CN117970892A - Control method and device of conveying system - Google Patents
Control method and device of conveying system Download PDFInfo
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- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
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Abstract
The invention discloses a control method and a control device of a conveying system. The method comprises the following steps: acquiring conveying material parameters, monitoring the blocking condition and fault information in a conveying system, and calculating to obtain a blocking condition evaluation index and a fault information evaluation index; acquiring the quantity and the type of the residual materials to be conveyed, and analyzing to obtain the state evaluation index of the residual materials to be conveyed; according to the state evaluation index, the blocking condition evaluation index, the fault information evaluation index and the conveying line structure evaluation index of the residual materials to be conveyed, a conveying unblocked evaluation index model is obtained through machine learning construction, and the weight of the inter-node road section in the conveying line structure model is updated; and updating the conveying path planning according to the weight of the inter-node road sections and the analysis of the residual materials to be conveyed. The invention solves the problem that the high-density conveying system cannot be flexibly processed in the prior art.
Description
Technical Field
The present invention relates to the field of control technologies of conveying systems, and in particular, to a method and an apparatus for controlling a conveying system.
Background
With the popularization and development of internet technology, global economy has shown explosive growth, online markets have grown, and the demands of manufacturing and logistics for transportation systems have grown dramatically to meet the demands of mass production and logistics. The conveying system often involves a plurality of complex modules, and a great deal of manpower and material resources are required to be consumed, so that the optimal path control becomes a technical key of the conveying system in the process. Through combining actual conveying condition, through the automatic identification function of system, automatic adjustment carries the material volume and optimizes the route of carrying the material to optimal route and fastest speed accomplish the transport of material, improved operating efficiency and resource utilization, reduce the transportation cost, realize that conveying system control is more flexible, promoted manufacturing and logistics's work efficiency.
The existing conveying system determines the feeding speed, the conveying speed and the maximum capacity of a conveying tank by acquiring the pressure value of a pressure sensor, compares and determines a periodic mode and corresponding interval time, controls the working state of the conveying tank, realizes the dynamic adjustment of the interval time, reduces the conveying times, or judges whether an idle processing device and the production batch are finished according to the production batch information generated by the processing procedure flow, determines which of all conveyed objects is conveyed to which processing device according to the judging result, shortens the production takt time of the whole processing device, and improves the conveying efficiency.
For example, bulletin numbers: the invention patent publication of CN116382221B discloses a conveying control method, a conveying device and a conveying system, which comprise the following steps: acquiring a pressure value of a pressure sensor, wherein the pressure value is used for detecting the pressure of coal ash on the inner wall of a hopper; determining a coal ash volume value in the hopper according to the pressure value; determining the feeding speed of a hopper from the beginning to the ending of the discharging process and the emptying speed of the coal ash in the conveying tank from the beginning to the ending of the discharging process; determining a coal ash volume value of the hopper starting feeding according to the feeding speed, the conveying speed and the maximum capacity of the conveying tank; comparing the volume of the coal ash in the hopper with a starting interval to determine a periodic mode and corresponding interval time; and the control unit is used for controlling the working state of the conveying tank according to the corresponding interval time of the current entering periodic mode.
For example, bulletin numbers: the conveying control device and the conveying control method of the patent publication of CN101685305B comprise the following steps: even when the load of the conveying destination of the conveyed object is high, the takt time of the whole processing device can be shortened, the data amount required for the operation processing is not increased even for the single conveying line, a large-scale operation processing device is not needed, and the operation processing time is not prolonged. The conveyance control device includes a control unit that controls each conveyance device of the processing apparatus. The control unit receives a process flow from the upper system, generates production lot information based on the process flow, distributes the production lot information and the processing contents to the respective processing devices of the processing equipment, determines whether or not there is a free processing device and completion of the production lot, decides which of the respective objects to be conveyed is conveyed to which of the processing devices based on the determination result, and controls the conveying device based on the decision.
However, in the process of implementing the technical scheme of the embodiment of the application, the application discovers that the above technology has at least the following technical problems:
In the prior art, the conveying paths of the material conveying system are mostly fixed, the length of the interval time is calculated by setting a plurality of periodic modes, the dynamic adjustment of the interval time is realized, the paths of a starting point and an end point are formulated in advance, the conveying times are reduced to a certain extent, or production batch information is generated according to the process flow, whether idle processing devices and production batches are finished are judged, which of the conveyed objects is conveyed to which processing device is determined according to the judging result, and the consideration of the conveying paths of the conveyed materials is omitted, for example, certain conveyed materials need to pass through certain necessary paths, and the problem that flexible processing cannot be realized for the high-density conveying system exists.
Disclosure of Invention
The embodiment of the application solves the problem that the high-density conveying system cannot be subjected to flexible treatment in the prior art by providing the control method and the device of the conveying system, and realizes more flexible control of the conveying system.
The embodiment of the application provides a control method of a conveying system, 1. The control method of the conveying system is characterized by comprising the following steps: the method comprises the steps of extracting characteristics of conveying equipment, obtaining a conveying line structure evaluation index through a conveying line structure model, obtaining conveying material parameters, monitoring blocking conditions and fault information in a conveying system, and calculating to obtain the blocking condition evaluation index and the fault information evaluation index; acquiring the quantity and the type of the residual materials to be conveyed, and analyzing to obtain the state evaluation index of the residual materials to be conveyed; according to the state evaluation index, the blocking condition evaluation index, the fault information evaluation index and the conveying line structure evaluation index of the residual materials to be conveyed, a conveying unblocked evaluation index model is obtained through machine learning construction, and the weight of the inter-node road sections in the conveying line structure model is updated according to the conveying unblocked evaluation index model; and updating the conveying path planning according to the weight of the inter-node road sections and the analysis of the residual materials to be conveyed.
In the above scheme, the analysis method of the state evaluation index of the remaining materials to be conveyed comprises the following steps: obtaining the quantity and the type of the residual materials to be conveyed at certain intervals, and numbering the periods; constructing a model formula of the state evaluation index of the residual materials to be conveyed, and calculating the state evaluation index of the residual materials to be conveyed; the state evaluation index model formula of the residual materials to be conveyed is as follows:
，
in the method, in the process of the invention, For/>Evaluation index of the state of the remaining material to be conveyed in each period,/>For/>The remaining material quantity to be conveyed in each period,/>For/>Information of the types of the materials to be conveyed in the rest of each period,/>For the compensation proportion value corresponding to the set quantity of the residual materials to be conveyed,/>For the compensation proportion value corresponding to the set type information of the residual materials to be conveyed,/>For the number of delivery cycles,/>，/>Expressed as the total number of transport cycles,/>Is a natural constant.
In the above scheme, the characteristics of the conveying equipment comprise the position of the node where the conveying equipment is located, the type information of the conveying equipment, the equivalent conversion coefficient of the conveying equipment and the conveying speed of the road section among the conveying nodes; the conveying material parameters comprise conveying material quality and conveying material volume.
In the above scheme, the analysis method of the conveying line structure evaluation index comprises the following steps: counting the number of the conveying equipment of the same type, equivalent conversion coefficients of the conveying equipment of different types and acquiring a historical conveying circuit diagram; constructing a conveying line structure evaluation index model formula according to the characteristics of the historical conveying line diagram and conveying equipment, and calculating a conveying line structure evaluation index of each road section between nodes according to the conveying line structure evaluation index model formula; the conveying line structure evaluation index model formula is as follows:
，
in the method, in the process of the invention, For/>Cycle number from the/>Node to/>The transmission line structure evaluation index of the inter-node road section,For/>Cycle number from the/>Node to/>Conveying speed of inter-node road segment,/>For the inter-node road segment/>Number of class delivery devices,/>For the inter-node road segment/>Equivalent conversion coefficient of class conveying equipment,/>For the number of the starting node,/>For the numbering of termination nodes,/>,/>，/>Expressed as the total number of nodes,/>Not equal to/>From the firstNode to/>Inter-node road segment/>Number expressed as transport equipment type information,/>，/>To from the/>Node to/>Total number of conveying equipment type information of inter-node road segments,/>To set/>Cycle number from the/>Node to the firstCompensation ratio value corresponding to conveying speed of inter-node road section,/>To set/>Cycle number from the/>Node to/>Inter-node road segment/>And (5) compensating the proportional value corresponding to the equivalent of the class conveying equipment.
In the above scheme, the analysis method of the blockage situation assessment index comprises the following steps: monitoring the length of the section between the nodes blocked by the material in real time and blocking the section between the nodes in the conveying system; the method comprises the steps of obtaining the mass of the conveying materials of the inter-node road section, and analyzing the volume of the conveying materials to obtain the density of the conveying materials of the inter-node road section; calculating a blockage situation assessment index by constructing a blockage situation assessment index model formula; the formula of the blockage situation evaluation index model is as follows:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>A congestion status evaluation index of the inter-node road segment,Expressed as/>Cycle number from the/>Node to/>Length of the inter-node road section blocked by material,/>Expressed as/>Cycle number from the/>Node to/>Density of transported material in inter-node section,/>Expressed as set/>Cycle number from the/>Node to/>Compensation ratio value of length of inter-node road section blocked by material,/>Expressed as set/>Cycle number from the/>Node to/>And the influence factor corresponding to the density of the conveying materials of the road sections between the nodes.
In the above scheme, the analysis method of the fault information evaluation index comprises the following steps: acquiring running condition data of road segments among nodes in real time, and monitoring the positions of the road segments among fault nodes; summing and averaging the running condition data of the road sections among the nodes in each period, and calculating to obtain the average running condition data of the road sections among the nodes in a certain period, thereby analyzing the fault degree of the road sections among the nodes; constructing a fault information evaluation index model formula according to the fault degree of the road sections among the nodes, and calculating a fault information evaluation index; the fault information evaluation index model formula is as follows:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>The failure information evaluation index of the inter-node road segments,Expressed as/>Cycle number from the/>Node to/>Running condition data of inter-node road segments,/>Expressed as from the/>Node to/>Average running condition data of inter-node road segments,/>Expressed as from the/>Node to/>Allowable deviation value of running condition data of inter-node road segment,/>A correction factor expressed as average operating condition data.
In the above scheme, the calculation formula of the conveying smoothness assessment index is as follows:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>A traffic clearance assessment index for the inter-node road segments,Expressed as from the/>Node to/>Allowable deviation value of congestion status evaluation index of node section,/>Expressed as from the/>Node to/>Allowable deviation value of fault information evaluation index of node section,/>And/>Respectively denoted as the firstCycle number from the/>Node to/>And the congestion state evaluation index of the inter-node road segments and the impact factors corresponding to the fault information evaluation index.
In the above scheme, the specific method for updating the conveying path plan includes: acquiring weight values of road sections among nodes in real time; scanning and analyzing the rest materials to be conveyed, and acquiring the marked necessary nodes of the conveyed materials after the physical marks of the conveyed materials are monitored; according to the weight of the road segments among the real-time nodes, path planning is carried out on the road segments, the road segments with small weight among the adjacent nodes are selected through the nodes, and the road segments are spliced; and conveying the materials with high evaluation indexes of the state of the materials to be conveyed to the inter-node road segments with low weights, and conveying the materials with low evaluation indexes of the state of the materials to be conveyed to the inter-node road segments with high weights.
The embodiment of the application provides a control device of a conveying system, which comprises the following components: the system comprises a conveying line structure evaluation module, a calculation analysis module, a residual material state evaluation module, a comprehensive analysis module and a path planning updating module; the conveying line structure evaluation module is used for: the system is used for extracting characteristics of conveying equipment, obtaining a conveying line structure evaluation index through a conveying line structure model, and calculating and analyzing a module: the system is used for acquiring the parameters of the conveyed materials, monitoring the blocking condition and the fault information in the conveying system, and calculating to obtain a blocking condition evaluation index and a fault information evaluation index; the state evaluation module of the remaining materials to be conveyed: the method comprises the steps of obtaining the quantity and the type of the materials to be conveyed, and analyzing to obtain the state evaluation index of the materials to be conveyed; and the comprehensive analysis module is used for: the method comprises the steps of obtaining a conveying smoothness evaluation index model through machine learning construction according to a state evaluation index, a blocking condition evaluation index, a fault information evaluation index and a conveying line structure evaluation index of the residual materials to be conveyed; updating the weight of the inter-node road section in the conveying line structure model according to the conveying smoothness evaluation index model; and a path planning updating module: and the method is used for updating the conveying path planning according to the weight of the road sections among the nodes and analyzing the residual materials to be conveyed.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. By calculating the state evaluation indexes of the rest materials to be conveyed, constructing a conveying line structure evaluation index model formula, calculating the conveying line structure evaluation indexes of the road sections among the nodes according to the state evaluation indexes, calculating the blocking condition evaluation indexes and the fault information evaluation indexes, comprehensively obtaining the conveying smoothness evaluation indexes of the road sections among the nodes in each period, calculating the weight of the road sections among the nodes in each period, updating the weight of the road sections among the nodes in the conveying line structure model, and further relieving the problem of work efficiency reduction caused by blocking or faults of a conveying system, further realizing more flexible control of the conveying system and effectively solving the problem that flexible treatment cannot be realized for a high-density conveying system in the prior art.
2. The method comprises the steps of scanning and positioning a conveying material, obtaining a necessary node for conveying the material, physically marking the necessary node for conveying the material on the surface of the necessary node, selecting a road section with small weight between adjacent nodes according to the weight of the road section between the real-time nodes, planning a path of the road section, and splicing the road sections, so that the flexible treatment of the control of a conveying system is realized.
3. The method comprises the steps of obtaining the quantity of the materials to be conveyed and the types of the materials to be conveyed at certain intervals, obtaining a historical conveying line diagram from a conveying system information database, constructing a conveying line structure model, monitoring the length of each inter-node road section blocked by the materials and the blocking inter-node road section in the conveying system in real time, obtaining the running condition data of each inter-node road section in real time, and monitoring the positions of the fault inter-node road sections, so that the weight of the inter-node road section in the conveying line structure model is updated in real time, and further the control of the conveying system is more flexible and has high instantaneity.
Drawings
Fig. 1 is a flowchart of a control method of a conveying system according to an embodiment of the present application.
Detailed Description
The embodiment of the application solves the problem that the high-density conveying system cannot be flexibly processed in the prior art by providing the control method and the control device of the conveying system, marks the conveying materials, analyzes the quantity of the residual materials to be conveyed and the types of the residual materials to be conveyed to obtain the state evaluation index of the residual materials to be conveyed, constructs a conveying line structure model, analyzes the state evaluation index of the conveying line to obtain the state evaluation index of the conveying line, monitors the blocking condition and fault information in the conveying system in real time, calculates the blocking condition evaluation index and the fault information evaluation index, comprehensively obtains the conveying smoothness evaluation index, updates the weight of the section between nodes in the conveying line structure model according to the state evaluation index, and realizes the control of the conveying system to be more flexible.
The technical scheme in the embodiment of the application aims to solve the problem that the high-density conveying system cannot be subjected to flexible treatment, and the overall thought is as follows:
marking the conveying materials in a physical mode, acquiring marking information of special conveying materials, simultaneously acquiring the quantity of the residual materials to be conveyed and the type information of the residual materials to be conveyed in real time, analyzing to obtain a state evaluation index of the residual materials to be conveyed, acquiring equivalent conversion coefficients of different conveying equipment from a conveying system information database, combining the node positions of the conveying equipment, the conveying speeds of the sections among the conveying nodes and the quantity of the conveying equipment of the same type, acquiring a historical conveying line diagram from the conveying system information database, constructing a conveying line structure model, calculating a conveying line structure evaluation index of the sections among the nodes, monitoring the blocked length of the sections among the nodes and the blocked sections among the nodes in the conveying system in real time by using a monitoring sensor, and simultaneously monitoring the blocking condition and fault information in the conveying system in real time, constructing a congestion condition evaluation index model formula, calculating a congestion condition evaluation index of each inter-node road section according to the congestion condition evaluation index formula, simultaneously acquiring running condition data of each inter-node road section in real time, monitoring the position of a road section among fault nodes, calculating to obtain a fault information evaluation index of each inter-node road section, comprehensively obtaining a conveying smoothness evaluation index according to the fault information evaluation index, properly increasing a weight of a road section among the inter-node road sections with low conveying smoothness evaluation index according to the conveying smoothness evaluation index of each inter-node road section, recovering an initial weight when the conveying smoothness evaluation index returns to a normal section, adjusting the weight of the road section among the conveying nodes in a conveying line structure model according to the weight of the road section among the conveying nodes and the state evaluation index of the residual materials to be conveyed, updating a conveying path plan, selecting an optimal path conveying material when the marked conveying material is met, according to the necessary nodes for conveying materials, the weight of the sections among the nodes with small weight is combined with the weight of the sections among the real-time conveying nodes, the sections are spliced, meanwhile, when the unmarked residual conveying materials are met, the conveying materials with high evaluation indexes of the residual conveying materials are conveyed to the sections among the nodes with low weight through the necessary nodes, and the conveying materials with low evaluation indexes of the residual conveying materials are conveyed to the sections among the nodes with high weight, so that the control of the conveying system is high in real-time performance and more flexible.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
As shown in fig. 1, a flowchart of a control method of a conveying system according to an embodiment of the present application is provided, where the method includes the following steps: marking the conveyed materials, and obtaining marking information of the quantity of the conveyed materials to obtain necessary nodes of the conveyed materials; and (5) conveying material scanning and analyzing: acquiring the quantity and the types of the materials to be conveyed in real time, and analyzing to obtain the state evaluation index of the materials to be conveyed; extracting characteristics of conveying equipment: extracting characteristics of conveying equipment, constructing a conveying line structure model, and analyzing to obtain a conveying line structure evaluation index; parameter acquisition and monitoring: acquiring conveying material parameters, simultaneously monitoring the blocking condition and fault information in a conveying system in real time, calculating to obtain a blocking condition evaluation index and a fault information evaluation index, comprehensively obtaining a conveying smoothness evaluation index, and updating the weight of a road section between nodes in a conveying line structure model according to the conveying smoothness evaluation index; updating conveying path planning: and updating the conveying path planning according to the weight of the road sections among the nodes, the state evaluation index of the residual materials to be conveyed and the marked conveying materials.
In this embodiment, according to the actual demands of the user, the user determines the transported material, and identifies the mark on the transported material in the process of transporting the material, thereby obtaining the necessary node for transporting the material. The conveying system comprises a marking and identifying module, a parameter monitoring and extracting module and a path planning updating module, wherein the functional modules allow the conveying system to mark, monitor and evaluate conveyed materials and update the conveying path planning in real time, so that the efficiency and the reliability of the conveying system are improved.
The specific method for marking the conveyed materials comprises the following steps: scanning and positioning the conveyed material to obtain a necessary node for conveying the material; the necessary nodes for conveying materials are marked on the surface of the material through physical means.
In this embodiment, the transported material includes a portion of the transported material that needs to pass through a designated node, such as perishable or perishable agricultural product material, and is required to pass through a node disposed in a cryogenic transport plant to ensure the quality of the transported material. The physical marking of the transported material can be achieved by means of ink-jet methods or by means of labeling.
In this embodiment, the analysis method of the state evaluation index of the remaining materials to be conveyed is as follows: obtaining the quantity and the type of the residual materials to be conveyed at certain intervals, and numbering the periods; constructing a model formula of the state evaluation index of the material to be conveyed, and calculating the state evaluation index of the material to be conveyed according to the model formula; the state evaluation index model formula of the residual materials to be conveyed is as follows:
，
in the method, in the process of the invention, For/>Evaluation index of the state of the remaining material to be conveyed in each period,/>And/>Respectively expressed as the/>The remaining material quantity to be conveyed and the/>Information of the types of the materials to be conveyed in the rest of each period,/>Expressed as a compensation proportion value corresponding to the set quantity of the residual materials to be conveyed,/>Representing the compensation proportion value corresponding to the set type information of the residual materials to be conveyedNumber expressed as transport cycle,/>，/>Expressed as the total number of transport cycles,/>Is a natural constant.
In this embodiment, the types of materials to be conveyed are distinguished by using numbers, and the compensation ratio value corresponding to the types of materials to be conveyed and the amounts of materials to be conveyed is used for correcting the problems of inaccurate measurement of the amounts of materials to be conveyed and inaccurate analysis of the types of materials to be conveyed caused by the errors in measurement or analysis of the monitoring sensor. The information of the types of the materials to be conveyed comprisesExpressed as wood of the kind/>Expressed as stone material,/>The expression is metal.
Further, the characteristics of the conveying equipment comprise the position of the node where the conveying equipment is located, conveying equipment type information, equivalent conversion coefficient of the conveying equipment and conveying speed of road sections among the conveying nodes; the conveying material parameters include conveying material quality and conveying material volume.
In this embodiment, the characteristics of the conveying apparatus include, but are not limited to, the node position where the conveying apparatus is located, conveying apparatus type information, conveying apparatus equivalent conversion coefficient, and conveying speed of the section between the conveying nodes, and parameters such as conveying capacity of the conveying apparatus, conveying angle of the conveying apparatus, and conveying height of the conveying apparatus need to be considered; the conveying material parameters include, but are not limited to, conveying material mass and conveying material volume, and also take into account conveying material viscosity, conveying material thermal expansion coefficient and the like.
Further, the analysis method of the conveying line structure evaluation index comprises the following steps: acquiring the position of a node where each conveying device is located, conveying device type information and conveying speed of a road section between conveying nodes; counting the number of the same type of conveying equipment; acquiring equivalent conversion coefficients of different types of conveying equipment to acquire a historical conveying circuit diagram; constructing a conveying line structure model, constructing a conveying line structure evaluation index model formula, and calculating a conveying line structure evaluation index of each inter-node road section according to the conveying line structure evaluation index model formula; the conveying line structure evaluation index model formula is as follows:
，
in the method, in the process of the invention, For/>Cycle number from the/>Node to/>The transmission line structure evaluation index of the inter-node road section,Expressed as/>Cycle number from the/>Node to/>Conveying speed of inter-node road segment,/>Expressed as/>, of the inter-node road segmentNumber of class delivery devices,/>Expressed as/>, of the inter-node road segmentEquivalent conversion coefficient of class conveying equipment,/>Number representing the starting node,/>Number denoted as termination node,/>,/>，/>Expressed as the total number of nodes,/>Not equal to/>From the/>Node to/>Inter-node road segment/>Indicated as the number of the type information of the conveying device,，/>Expressed as from the/>Node to/>Total number of conveying equipment type information of inter-node road segments,/>Expressed as set/>Cycle number from the/>Node to/>Compensation ratio value corresponding to conveying speed of inter-node road section,/>Expressed as set/>Cycle number from the/>Node to/>Inter-node road segment/>And (5) compensating the proportional value corresponding to the equivalent of the class conveying equipment.
In the present embodiment of the present invention, in the present embodiment,Expressed as/>And conveying equipment equivalent, wherein conveying equipment type information comprises a linear conveyor, a turning-around conveyor, a slope conveyor and the like, and the corresponding conveying equipment equivalent conversion coefficients are 1, 1.5 and the like. For example, the transport line structure evaluation index of the 1 st period from the 1 st node to the 4 th node is:
，
the conveying line structure evaluation index of the section between the 3 rd node and the 5 th node in the 7 th period is as follows:
。
The analysis method of the blockage situation evaluation index of the embodiment is as follows: monitoring the length of the section between the nodes blocked by the material in real time and blocking the section between the nodes in the conveying system; the method comprises the steps of obtaining the mass of the conveying materials and the volume of the conveying materials of the inter-node road section, and dividing the mass and the volume of the conveying materials to obtain the density of the conveying materials of the inter-node road section; constructing a model formula of the blockage situation assessment index, and calculating the blockage situation assessment index according to the model formula; the occlusion condition evaluation index model formula is:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>A congestion status evaluation index of the inter-node road segment,Expressed as/>Cycle number from the/>Node to/>Length of the inter-node road section blocked by material,/>Expressed as/>Cycle number from the/>Node to/>Density of transported material in inter-node section,/>Expressed as set/>Cycle number from the/>Node to/>Compensation ratio value of length of inter-node road section blocked by material,/>Expressed as set/>Cycle number from the/>Node to/>And the influence factor corresponding to the density of the conveying materials of the road sections between the nodes.
In this embodiment, the difference in the conveying environments may cause inaccurate calculation of the density of the conveyed material, so that the influence factor corresponding to the density of the conveyed material is introduced for correction. For example, the congestion status evaluation index of the 1 st period from the 1 st node to the 4 th node is:
，
The congestion status evaluation index of the section between the 3 rd node and the 5 th node in the 7 th cycle is:
，
The congestion status evaluation index of the 1 st period from the 1 st node to the 4 th node is greater than the congestion status evaluation index of the 7 th period from the 3 rd node to the 5 th node, so that it is possible to judge that the 1 st period from the 1 st node to the 4 th node is more congested.
Further, the analysis method of the fault information evaluation index comprises the following steps: acquiring running condition data of road segments among nodes in real time, and monitoring the positions of the road segments among fault nodes; summing and averaging the running condition data of the road sections among the nodes in each period, and calculating to obtain the average running condition data of the road sections among the nodes in a certain period, thereby analyzing the fault degree of the road sections among the nodes; constructing a fault information evaluation index model formula, and calculating a fault information evaluation index according to the fault information evaluation index model formula; the failure information evaluation index model formula is:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>The failure information evaluation index of the inter-node road segments,Expressed as/>Cycle number from the/>Node to/>Running condition data of inter-node road segments,/>Expressed as from the/>Node to/>Average running condition data of inter-node road segments,/>Expressed as from the/>Node to/>Allowable deviation value of running condition data of inter-node road segment,/>A correction factor expressed as average operating condition data.
In the present embodiment, from the firstNode to/>The allowable deviation value of the running condition data of the inter-node road segments is extracted from the transportation system information database. Since there is imperfections or severe deviations in the sample data, a correction factor is required to correct the average operating condition data. For example, the failure information evaluation index of the 1 st period from the 1 st node to the 4 th node is:
，
the failure information evaluation index of the road section from the 3 rd node to the 5 th node in the 7 th period is
，
The failure information evaluation index of the 1 st period from the 1 st node to the 4 th node is larger than that of the 7 th period from the 3 rd node to the 5 th node, so that the failure problem of the 1 st period from the 1 st node to the 4 th node can be judged to be more serious.
Further, the specific method for estimating the index of the delivery smoothness comprises the following steps: acquiring an optimal conveying line structure evaluation index of a road section between each two nodes; calculating a conveying smoothness evaluation index of a road section among nodes in each period, wherein the calculation formula is as follows:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>A traffic clearance assessment index for the inter-node road segments,Expressed as from the/>Node to/>Allowable deviation value of congestion status evaluation index of node section,/>Expressed as from the/>Node to/>Allowable deviation value of fault information evaluation index of node section,/>And/>Respectively denoted as the firstCycle number from the/>Node to/>And the congestion state evaluation index of the inter-node road segments and the impact factors corresponding to the fault information evaluation index.
In the present embodiment, from the firstNode to/>Allowable deviation value of congestion status evaluation index of inter-node road section and method for evaluating congestion status evaluation index of inter-node road section from the/>Node to/>The allowable deviation value of the fault information evaluation index of the inter-node road section is extracted from the conveying system information database. For example, the traffic clearance evaluation index of the 1 st period from the 1 st node to the 4 th node is:
，
the traffic clearance evaluation index of the road section between the 3 rd node and the 5 th node in the 7 th period is as follows:
，
The transmission smoothness evaluation index of the road section from the 1 st node to the 4 th node in the 1 st period is smaller than the transmission smoothness evaluation index of the road section from the 3 rd node to the 5 th node in the 7 th period, so that the road section from the 3 rd node to the 5 th node in the 7 th period can be judged to be smoother.
Further, the specific method for updating the weight of the inter-node road section in the conveying line structure model comprises the following steps: acquiring an optimal conveying smoothness assessment index; the weight of the road section between each node in each period is calculated, and the calculation formula is as follows:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>Weight of inter-node road segment,/>Expressed as/>Cycle number from the/>Node to/>And the transmission smoothness evaluation index of the road sections between the nodes corresponds to the influence factors.
In this embodiment, the larger the weight value, the more unsuitable the road section between the nodes is to pass. The weight of the road section from the 1 st node to the 4 th node in the 1 st period is as follows:
，
The weight of the road section from the 3 rd node to the 5 th node in the 7 th period is as follows:
。
Further, the specific method for updating the conveying path planning is as follows: acquiring weight values of road sections among nodes in real time; scanning and analyzing the rest materials to be conveyed, and acquiring the marked necessary nodes of the conveyed materials after the physical mode marking of the conveyed materials is monitored; according to the weight of the road segments among the real-time nodes, path planning is carried out on the road segments, the road segments with small weight among the adjacent nodes are selected through the nodes, and the road segments are spliced; acquiring state evaluation indexes of the rest of the materials to be conveyed in real time; and conveying the materials with high evaluation indexes of the state of the materials to be conveyed to the inter-node road segments with low weights, and conveying the materials with low evaluation indexes of the state of the materials to be conveyed to the inter-node road segments with high weights.
In this embodiment, according to the weight of the road segments between the real-time nodes, the system needs to perform path planning, and preferentially obtains the physical mark of the conveyed material, so as to determine the necessary nodes for conveying the material, extract the necessary nodes, select the road segments with small weight between the adjacent nodes, and perform road segment splicing. And then according to the state evaluation indexes of the remaining materials to be conveyed, the system needs to perform dynamic scheduling, the conveyed materials with high state evaluation indexes are conveyed to the inter-node road sections with low weights, and the conveyed materials with low state evaluation indexes are conveyed to the inter-node road sections with high weights, so that the system efficiency and the material conveying speed are maximized.
The embodiment of the application provides a control device of a conveying system, which comprises the following components: the system comprises a conveying line structure evaluation module, a calculation analysis module, a residual material state evaluation module, a comprehensive analysis module and a path planning updating module; wherein, the conveying line structure evaluation module: the system is used for extracting characteristics of conveying equipment, obtaining a conveying line structure evaluation index through a conveying line structure model, and calculating and analyzing a module: the system is used for acquiring the parameters of the conveyed materials, monitoring the blocking condition and the fault information in the conveying system, and calculating to obtain a blocking condition evaluation index and a fault information evaluation index; the state evaluation module of the remaining materials to be conveyed: the method comprises the steps of obtaining the quantity and the type of the materials to be conveyed, and analyzing to obtain the state evaluation index of the materials to be conveyed; and the comprehensive analysis module is used for: the method comprises the steps of obtaining a conveying smoothness evaluation index model through machine learning construction according to a state evaluation index, a blocking condition evaluation index, a fault information evaluation index and a conveying line structure evaluation index of the residual materials to be conveyed; updating the weight of the inter-node road section in the conveying line structure model according to the conveying smoothness evaluation index model; and a path planning updating module: and the method is used for updating the conveying path planning according to the weight of the road sections among the nodes and analyzing the residual materials to be conveyed.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages: relative to the bulletin number: according to the embodiment of the application, through acquiring the quantity and the type of the residual materials to be conveyed at certain intervals, acquiring a historical conveying line diagram from a conveying system information database, constructing a conveying line structure model, monitoring the length of each inter-node road section blocked by the materials and the blocked inter-node road section in the conveying system in real time, acquiring the running condition data of each inter-node road section in real time, and monitoring the position of the road section between fault nodes, the weight of the inter-node road section in the conveying line structure model is updated in real time, and the high real-time control of the conveying system is realized; relative to the bulletin number: the embodiment of the application obtains necessary nodes for conveying materials by scanning and positioning the materials to be conveyed, marks the necessary nodes for conveying the materials on the surface of the necessary nodes in a physical mode, selects a road section with small weight among adjacent nodes according to the weight of the road section among real-time nodes, performs path planning on the road section, calculates the state evaluation index of the remaining materials to be conveyed, constructs a conveying line structure evaluation index model formula, analyzes to obtain a blocking condition evaluation index and a fault information evaluation index, comprehensively obtains a conveying unblocked evaluation index of the road section among the nodes in each period, calculates the weight of the road section among the nodes in each period, updates the weight of the road section among the nodes in the conveying line structure model, performs path planning according to the dynamic scheduling of the weight, and further realizes more flexible control of a conveying system.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A method of controlling a conveyor system, comprising the steps of:
extracting characteristics of conveying equipment, and obtaining a conveying line structure evaluation index through a conveying line structure model;
Acquiring conveying material parameters, monitoring blocking conditions and fault information in a conveying system, and calculating to obtain blocking condition evaluation indexes and fault information evaluation indexes;
Acquiring the quantity and the type of the residual materials to be conveyed, and analyzing to obtain the state evaluation index of the residual materials to be conveyed;
According to the state evaluation index, the blocking condition evaluation index, the fault information evaluation index and the conveying line structure evaluation index of the residual materials to be conveyed, a conveying unblocked evaluation index model is obtained through machine learning construction, and the weight of the inter-node road sections in the conveying line structure model is updated according to the conveying unblocked evaluation index model;
And updating the conveying path planning according to the weight of the inter-node road sections and the analysis of the residual materials to be conveyed.
2. The method for controlling a conveyor system according to claim 1, wherein the analysis method of the state evaluation index of the remaining material to be conveyed is as follows:
Obtaining the quantity and the type of the residual materials to be conveyed at certain intervals, and numbering the periods; constructing a model formula of the state evaluation index of the residual materials to be conveyed, and calculating the state evaluation index of the residual materials to be conveyed;
The state evaluation index model formula of the residual materials to be conveyed is as follows:
，
in the method, in the process of the invention, For/>Evaluation index of the state of the remaining material to be conveyed in each period,/>For/>The remaining material quantity to be conveyed in each period,/>For/>Information of the types of the materials to be conveyed in the rest of each period,/>For the compensation proportion value corresponding to the set quantity of the residual materials to be conveyed,/>For the compensation proportion value corresponding to the set type information of the residual materials to be conveyed,/>For the number of delivery cycles,/>，/>Expressed as the total number of transport cycles,/>Is a natural constant.
3. The method for controlling a conveyor system according to claim 1, wherein the characteristics of the conveyor apparatus include a position of a node where the conveyor apparatus is located, conveyor apparatus type information, conveyor apparatus equivalent conversion coefficient, and a conveying speed of a section between the conveyor nodes; the conveying material parameters comprise conveying material quality and conveying material volume.
4. The method for controlling a conveyor system according to claim 2, wherein the method for analyzing the conveyor line structure evaluation index is as follows:
counting the number of the conveying equipment of the same type, equivalent conversion coefficients of the conveying equipment of different types and acquiring a historical conveying circuit diagram; constructing a conveying line structure evaluation index model formula according to the characteristics of the historical conveying line diagram and conveying equipment, and calculating a conveying line structure evaluation index of each road section between nodes according to the conveying line structure evaluation index model formula;
the conveying line structure evaluation index model formula is as follows:
，
in the method, in the process of the invention, For/>Cycle number from the/>Node to/>Evaluation index of conveying line structure of inter-node road section,/>For/>Cycle number from the/>Node to/>Conveying speed of inter-node road segment,/>For the inter-node road segment/>Number of class delivery devices,/>For the inter-node road segment/>Equivalent conversion coefficient of class conveying equipment,/>For the number of the starting node,/>For the numbering of termination nodes,/>,/>，/>Expressed as the total number of nodes,/>Not equal to/>From the/>Node to/>Inter-node road segment/>Number expressed as transport equipment type information,/>，/>To from the/>Node to/>Total number of conveying equipment type information of inter-node road segments,/>To set/>Cycle number from the/>Node to/>Compensation ratio value corresponding to conveying speed of inter-node road section,/>To set/>Cycle number from the/>Node to/>Inter-node road segment/>And (5) compensating the proportional value corresponding to the equivalent of the class conveying equipment.
5. The method of controlling a delivery system according to claim 4, wherein the analysis method of the clogging condition evaluation index is:
Monitoring the length of the section between the nodes blocked by the material in real time and blocking the section between the nodes in the conveying system;
the method comprises the steps of obtaining the mass of the conveying materials of the inter-node road section, and analyzing the volume of the conveying materials to obtain the density of the conveying materials of the inter-node road section;
calculating a blockage situation assessment index by constructing a blockage situation assessment index model formula;
The formula of the blockage situation evaluation index model is as follows:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>Evaluation index of congestion status of inter-node road segment,/>Expressed as/>Cycle number from the/>Node to/>Length of the inter-node road section blocked by material,/>Expressed as/>Cycle number from the/>Node to/>Density of transported material in inter-node section,/>Expressed as set/>Cycle number from the/>Node to/>Compensation ratio value of length of inter-node road section blocked by material,/>Expressed as set/>Cycle number from the/>Node to/>And the influence factor corresponding to the density of the conveying materials of the road sections between the nodes.
6. The method of controlling a conveyor system according to claim 5, wherein the method of analyzing the failure information evaluation index is:
acquiring running condition data of road segments among nodes in real time, and monitoring the positions of the road segments among fault nodes;
Summing and averaging the running condition data of the road sections among the nodes in each period, and calculating to obtain the average running condition data of the road sections among the nodes in a certain period, thereby analyzing the fault degree of the road sections among the nodes;
Constructing a fault information evaluation index model formula according to the fault degree of the road sections among the nodes, and calculating a fault information evaluation index;
The fault information evaluation index model formula is as follows:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>The failure information evaluation index of the inter-node road segments,Expressed as/>Cycle number from the/>Node to/>Running condition data of inter-node road segments,/>Expressed as from the/>Node to/>Average running condition data of inter-node road segments,/>Expressed as from the/>Node to/>Allowable deviation value of running condition data of inter-node road segment,/>A correction factor expressed as average operating condition data.
7. The method of controlling a conveyor system according to claim 6, wherein the calculation formula of the conveyor clear assessment index is:
，
in the method, in the process of the invention, Expressed as/>Cycle number from the/>Node to/>A traffic clearance assessment index for the inter-node road segments,Expressed as from the/>Node to/>Allowable deviation value of congestion status evaluation index of node section,/>Expressed as from the/>Node to/>Allowable deviation value of fault information evaluation index of node section,/>And/>Respectively denoted as the firstCycle number from the/>Node to/>And the congestion state evaluation index of the inter-node road segments and the impact factors corresponding to the fault information evaluation index.
8. The method for controlling a conveying system according to claim 1, wherein the specific method for updating the conveying path plan is as follows:
acquiring weight values of road sections among nodes in real time;
scanning and analyzing the rest materials to be conveyed, and acquiring the marked necessary nodes of the conveyed materials after the physical marks of the conveyed materials are monitored;
According to the weight of the road segments among the real-time nodes, path planning is carried out on the road segments, the road segments with small weight among the adjacent nodes are selected through the nodes, and the road segments are spliced;
And conveying the materials with high evaluation indexes of the state of the materials to be conveyed to the inter-node road segments with low weights, and conveying the materials with low evaluation indexes of the state of the materials to be conveyed to the inter-node road segments with high weights.
9. A control device of a conveying system, characterized by comprising: the system comprises a conveying line structure evaluation module, a calculation analysis module, a residual material state evaluation module, a comprehensive analysis module and a path planning updating module;
Wherein, the conveying line structure evaluation module: the method comprises the steps of extracting characteristics of conveying equipment, and obtaining a conveying line structure evaluation index through a conveying line structure model;
And a calculation and analysis module: the system is used for acquiring the parameters of the conveyed materials, monitoring the blocking condition and the fault information in the conveying system, and calculating to obtain a blocking condition evaluation index and a fault information evaluation index;
The state evaluation module of the remaining materials to be conveyed: the method comprises the steps of obtaining the quantity and the type of the materials to be conveyed, and analyzing to obtain the state evaluation index of the materials to be conveyed;
And the comprehensive analysis module is used for: the method comprises the steps of obtaining a conveying smoothness evaluation index model through machine learning construction according to a state evaluation index, a blocking condition evaluation index, a fault information evaluation index and a conveying line structure evaluation index of the residual materials to be conveyed; updating the weight of the inter-node road section in the conveying line structure model according to the conveying smoothness evaluation index model;
And a path planning updating module: and the method is used for updating the conveying path planning according to the weight of the road sections among the nodes and analyzing the residual materials to be conveyed.
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