CN117263037A - Crown block control method, crown block control system, crown block system, server and storage medium - Google Patents
Crown block control method, crown block control system, crown block system, server and storage medium Download PDFInfo
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- CN117263037A CN117263037A CN202311408758.4A CN202311408758A CN117263037A CN 117263037 A CN117263037 A CN 117263037A CN 202311408758 A CN202311408758 A CN 202311408758A CN 117263037 A CN117263037 A CN 117263037A
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000004891 communication Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000208688 Eucommia Species 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
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Classifications
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a crown block control method, a control system, a crown block system, a server and a storage medium, and relates to the technical field of crown block control.
Description
Technical Field
The invention relates to the technical field of crown block control, in particular to a crown block control method, a crown block control system, a crown block system, a server and a storage medium.
Background
In the semiconductor material transportation and equipment layout, the main work of the crown block is to move the material from the initial position to the target position after receiving the task instruction, so that the carrying of the semiconductor material equipment is completed, and the anti-collision control of the crown block is very important.
The anti-collision system of the existing crown block mainly relies on a distance sensor on the crown block to measure distance, and the existing crown block begins to decelerate when detecting that the existing crown block is in a preset distance range so as to avoid collision. However, when the previous crown block is stopped, there is still a risk of collision since the moving distance generated by decelerating to a complete stop at the current vehicle speed is not considered; if braking is performed within the predetermined distance, braking and starting are too frequent, so that the execution efficiency of the crown block is affected, and the service life of the crown block is also affected. Especially at the intersection or the shunting of the tracks, the crown blocks in the front and rear tracks are not in the same straight line, the distance sensor of the rear crown block can not sense the front crown block, and the higher collision risk exists, but the prior art lacks an effective control process for the scene.
In summary, the crown block in the prior art has the problems of high collision risk and poor control effect in the collision prevention control process.
Disclosure of Invention
In view of the above, the present invention aims to provide a crown block control method, a control system, a crown block system, a server and a storage medium, which fully utilize position data and speed parameters of crown blocks in a track, and perform accurate anti-collision control through a position relationship between crown blocks, so as to solve the problems of high collision risk and poor control effect existing in the prior art when only using a distance sensor for anti-collision control.
In a first aspect, an embodiment of the present invention provides a crown block control method, which is used for controlling a crown block in a crown block system; the overhead travelling crane operates in an overhead travelling crane operation track network corresponding to the overhead travelling crane system; a server is arranged in the crown block system; the overhead travelling crane running track net comprises a plurality of track sections;
the method comprises the following steps:
acquiring real-time position information and task information of all crown blocks in a crown block running track network; wherein the real-time location information includes at least: identification information of the current track section where all the crown blocks are located and position information of all the crown blocks in the current track section; the task information includes at least: target position information of all crown blocks;
When any crown block is jumped into the current track section, carrying out real-time path planning based on a track map corresponding to a crown block running track network and real-time position information and task information of all crown blocks so as to obtain a next track section to be jumped into;
judging whether the connection point of the current track section and the next track section is a track intersection point, a track split point or a turning point or not based on the track map; if yes, determining whether the next track section has an on-track crown block; when the on-orbit crown block exists in the next track section, acquiring the real-time running speed of the on-orbit crown block through a server, and after adjusting the running speed of the on-orbit crown block based on the real-time running speed, stepping into the next track.
In one embodiment, the step of acquiring real-time position information and task information of all crown blocks in the crown block running track network includes:
each crown block acquires the current track section of each crown block and the distance from the entrance of the current track section in real time by scanning the track section identification information arranged on the side of the track section in real time;
the method comprises the steps that a server determines real-time position information of each crown block in a crown block running track network based on identification information of a current track section, a distance from an inlet of the current track section and crown block identifications of each crown block, wherein the identification information is uploaded in real time by each crown block, and the real-time position information of each crown block in the crown block running track network is combined with a built-in track map;
Track map comprising at least: identification information of all track sections in the overhead travelling crane running track network, connection relation among the track sections, and connection point attribute between a track section outlet and the next track section; a join point attribute comprising: junction, split-flow point, corner point and one-to-one junction; turning points refer to the joint points of the current track section and the next track section which is the turning section; one-to-one engagement point means that the outlet of the current track segment is engaged with only one track segment;
and according to the crown block identification of each crown block, acquiring the task information currently executed by each crown block by inquiring a crown block-task information table which is set in the server and is stored with each crown block identification and corresponding execution task.
In one embodiment, when any crown block is jumped into the current track section, real-time path planning is performed based on a track map corresponding to a track network of the crown block running and real-time position information and task information of all crown blocks to obtain a next track section to be jumped into, which is implemented as follows:
when all the crown blocks cross into the current track section, a real-time path planning request is sent to a server, wherein the real-time path planning request carries crown block identifications of the corresponding crown blocks;
The server responds to the real-time path planning request of each crown block, performs real-time path planning for each crown block based on the real-time position information, the task information and the track map of all crown blocks, and feeds back the real-time path planning result to the corresponding crown block;
and after the crown block receives the corresponding real-time path planning result, obtaining the next track section to be spanned by the crown block according to the path planning result.
In one embodiment, when any crown block is jumped into one track section, real-time path planning is performed based on a track map corresponding to a crown block running track network and real-time position information and task information of all crown blocks to obtain a next track section to be jumped into, which is implemented as follows:
the server synchronizes the real-time position information of each crown block in the crown block running track network to all crown blocks in real time;
when any crown block straddles the current track section, carrying out real-time path planning according to real-time position information of all crown blocks and corresponding task information by combining a built-in track map, and generating a real-time path planning result to obtain the next track section to be spanned;
after generating a real-time path planning result, any crown block generates an execution request of the crown block according to the path planning result and sends the execution request to a server for execution.
In one embodiment, the method includes the steps of obtaining the real-time running speed of the on-orbit crown block through the server, adjusting the running speed of the on-orbit crown block based on the real-time running speed, and then stepping into the next orbit, wherein the method comprises the following steps:
acquiring the distance between the on-orbit crown block and the entrance of the next orbit section;
when the distance is greater than a preset safety distance, determining the current running speed of the crown block in the current track section, namely a first running speed, and the current running speed of the on-track crown block, namely a second running speed;
if the first running speed is smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the first running speed; and if the first running speed is not smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the second running speed.
In one embodiment, when the distance is less than a preset safety distance and the crown block in the next track segment is in a stopped state, the method further comprises: and controlling the crown block in the current track section to pause and wait.
In a second aspect, an embodiment of the present invention provides an overhead travelling crane control system, where the overhead travelling crane control system is used to control an overhead travelling crane in an overhead travelling crane system; the overhead travelling crane operates in an overhead travelling crane operation track network corresponding to the overhead travelling crane system; a server is arranged in the crown block system; the overhead travelling crane running track net comprises a plurality of track sections;
The crown block control system includes:
the first control unit is used for acquiring real-time position information and task information of all crown blocks in the crown block running track network; wherein the real-time location information includes at least: identification information of the current track section where all the crown blocks are located and position information of all the crown blocks in the current track section; the task information includes at least: target position information of all crown blocks;
the second control unit is used for carrying out real-time path planning on any crown block based on a track map corresponding to the crown block running track network and real-time position information and task information of all crown blocks when the crown block straddles the current track section so as to obtain the next track section to be straddled;
the third control unit is used for judging whether the connection point of the current track section and the next track section is a track intersection point, a track split point or a turning point or not based on the track map; if yes, determining whether the next track section has an on-track crown block; when the on-orbit crown block exists in the next track section, acquiring the real-time running speed of the on-orbit crown block through a server, and after adjusting the running speed of the on-orbit crown block based on the real-time running speed, stepping into the next track.
In a third aspect, an embodiment of the present invention provides an overhead travelling crane system, including: the overhead travelling crane operates the orbit network, control server and a plurality of overhead travelling cranes; wherein the crown block runs in a crown block running track network; the overhead travelling crane running track net comprises a plurality of track sections; the control server is connected with the crown block through a wired network or a wireless network;
The control server adopts the steps of the crown block control method mentioned in the first aspect in the crown block control process.
In a fourth aspect, an embodiment of the present invention provides a server, including: a processor and a storage device; the storage means has stored thereon computer executable instructions executable by a processor for performing the steps of the crown block control method as mentioned in the first aspect.
In a fifth aspect, an embodiment of the present invention provides a storage medium having stored thereon program code that, when executed, implements the steps of the crown block control method mentioned in the first aspect.
The crown block control method, the crown block control system, the crown block system, the server and the storage medium are used for controlling crown blocks in the crown block system; the overhead travelling crane operates in an overhead travelling crane operation track network corresponding to the overhead travelling crane system; a server is arranged in the crown block system; the overhead traveling crane running track network comprises a plurality of track segments. In the process of anticollision control of the crown block, firstly, acquiring real-time position information and task information of all crown blocks in an crown block running track network; wherein the real-time location information includes at least: identification information of the current track section where all the crown blocks are located and position information of all the crown blocks in the current track section; the task information includes at least: target position information of all crown blocks; when any crown block is jumped into the current track section, carrying out real-time path planning based on a track map corresponding to a crown block running track network and real-time position information and task information of all crown blocks so as to obtain a next track section to be jumped into; judging whether the connection point of the current track section and the next track section is a track intersection point, a track split point or a turning point or not based on the track map; if yes, determining whether the next track section has an on-track crown block; when the on-orbit crown block exists in the next track section, acquiring the real-time running speed of the on-orbit crown block through a server, and after adjusting the running speed of the on-orbit crown block based on the real-time running speed, stepping into the next track. According to the scheme, the position data and the speed parameters of the crown block in the track are fully utilized, and the accurate anti-collision control is performed through the position relation between the crown blocks, so that the problems of high collision risk and poor control effect existing in the prior art when the anti-collision control is performed only by using the distance sensor are solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a crown block control method according to an embodiment of the present invention;
fig. 2 is a flowchart of step S101 in a crown block control method according to an embodiment of the present invention;
fig. 3 is a flowchart of step S102 in a crown block control method according to an embodiment of the present invention;
Fig. 4 is a flowchart of step S102 in another crown block control method according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for controlling an overhead travelling crane according to an embodiment of the present invention, in which in step S103, a real-time running speed of an on-track overhead travelling crane is obtained by a server, and the running speed of the overhead travelling crane is adjusted based on the real-time running speed, so as to jump into a next track;
fig. 6 is a schematic structural diagram of an overhead travelling crane control system according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an overhead travelling crane system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a server according to an embodiment of the present invention.
Icon:
610-a first control unit; 620-a second control unit; 630-a third control unit;
a 101-processor; 102-memory; 103-bus; 104-communication interface.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the semiconductor material transportation and equipment layout, the main work of the crown block is to move the material from the initial position to the target position after receiving the task instruction, so that the carrying of the semiconductor material equipment is completed, and the anti-collision control of the crown block is very important.
The anti-collision system of the existing crown block mainly relies on a distance sensor on the crown block to measure distance, and the existing crown block begins to decelerate when detecting that the existing crown block is in a preset distance range so as to avoid collision. However, when the previous crown block is stopped, there is still a risk of collision since the moving distance generated by decelerating to a complete stop at the current vehicle speed is not considered; if braking is performed within the predetermined distance, braking and starting are too frequent, so that the execution efficiency of the crown block is affected, and the service life of the crown block is also affected. Especially at the intersection or the shunting of the tracks, the crown blocks in the front and rear tracks are not in the same straight line, the distance sensor of the rear crown block can not sense the front crown block, and the higher collision risk exists, but the prior art lacks an effective control process for the scene.
In summary, the crown block in the prior art has the problems of high collision risk and poor control effect in the collision prevention control process. Based on the above, the invention provides a crown block control method, a control system, a crown block system, a server and a storage medium.
For the sake of understanding the present embodiment, first, a detailed description is given of a crown block control method disclosed in the present embodiment, as shown in fig. 1, where the method includes:
step S101, acquiring real-time position information and task information of all crown blocks in a crown block running track network; wherein the real-time location information includes at least: identification information of the current track section where all the crown blocks are located and position information of all the crown blocks in the current track section; the task information includes at least: target position information of all crown blocks.
Specifically, the real-time location information includes at least: identification information of the current track section where all the crown blocks are located and position information of all the crown blocks in the current track section. In general, a plurality of crown blocks are provided in a crown block running track network, and the crown blocks run in corresponding tracks. The track is formed by connecting a plurality of track sections, the entrance of each track section can be provided with a corresponding traffic light, and the entrance can be closed by a relevant locking mechanism when the track section enters the sky; the locking mechanism is released when the crown block is moved away. The track segments and corresponding traffic lights, entrances and other data form track data, and the track data comprises the connection relation of the track segments, so that the track map can be determined by utilizing the track data. After the track map is acquired, the included intersection tracks can be determined according to the path information in the map, so that the real-time position information of all crown blocks in the crown block running track network is acquired. The task information includes at least: target position information of all crown blocks.
Step S102, for any crown block, when the crown block straddles the current track section, carrying out real-time path planning based on a track map corresponding to the crown block running track network and real-time position information and task information of all crown blocks so as to obtain the next track section to be straddled.
All track sections in the overhead travelling crane running track net form a track map, and the track map comprises an eucommia track connection mode. The current track section and the next track section are connected through connection points, and each connection point is not limited to the current track section and the next track section, and other track sections can be contained, so that the bifurcation, the intersection or the turning of the track is realized.
The real-time position information characterizes the position of the current crown block, the task information characterizes the destination of the crown block, and therefore, the path planning is carried out according to the position relation between the track sections in the track map, and the running route and the running direction of the crown block can be determined, so that the next track section where the crown block will cross is obtained.
Step S103, judging whether the connection point of the current track section and the next track section is a track intersection point, a track split point or a turning point based on the track map; if yes, determining whether the next track section has an on-track crown block; when the on-orbit crown block exists in the next track section, acquiring the real-time running speed of the on-orbit crown block through a server, and after adjusting the running speed of the on-orbit crown block based on the real-time running speed, stepping into the next track.
After the current track section and the next track section are determined, whether the connection point between the current track section and the next track section is a track intersection point, a track split point or a turning point is judged based on the track map. The current track section and other track sections below the track junction are connected with the next track section; the current track section under the track split point is connected with the next track section and other track sections; the current track segment below the turning point is in a different direction than the next track segment.
When the connection point is a track junction point, a track shunt point or a turning point, which indicates that the crown block in the current track section and the crown block in the next track section are not in a simple straight line corresponding relation, in colloquial terms, the crown block in the current track section may not detect the crown block in the next track section in the connection point, and at this time, whether the crown block exists in the next track section needs to be determined. If so, acquiring the real-time running speed of the on-orbit crown block through the server, and adjusting the running speed of the on-orbit crown block based on the real-time running speed so as to jump into the next orbit.
In one embodiment, the step S101 of acquiring real-time position information and task information of all crown blocks in the crown block running track network, as shown in fig. 2, includes:
Step S201, each crown block acquires the current track section where each crown block is positioned and the distance from the entrance of the current track section in real time by scanning track section identification information arranged on the side edge of the track section in real time;
step S202, determining real-time position information of each crown block in a crown block running track network by combining a built-in track map based on the identification information of the current track section, the distance from the current track section entrance and the crown block identification uploaded by each crown block in real time by a server;
step S203, according to the crown block identification of each crown block, acquiring the task information currently executed by each crown block by inquiring a crown block-task information table which is set in a server and stores the crown block identification of each crown block and the corresponding execution task.
Track map comprising at least: identification information of all track sections in the overhead travelling crane running track network, connection relation among the track sections, and connection point attribute between a track section outlet and the next track section; a join point attribute comprising: junction, split-flow point, corner point and one-to-one junction; turning points refer to the joint points of the current track section and the next track section which is the turning section; one-to-one engagement point means that the exit of the current track segment engages only one track segment. The crown block identification can be understood as a mark representing the crown block and is unique.
The track section identification information is mainly used for characterizing the track section, has uniqueness and is characterized by the form of an identification code. The location where the track segment identification information is set is fixed and thus the distance of this location from the entrance of the current track segment is also fixed. And each crown block can acquire the current track section of each crown block and the distance from the entrance of the current track section by scanning the track section identification information arranged on the side edge of the track section in real time.
And uploading the current track section where each crown block is located and the distance from the entrance of the current track section to a server after acquiring the current track section and the distance from the entrance of the current track section, wherein the server determines the real-time position information of each crown block in the crown block running track network based on the track map according to the identification information of the current track section where each crown block is uploaded in real time, the distance from the entrance of the current track section and the crown block identification.
After the real-time position information is determined, a corresponding information table is queried in a server according to the crown block identification of each crown block, and the information table is provided with each crown block identification and a crown block-task corresponding to the execution task. And acquiring the task information currently executed by each crown block through the query result.
In one embodiment, for any crown block, when the crown block straddles the current track segment, a real-time path is planned based on a track map corresponding to a track network operated by the crown block and real-time position information and task information of all crown blocks to obtain a next track segment to be straddled, as shown in fig. 3, including:
step S301, when all crown blocks cross into the current track section, a real-time path planning request is sent to a server, wherein the real-time path planning request carries crown block identifications of the corresponding crown blocks;
step S302, a server responds to a real-time path planning request of each crown block, performs real-time path planning for each crown block based on real-time position information, task information and a track map of all crown blocks, and feeds back a real-time path planning result to a corresponding crown block;
step S303, after the crown block receives the corresponding real-time path planning result, the next track section to be spanned by the crown block is obtained according to the path planning result.
When any crown block straddles one track section, real-time path planning is carried out based on a track map corresponding to a crown block running track network and real-time position information and task information of all on-track running crown blocks so as to obtain the next track section to be straddled. The real-time path specification is divided into: and planning a path by a server in a request-processing mode, and issuing the planned path to the crown block. And after the crown block receives the corresponding real-time path planning result, obtaining the next track section to be spanned by the crown block according to the path planning result.
In still another case, in one embodiment, when any crown block is jumped into a track segment, a real-time path is planned based on a track map corresponding to a track network where the crown block is running and real-time position information and task information of all crown blocks, so as to obtain a next track segment to be jumped into, as shown in fig. 4, including:
step S401, a server synchronizes real-time position information of each crown block in a crown block running track network to all crown blocks in real time;
step S402, when any crown block straddles the current track section, carrying out real-time path planning according to real-time position information of all crown blocks and corresponding task information by combining a built-in track map, and generating a real-time path planning result to obtain the next track section to be spanned;
step S403, after generating a real-time path planning result, any crown block generates an execution request of the crown block according to the path planning result and sends the execution request to a server for execution.
In this embodiment, the crown block autonomously performs path planning, but the server is required to synchronize real-time position information of each crown block to all crown blocks, and if the path planning is performed after the path planning is completed, the "execution request" is sent to the server again, and the path planning can be performed after the server is permitted.
In one embodiment, the method includes obtaining, by the server, a real-time running speed of the on-orbit crown block, and adjusting the running speed of the on-orbit crown block based on the real-time running speed to jump into a next orbit, as shown in fig. 5, and includes:
step S501, obtaining the distance between the track crown block and the entrance of the next track section;
step S502, when the distance is larger than the preset safe distance, determining the current running speed of the crown block in the current track section, namely the first running speed, and the current running speed of the crown block already on track, namely the second running speed;
step S503, if the first running speed is smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the first running speed; and if the first running speed is not smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the second running speed.
In a specific scene, determining the distance from the on-orbit crown block to the entrance of the next track section through the position information of all crown blocks synchronized by a server, and judging whether the distance is smaller than a safety distance warning value; if so, the current running speed, namely the first running speed, of the crown block in the current track section and the current running speed, namely the second running speed, of the on-track crown block are respectively determined.
After the first running speed and the second running speed are determined, the numerical value between the first running speed and the second running speed is judged. And if the first running speed is smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the first running speed, and if the first running speed is not smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the second running speed. The control mode can control the crown block in the current track section to enter the next track section according to the smaller running speed of the crown block and the crown block in the next track section, and can ensure that the crown block does not collide with the crown block in the next track section.
In one embodiment, when the distance is less than a preset safety distance and the crown block in the next track segment is in a stopped state, the method further comprises: and controlling the crown block in the current track section to pause and wait. If the previous crown block stays within the guard value of the safety distance of the next track section, the current crown block should stop for waiting.
According to the crown block control method, the position data and the speed parameters of the crown block in the track are fully utilized, and the accurate anti-collision control is performed through the position relation among the crown blocks, so that the problems of high collision risk and poor control effect existing in the prior art when the anti-collision control is performed only by using the distance sensor are solved.
Corresponding to the crown block control method provided by the foregoing embodiment, an embodiment of the present invention provides a crown block control system, where the crown block control system is used to control a crown block in a crown block system; the overhead travelling crane operates in an overhead travelling crane operation track network corresponding to the overhead travelling crane system; a server is arranged in the crown block system; the overhead travelling crane running track net comprises a plurality of track sections;
as shown in fig. 6, the crown block control system includes:
the first control unit 610 is configured to obtain real-time position information and task information of all crown blocks in the crown block running track network; wherein the real-time location information includes at least: identification information of the current track section where all the crown blocks are located and position information of all the crown blocks in the current track section; the task information includes at least: target position information of all crown blocks;
the second control unit 620 is configured to perform, for any one of the crown blocks, real-time path planning based on a track map corresponding to a track network operated by the crown block and real-time position information and task information of all crown blocks when the crown block is jumped into the current track segment, so as to obtain a next track segment to be jumped into;
a third control unit 630, configured to determine, based on the track map, whether a connection point between the current track segment and the next track segment is a track intersection, a track splitting point, or a corner point; if yes, determining whether the next track section has an on-track crown block; when the on-orbit crown block exists in the next track section, acquiring the real-time running speed of the on-orbit crown block through a server, and after adjusting the running speed of the on-orbit crown block based on the real-time running speed, stepping into the next track.
According to the crown block control system provided by the embodiment of the invention, the position data and the speed parameters of the crown block in the track are fully utilized, and the accurate anti-collision control is performed through the position relation among the crown blocks, so that the problems of high collision risk and poor control effect in the prior art when the anti-collision control is performed only by using the distance sensor are solved.
In one embodiment, the first control unit 610 is further configured to: each crown block acquires the current track section of each crown block and the distance from the entrance of the current track section in real time by scanning the track section identification information arranged on the side of the track section in real time; the method comprises the steps that a server determines real-time position information of each crown block in a crown block running track network based on identification information of a current track section, a distance from an inlet of the current track section and crown block identifications of each crown block, wherein the identification information is uploaded in real time by each crown block, and the real-time position information of each crown block in the crown block running track network is combined with a built-in track map; track map comprising at least: identification information of all track sections in the overhead travelling crane running track network, connection relation among the track sections, and connection point attribute between a track section outlet and the next track section; a join point attribute comprising: junction, split-flow point, corner point and one-to-one junction; turning points refer to the joint points of the current track section and the next track section which is the turning section; one-to-one engagement point means that the outlet of the current track segment is engaged with only one track segment; and according to the crown block identification of each crown block, acquiring the task information currently executed by each crown block by inquiring a crown block-task information table which is set in the server and is stored with each crown block identification and corresponding execution task.
In one embodiment, the second control unit 620 is further configured to: when all the crown blocks cross into the current track section, a real-time path planning request is sent to a server, wherein the real-time path planning request carries crown block identifications of the corresponding crown blocks; the server responds to the real-time path planning request of each crown block, performs real-time path planning for each crown block based on the real-time position information, the task information and the track map of all crown blocks, and feeds back the real-time path planning result to the corresponding crown block; and after the crown block receives the corresponding real-time path planning result, obtaining the next track section to be spanned by the crown block according to the path planning result.
In one embodiment, the second control unit 620 is further configured to: the server synchronizes the real-time position information of each crown block in the crown block running track network to all crown blocks in real time; when any crown block straddles the current track section, carrying out real-time path planning according to real-time position information of all crown blocks and corresponding task information by combining a built-in track map, and generating a real-time path planning result to obtain the next track section to be spanned; after generating a real-time path planning result, any crown block generates an execution request of the crown block according to the path planning result and sends the execution request to a server for execution.
In one embodiment, the third control unit 630 is further configured to, after obtaining, by the server, the real-time running speed of the on-track crown block and adjusting the running speed thereof based on the real-time running speed, in order to step into the next track: acquiring the distance between the on-orbit crown block and the entrance of the next orbit section; when the distance is greater than a preset safety distance, determining the current running speed of the crown block in the current track section, namely a first running speed, and the current running speed of the on-track crown block, namely a second running speed; if the first running speed is smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the first running speed; and if the first running speed is not smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the second running speed.
In one embodiment, when the distance is smaller than the preset safety distance and the crown block in the next track section is in a stopped state, the third control unit 630 is further configured to: and controlling the crown block in the current track section to pause and wait.
The crown block control system provided by the embodiment of the invention has the same implementation principle and technical effects as those of the crown block control method embodiment, and for the sake of brief description, reference may be made to corresponding contents in the method embodiment.
An embodiment of the present invention provides an overhead travelling crane system, as shown in fig. 7, including: the overhead travelling crane operates the orbit network, control server and a plurality of overhead travelling cranes; wherein the crown block runs in a crown block running track network; the overhead travelling crane running track net comprises a plurality of track sections; the control server is connected with the crown block through a wired network or a wireless network; the control server adopts the steps of the crown block control method in the embodiment in the crown block control process.
The embodiment also provides a server, the structural schematic diagram of which is shown in fig. 8, including a processor 101 and a memory 102; the memory 102 is configured to store one or more computer instructions, where the one or more computer instructions are executed by the processor to implement the crown block control method described above.
The server shown in fig. 8 further comprises a bus 103 and a communication interface 104, the processor 101, the communication interface 104 and the memory 102 being connected by the bus 103.
The memory 102 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. Bus 103 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 8, but not only one bus or type of bus.
The communication interface 104 is configured to connect with at least one user terminal and other network units through a network interface, and send the encapsulated IPv4 message or the IPv4 message to the user terminal through the network interface.
The processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 101 or instructions in the form of software. The processor 101 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks of the disclosure in the embodiments of the disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 102, and the processor 101 reads information in the memory 102, and in combination with its hardware, performs the steps of the method of the previous embodiment.
The embodiment of the invention also provides a storage medium, and a computer program is stored on the storage medium, and the computer program executes the steps of the crown block control method of the previous embodiment when being run by a processor.
In the several embodiments provided in the present application, it should be understood that the disclosed system, terminal, and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via some communication interfaces, terminals or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The crown block control method is characterized by being used for controlling crown blocks in a crown block system; the overhead travelling crane operates in an overhead travelling crane operation track network corresponding to the overhead travelling crane system; a server is arranged in the crown block system; the overhead travelling crane running track net comprises a plurality of track sections;
the method comprises the following steps:
acquiring real-time position information and task information of all crown blocks in the crown block running track network; wherein the real-time location information includes at least: identification information of a current track section where all the crown blocks are located and position information of all the crown blocks in the current track section; the task information includes at least: the target position information of all the crown blocks;
when any crown block is jumped into the current track section, carrying out real-time path planning based on a track map corresponding to the crown block running track network, the real-time position information and the task information of all crown blocks so as to obtain the next track section to be jumped into;
judging whether the connection point of the current track section and the next track section is a track intersection point, a track split point or a turning point or not based on the track map; if yes, determining whether the next track section has an on-orbit crown block; when the fact that the next track section has the on-orbit crown block is determined, acquiring the real-time running speed of the on-orbit crown block through a server, and adjusting the running speed of the on-orbit crown block based on the real-time running speed so as to jump into the next track.
2. The crown block control method of claim 1, wherein the step of obtaining real-time location information and task information of all crown blocks in the crown block running track network comprises:
each crown block acquires the current track section of each crown block and the distance from the entrance of the current track section in real time by scanning the track section identification information arranged on the side of the track section in real time;
the server determines real-time position information of each crown block in the crown block running track network by combining the built-in track map based on the identification information of the current track section, the distance from the current track section entrance and the crown block identification, which are uploaded by each crown block in real time;
the track map comprises at least: identification information of all track sections in the overhead travelling crane running track network, connection relation among the track sections, and connection point attribute between the track section outlet and the next track section; the engagement point attribute includes: junction, split-flow point, corner point and one-to-one junction; the turning point refers to a joint point of the current track section and the next track section which is the turning section; the one-to-one joint points are that the outlet of the current track section is only connected with one track section;
And according to the crown block identification of each crown block, acquiring the task information currently executed by each crown block by inquiring a crown block-task information table which is set in the server and is stored with each crown block identification and corresponding execution task.
3. The crown block control method according to claim 2, wherein for any crown block, when a current track segment is jumped in, real-time path planning is performed based on a track map corresponding to the track network in which the crown block is running, and the real-time position information and the task information of all crown blocks, so as to obtain a next track segment to be jumped in, which is implemented as:
when all the crown blocks cross into the current track section, sending a real-time path planning request to the server, wherein the real-time path planning request carries crown block identifications of the corresponding crown blocks;
the server responds to the real-time path planning request of each crown block, performs real-time path planning for each crown block based on the real-time position information, the task information and the track map of all crown blocks, and feeds back the real-time path planning result to the corresponding crown block;
and after receiving a corresponding real-time path planning result, the crown block obtains the next track section to be spanned by the crown block according to the path planning result.
4. The crown block control method according to claim 2, wherein when any crown block is jumped into one track segment, the real-time path planning is performed based on the track map corresponding to the crown block running track network and the real-time position information and the task information of all crown blocks, so as to obtain a next track segment to be jumped into, which is implemented as follows:
the server synchronizes real-time position information of each crown block in the crown block running track network to all crown blocks in real time;
when any crown block straddles the current track section, carrying out real-time path planning according to the real-time position information of all crown blocks and corresponding task information by combining the built-in track map, and generating a real-time path planning result to obtain the next track section to be spanned;
after generating a real-time path planning result, any crown block generates an execution request of the crown block according to the path planning result and sends the execution request to the server for execution.
5. The crown block control method according to any one of claims 1-4, wherein obtaining, by a server, a real-time running speed of the already-on-orbit crown block and adjusting the running speed thereof based on the real-time running speed to step into the next orbit, comprises:
Acquiring the distance between the on-orbit crown block and the entrance of the next track segment;
when the distance is larger than a preset safety distance, determining the current running speed, namely a first running speed, of the crown block in the current track section and the current running speed, namely a second running speed, of the on-track crown block respectively;
if the first running speed is smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the first running speed; and if the first running speed is not smaller than the second running speed, controlling the crown block in the current track section to enter the next track section according to the second running speed.
6. The crown block control method of claim 5, wherein when the distance is less than a preset safe distance and the crown block in the next track segment is in a stopped state, the method further comprises: and controlling the crown block in the current track section to suspend waiting.
7. The crown block control system is characterized by being used for controlling crown blocks in the crown block system; the overhead travelling crane operates in an overhead travelling crane operation track network corresponding to the overhead travelling crane system; a server is arranged in the crown block system; the overhead travelling crane running track net comprises a plurality of track sections;
The crown block control system includes:
the first control unit is used for acquiring real-time position information and task information of all crown blocks in the crown block running track network; wherein the real-time location information includes at least: identification information of a current track section where all the crown blocks are located and position information of all the crown blocks in the current track section; the task information includes at least: the target position information of all the crown blocks;
the second control unit is used for carrying out real-time path planning on any crown block based on a track map corresponding to the crown block running track network and the real-time position information and the task information of all crown blocks when the crown block straddles the current track section so as to obtain a next track section to be straddled;
the third control unit is used for judging whether the connection point of the current track section and the next track section is a track intersection point, a track split point or a turning point or not based on the track map; if yes, determining whether the next track section has an on-orbit crown block; when the fact that the next track section has the on-orbit crown block is determined, acquiring the real-time running speed of the on-orbit crown block through a server, and adjusting the running speed of the on-orbit crown block based on the real-time running speed so as to jump into the next track.
8. A crown block system, the crown block system comprising: the overhead travelling crane operates the orbit network, control server and a plurality of overhead travelling cranes; wherein the crown block runs in the crown block running track network; the overhead travelling crane running track net comprises a plurality of track sections; the control server is connected with the crown block through a wired network or a wireless network;
the control server adopts the steps of the crown block control method according to any one of the claims 1 to 6 in the control of the crown block.
9. A server, comprising: a processor and a storage device; the storage device has stored thereon computer executable instructions executable by a processor to perform the steps of the crown block control method of any one of the preceding claims 1 to 6.
10. A storage medium having stored thereon program code which, when executed, implements the steps of the crown block control method of any one of claims 1 to 6.
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| CN202311408758.4A CN117263037B (en) | 2023-10-26 | Crown block control method, crown block control system, crown block system, server and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311408758.4A CN117263037B (en) | 2023-10-26 | Crown block control method, crown block control system, crown block system, server and storage medium |
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