresponding to the avoidance crown block aiming at each steelmaking subtask; and determining a second time cost function according to the first time cost function corresponding to all the steelmaking subtasks and the third time cost function corresponding to all the steelmaking subtasks for each steelmaking task.
In an embodiment of the present application, for each steelmaking subtask, determining, according to the crown block state of each candidate crown block, the idle state of each station, and the target sub-path, a first time cost function corresponding to the steelmaking subtask executed by each candidate crown block includes: determining a fourth time cost function corresponding to the sum of a path between the current position of each candidate crown block and the starting station and a target path of each candidate crown block according to each steelmaking subtask; aiming at each steelmaking subtask, determining a fifth time cost function corresponding to each candidate crown block to give up the current steelmaking subtask according to the idle state of each candidate crown block; determining a steelmaking process of each steelmaking subtask; determining a sixth time cost function corresponding to the steelmaking process for each steelmaking subtask; for each steelmaking subtask, determining a first time cost function according to the fourth time cost function, the fifth time cost function and the sixth time cost function.
In an embodiment of the present application, the scheduling method further includes: after determining a candidate crown block corresponding to a second time cost function with the minimum function solution as a target crown block, acquiring a real-time crown block state of each crown block, a steelmaking subtask corresponding to each crown block and an operation time point corresponding to each steelmaking subtask; aiming at each steelmaking subtask, real-time cost functions for executing the steelmaking tasks are determined in real time according to the real-time crown block state, the operation time point, the idle state of each station and the target path of each crown block; aiming at each steelmaking subtask, the target crown block is adjusted according to the crown block corresponding to the real-time cost function with the minimum function solution, so as to obtain the adjusted target crown block.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. The scheduling method of the crown block is characterized by comprising the following steps of:
acquiring a plurality of steelmaking tasks of a steelmaking workshop, wherein each steelmaking task comprises a plurality of steelmaking subtasks;
determining a starting station and an ending station of each steelmaking subtask according to a steelmaking process corresponding to any steelmaking task;
Determining a target path of a candidate crown block for executing the steelmaking subtask according to a starting station and an ending station of the steelmaking subtask aiming at each steelmaking subtask;
acquiring an overhead travelling crane state of each candidate overhead travelling crane, wherein the overhead travelling crane state comprises a current position and an idle state of the candidate overhead travelling crane;
determining the running state of each station;
determining a target crown block for executing the steelmaking subtask from the candidate crown blocks according to the crown block state of each candidate crown block, the running state of each station and the target path aiming at each steelmaking subtask;
and controlling the target crown block of each steelmaking subtask to move to a corresponding station according to a corresponding target path so as to execute the steelmaking task.
2. The method for dispatching crown blocks according to claim 1, wherein for each steelmaking subtask, determining a target path of a candidate crown block for performing the steelmaking subtask according to a start station and an end station of the steelmaking subtask comprises:
traversing a plurality of paths from the start station to the end station for each steelmaking subtask, wherein each steelmaking subtask comprises at least two stations;
for each steelmaking subtask, sequencing stations of the steelmaking subtask according to the process time sequence to determine the target path from the paths.
3. The method for dispatching an overhead traveling crane according to claim 1, wherein determining, for each steelmaking subtask, a target overhead traveling crane for performing the steelmaking subtask from among the candidate overhead traveling cranes according to an overhead traveling crane state of each candidate overhead traveling crane, an operation state of each station, and the target path comprises:
aiming at each steelmaking subtask, determining a first time cost function corresponding to each candidate crown block for executing the steelmaking subtask according to the crown block state of each candidate crown block, the running state of each station and the target path;
determining a second time cost function corresponding to each steelmaking task according to the first time cost functions corresponding to all steelmaking subtasks;
and determining a candidate crown block corresponding to the second time cost function with the minimum function solution as the target crown block according to each steelmaking subtask.
4. A scheduling method of crown blocks according to claim 3, wherein said determining, for each steelmaking subtask, a candidate crown block corresponding to a minimum value of said second time cost function as said target crown block comprises: determining the target crown block according to the following formula (1):
wherein T is the collection of steelmaking subtasks contained in the steelmaking task, and COst T Refers to a second time cost function corresponding to the steelmaking task, and u= { u i } i Is a set of idle states of all stations and crown block states of all crown blocks, v= { V j } j Refers to the positions of all stations and the set of steelmaking processes, E= { E k } k∈{K} Corresponding steelmaking subtasks are collected from each second starting station to each second finishing station, { K } refers to a collection of all crown blocks, t refers to a process time sequence of the steelmaking subtasks contained in the steelmaking tasks, and p refers to a target path corresponding to the steelmaking subtasks.
5. A method of scheduling crown blocks as claimed in claim 3, wherein said determining, for each steelmaking task, a second time cost function corresponding to said steelmaking task from the first time cost functions corresponding to all steelmaking subtasks comprises:
determining an avoidance crown block which performs avoidance operation when each candidate crown block executes the steelmaking subtask according to the plurality of target sub-paths;
determining a third time cost function corresponding to the avoidance crown block aiming at each steelmaking subtask;
and determining the second time cost function according to the first time cost function corresponding to all the steelmaking subtasks and the third time cost function corresponding to all the steelmaking subtasks for each steelmaking task.
6. The method for scheduling crown blocks according to claim 3, wherein determining, for each steelmaking subtask, a first time cost function corresponding to each candidate crown block for performing the steelmaking subtask according to the crown block state of each candidate crown block, the idle state of each station, and the target sub-path comprises:
determining a fourth time cost function corresponding to the sum of a path between each candidate crown block moving from the current position of each candidate crown block to the starting station and the target path for each steelmaking subtask;
aiming at each steelmaking subtask, determining a fifth time cost function corresponding to each candidate crown block to give up the current steelmaking subtask according to the idle state of each candidate crown block;
determining a steelmaking process of each steelmaking subtask;
determining a sixth time cost function corresponding to the steelmaking process for each steelmaking subtask;
for each steelmaking subtask, determining the first time cost function according to the fourth time cost function, the fifth time cost function and the sixth time cost function.
7. A scheduling method of crown blocks according to claim 3, further comprising:
After determining a candidate crown block corresponding to a second time cost function with the minimum function solution as the target crown block, acquiring a real-time crown block state of each crown block, a steelmaking subtask corresponding to each crown block and an operation time point corresponding to each steelmaking subtask;
for each steelmaking subtask, real-time cost functions for executing the steelmaking subtasks are determined in real time according to the real-time crown block state of each crown block, the operation time point, the idle state of each station and the target path;
and aiming at each steelmaking subtask, adjusting the target crown block according to the crown block corresponding to the real-time cost function with the minimum function solution so as to obtain the adjusted target crown block.
8. A processor configured to perform the scheduling method of the crown block according to any one of claims 1 to 7.
9. A dispatching system for crown blocks, comprising:
the plurality of crown blocks are used for executing steelmaking tasks;
a plurality of stations for performing a steelmaking process of the steelmaking task;
and
The processor of claim 8.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the method of scheduling an overhead travelling crane according to any one of claims 1 to 7.
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|---|---|---|---|---|
| CN116374834A (en) * | 2023-06-05 | 2023-07-04 | 合肥晶合集成电路股份有限公司 | Intelligent planning method, device and system for crown block transmission path |
| CN116934059A (en) * | 2023-09-18 | 2023-10-24 | 华芯(嘉兴)智能装备有限公司 | Crown block scheduling method, crown block scheduling device, crown block scheduling equipment and readable storage medium |
| CN117744909A (en) * | 2024-02-19 | 2024-03-22 | 华芯(嘉兴)智能装备有限公司 | Roaming control method and device for crown block |
-
2023
- 2023-02-06 CN CN202310124855.4A patent/CN116128240A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116374834A (en) * | 2023-06-05 | 2023-07-04 | 合肥晶合集成电路股份有限公司 | Intelligent planning method, device and system for crown block transmission path |
| CN116374834B (en) * | 2023-06-05 | 2023-08-01 | 合肥晶合集成电路股份有限公司 | Intelligent planning method, device and system for crown block transmission path |
| CN116934059A (en) * | 2023-09-18 | 2023-10-24 | 华芯(嘉兴)智能装备有限公司 | Crown block scheduling method, crown block scheduling device, crown block scheduling equipment and readable storage medium |
| CN116934059B (en) * | 2023-09-18 | 2023-12-19 | 华芯(嘉兴)智能装备有限公司 | Crown block scheduling method, crown block scheduling device, crown block scheduling equipment and readable storage medium |
| CN117744909A (en) * | 2024-02-19 | 2024-03-22 | 华芯(嘉兴)智能装备有限公司 | Roaming control method and device for crown block |
| CN117744909B (en) * | 2024-02-19 | 2024-05-14 | 华芯(嘉兴)智能装备有限公司 | Roaming control method and device for crown block |
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