CN118297520A - Steel coil unreeling method, device, equipment, storage medium and program product - Google Patents

Abstract

The embodiment of the application discloses a coil unreeling method, a device, equipment, a storage medium and a program product, which are applied to a crown block control system, wherein the method comprises the following steps: determining a driving path of the unmanned crown block based on the starting position of the unmanned crown block and the position of the first target storage position; wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; a distance sensor for measuring the actual distance from the bottom of the corresponding side of the clamp to the object below; in the process that the unmanned crown block runs to the first target storage position, a group of distance data is collected through distance sensors on two sides below the clamp; determining a distance difference between each distance information in a set of distance data; determining whether the first target library bit is in an idle state or not based on the magnitude relation between the distance difference value and a preset first distance threshold value; and under the condition that the first target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position.

Description

Steel coil unreeling method, device, equipment, storage medium and program product

Technical Field

The present application relates to the field of, but not limited to, automation technology, and in particular, to a method, apparatus, device, storage medium, and program product for unreeling a steel coil.

Background

And the warehouse management system dispatches the unmanned aerial vehicle to store the steel coil on an empty warehouse position in the database of the warehouse management system. Because the steel coil has large weight and high requirements on the smoothness of the surface, the steel coil quality can be reduced or even scrapped due to collision in the transportation process, so that the avoidance of mutual collision of the steel coils caused by the error state of the target storage position in the steel coil plane storage is particularly important. The existing solution needs to have operating personnel to monitor whether collision can happen through observing the screen in the centralized control room, and under the condition that the state of the library management system is wrong, all unmanned crown blocks need to be suspended, and the problem is solved by manual intervention, so that the production efficiency of equipment is reduced. And because the probability of the situation that the bin state of the bin management system is wrong is very low, monitoring personnel in the centralized control room can easily paralyze for a long time to observe, and a dangerous source can not be found timely, so that the situation of steel coil collision sometimes occurs.

Disclosure of Invention

In view of this, the embodiments of the present application at least provide a method, an apparatus, a device, a storage medium and a program product for unreeling a steel coil.

The technical scheme of the embodiment of the application is realized as follows:

In one aspect, an embodiment of the present application provides a method for unreeling a steel coil, which is applied to a crown block control system, and the method includes: determining a driving path of the unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage position; wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; the distance sensor is used for measuring the actual distance from the bottom of the corresponding side of the clamp to an object below; acquiring a group of distance data through distance sensors at two sides below the clamp in the process that the unmanned crown block runs to a first target storage position; wherein the set of distance data includes distance information for at least three detection points acquired for a width of the first target bin during movement of the gripper; determining a distance difference between each distance information in the set of distance data; determining whether the first target library bit is in an idle state or not based on the magnitude relation between the distance difference value and a preset first distance threshold value; and under the condition that the first target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position.

On the other hand, the embodiment of the application provides a coil unreeling device, which comprises: the first determining module is used for determining a driving path of the unmanned crown block based on the starting position of the unmanned crown block and the position of the first target storage position; wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; the distance sensor is used for measuring the actual distance from the bottom of the corresponding side of the clamp to an object below; the first acquisition module is used for acquiring a group of distance data through the distance sensors at two sides below the clamp in the process that the unmanned crown block runs to a first target storage position; wherein the set of distance data includes distance information for at least three detection points acquired for a width of the first target bin during movement of the gripper; a second determining module, configured to determine a distance difference between each distance information in the set of distance data; a third determining module, configured to determine whether the first target library bit is in an idle state based on a magnitude relation between the distance difference value and a preset first distance threshold value; and the control module is used for controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position under the condition that the first target storage position is in an idle state.

In yet another aspect, an embodiment of the present application provides a computer device including a memory and a processor, where the memory stores a computer program executable on the processor, and where the processor implements some or all of the steps of the above method when the program is executed.

In yet another aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs some or all of the steps of the above-described method.

In yet another aspect, embodiments of the present application provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program which, when read and executed by a computer, performs some or all of the steps of the above-described method.

In the embodiment of the application, in the process of driving the unmanned crown block to a first target storage position, a group of distance data is acquired through the distance sensors at two sides below the clamp of the unmanned crown block; determining whether the target library bit is in an idle state or not based on the magnitude relation between the distance difference value of each distance information in the group of distance data and a preset first distance threshold value; and under the condition that the target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the target storage position. Therefore, staff is not required to observe and monitor to determine whether the target library bit is in an idle state, and labor cost is reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the aspects of the disclosure.

Drawings

For a clearer description of the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:

Fig. 1 is a schematic implementation flow chart of a coil unreeling method of a steel coil provided by an embodiment of the present application;

FIG. 2A is a schematic diagram illustrating a flow chart of the implementation of step S130 in FIG. 1 according to an embodiment of the present application;

fig. 2B is a schematic diagram of movement of an unmanned crown block in a width direction of a garage according to an embodiment of the present application;

Fig. 2C is a schematic diagram of movement of an unmanned crown block in a length direction of a garage according to an embodiment of the present application;

fig. 3 is a schematic flow chart of an implementation of a method for unreeling a steel coil with a side distance sensor opened according to an embodiment of the present application;

Fig. 4 is a schematic flow chart of an implementation of a method for unreeling a steel coil by opening distance sensors on two sides according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a flow chart for implementing lower-level detection of a first target bank according to an embodiment of the present application;

FIG. 6 is a schematic diagram of an implementation flow for determining whether a steel coil exists in a lower layer of a first target library and whether the outer diameter of the steel coil is appropriate in an embodiment of the present application;

Fig. 7 is a schematic diagram of an implementation flow in the case that a target vacancy is in a non-idle state or a steel coil of a lower library of a target library is not suitable in size or a steel coil of the lower library of the target library is not present in the embodiment of the present application;

fig. 8 is a flowchart of detecting a plane reservoir position of an unmanned crown block steel coil in an embodiment of the application;

fig. 9 is a schematic diagram of an unmanned crown block steel coil clamp sensor in an embodiment of the application;

FIG. 10 is a schematic diagram of a roll-off position of a conventional unmanned crown block of a single-layer planar warehouse in an embodiment of the application;

fig. 11 is a schematic diagram of a steel coil warehouse position detection position of a single-layer steel coil warehouse in an embodiment of the application;

fig. 12 is a schematic view of a single-layer steel coil warehouse arrangement in an embodiment of the application;

fig. 13 is a schematic diagram of a double-layer steel coil warehouse arrangement in an embodiment of the present application;

fig. 14 is a schematic diagram of detecting whether the target bin is an idle state when the target bin is an upper layer steel coil bin in the embodiment of the application;

FIG. 15 is a diagram illustrating detection of whether a lower bank of a target bank is idle or not according to an embodiment of the present application;

FIG. 16 is a schematic diagram of detecting the outer diameter of a steel coil at a lower layer of a target bin in an embodiment of the present application;

Fig. 17 is a schematic structural diagram of an unreeling device for unreeling according to an embodiment of the present application;

Fig. 18 is a schematic diagram of a hardware entity of a computer device according to an embodiment of the present application.

Detailed Description

The technical solution of the present application will be further elaborated with reference to the accompanying drawings and examples, which should not be construed as limiting the application, but all other embodiments which can be obtained by one skilled in the art without making inventive efforts are within the scope of protection of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.

It should be noted that the term "first\second\third" related to the embodiments of the present application is merely to distinguish similar objects, and does not represent a specific order for the objects, it being understood that the "first\second\third" may interchange a specific order or sequencing, where allowed, so that the embodiments of the present application described herein can be implemented in an order other than illustrated or described herein.

It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the application belong unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Unmanned crown block: the intelligent technology is applied to the crown block, so that the crown block can automatically complete the lifting task, has the functions of automatic control operation and movement, is programmable, has the man-machine interaction function and can simulate manual operation.

Warehouse management system (Warehouse MANAGEMENT SYSTEM, WMS): the information system is used for managing warehouse business, and optimizes and regulates all links of warehouse management through a mathematical model and an information means.

At present, the unmanned crown block steel coil plane warehouse is applied to most steel factories, the warehouse position state of the unmanned crown block steel coil plane warehouse is stored by a warehouse management system through data, namely, the running track of the full-automatic crown block is recorded in the warehouse management system, and the data information of the steel coil is recorded in a database. And the warehouse management system dispatches the unmanned aerial vehicle to store the steel coil on an empty warehouse position in the database of the warehouse management system. Because the steel coil has large weight and high requirements on the smoothness of the surface, the collision in the transportation process can lead to the reduction of the quality of the steel coil and even scrapping, so that the mutual collision of the steel coil caused by the error state of the target warehouse position is particularly important to be avoided in the unmanned crown block steel coil plane warehouse.

The common practice in the industry is to install monitoring cameras on unmanned crown blocks, generally install 4 to 6, access camera monitoring pictures into a centralized control room through a wireless network, and manually observe whether a target garage position appointed by a garage management system is a real empty garage position or not through combination of the cameras in the centralized control room. If the steel coil occupies the warehouse, the equipment is stopped by an emergency stop button in the centralized control room, then the steel coil on the crown block is placed to an adjacent empty warehouse by manual operation, and the correct warehouse state is updated to the warehouse system by updating the data information in the warehouse system. In the method, under the condition of error state of the library position of the library management system, all unmanned crown blocks need to be suspended, and the problem is solved by manual intervention, so that the production efficiency of equipment is reduced. And because the probability of the situation that the bin state of the bin management system is wrong is very low, monitoring personnel in the centralized control room can easily paralyze for a long time to observe, and a dangerous source can not be found timely, so that the situation of steel coil collision sometimes occurs.

In order to avoid the risk of collision of steel coils in an unmanned crown block steel coil plane warehouse, in the embodiment of the application, the state of a target warehouse to which the steel coils are to be put in is detected by installing detection sensors capable of detecting the vertical distance from the lower parts of two side clamps to the lower parts of the two side clamps under the unmanned crown block steel coil plane warehouse, so as to determine whether the steel coils are to be put in the target warehouse. Under the condition that the target bin position issued by the bin management system is wrong, the unmanned crown block receives a new target bin position issued again by the bin management system and detects whether the new target bin position is idle or not until a steel coil is placed in the target bin position.

The embodiment of the application provides a coil unreeling method, as shown in fig. 1, the method can comprise steps S110 to S150:

Step S110: determining a driving path of the unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage position;

Wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; and the distance sensor is used for measuring the actual distance from the bottom of the corresponding side of the clamp to the object below.

Here, the starting position of the unmanned crown block is the starting position of the unmanned crown block for clamping the steel coil to travel to the first target warehouse position; the first target bin is a target bin to be put in a warehouse of the steel coil issued to the unmanned crown block by the bin management system.

Here, the travel path of the unmanned crown block is a travel path having the shortest travel path from the start position to the first target garage position.

Step S120: acquiring a group of distance data through distance sensors at two sides below the clamp in the process that the unmanned crown block runs to a first target storage position;

Wherein the set of distance data includes distance information for at least three detection points acquired for a width of the first target bin during movement of the gripper.

Here, distance sensors are respectively arranged at two sides below the clamp; the distance sensor can collect the vertical distance from the bottom of the clamp on the corresponding side to the object below. The set of distance data may be all data acquired after the distance sensor is turned on.

Step S130: determining a distance difference between each distance information in the set of distance data;

here, the set of distance data includes all distance information acquired by the distance sensor; the position of a target library position and target distance data matched with the width of the target library position are required to be screened from a group of distance data; and determining the distance difference value between the distance information in the target distance data according to the screened target distance data.

Step S140: determining whether the first target library bit is in an idle state or not based on the magnitude relation between the distance difference value and a preset first distance threshold value;

here, the preset first distance threshold is set by the size of the outer diameter of the steel coil.

Here, the first target bin is in an idle state if the distance difference is less than a preset first distance threshold; and under the condition that the distance difference value is greater than or equal to a preset first distance threshold value, the first target library bit is in a non-idle state.

Step S150: and under the condition that the first target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position.

Here, the target bank may be a single-layer bank or a multi-layer bank. In some embodiments, for a single layer of bins, the clamp of the unmanned aerial vehicle is controlled to place the clamped steel coil into the first target bin with the first target bin in an idle state. For the multi-layer library, under the condition that the first target library is in an idle state, whether a steel coil exists in the lower-layer library of the first target library or not and whether the outer diameter size of the steel coil of the lower-layer library is proper or not are also determined.

In the embodiment of the application, in the process of driving the unmanned crown block to a first target storage position, a group of distance data is acquired through the distance sensors at two sides below the clamp of the unmanned crown block; determining whether the target library bit is in an idle state or not based on the magnitude relation between the distance difference value of each distance information in the group of distance data and a preset first distance threshold value; and under the condition that the target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the target storage position. Therefore, staff is not required to observe and monitor to determine whether the target library bit is in an idle state, and labor cost is reduced.

In some embodiments, the step S130, determining a distance difference between the distance information in the set of distance data, as shown in fig. 2A, may include step S201 and step S202:

Step S201: screening the position of the first target bin and target distance data matched with the width of the first target bin from the group of distance data;

In general, the unmanned aerial vehicle moves in one dimension (e.g., width or length), and in this embodiment, the movement of the unmanned aerial vehicle in the width direction of the storage locations is taken as an example, that is, the movement path of the unmanned aerial vehicle generally extends through the width directions of the plurality of storage locations. In other embodiments, if the movement of the unmanned aerial vehicle is in the length direction of the garage, after the unmanned aerial vehicle reaches the designated location, a certain movement of the unmanned aerial vehicle in the width direction is also required to detect whether the garage is free by the distance sensor.

Here, assuming that the movement of the unmanned aerial vehicle is a movement in the width direction of the garage, the unmanned aerial vehicle travels to the first target garage, and the distance sensor collects distance data at a detection point near the first target garage. As shown in fig. 2B, the total of 8 bins including bins 21 to 28, the first target bin being bin 27, and controlling the unmanned crown block to put the steel coil 211 to be put into the bin 27; the distance sensor closest to the storage location 27 in the travel path direction 215 is the first sensor 212, and the sensor farther from the storage location 27 is the second sensor 213, then all data in the width direction of the storage location collected by the first sensor 212 is included in the target distance data.

Here, assuming that the movement of the unmanned aerial vehicle is in the longitudinal direction of the garage, the unmanned aerial vehicle is driven to the first target garage, and also the unmanned aerial vehicle is required to perform a certain movement in the width direction of the garage, the distance sensor detects the distance data acquired at the point near the first target garage. As shown in fig. 2C, the total of 8 library positions including library positions 29 to 36, the first target library position is library position 33, and the unmanned crown block is controlled to put the steel coil 221 to be put into the library position 33; the distance sensor closest to the storage location 33 in the travel path direction 225 is the first sensor 222, and the distance sensor farther from the storage location 33 is the second sensor 223, so that all data in the width direction of the storage location, that is, all data in the width direction of the storage location, is collected by the first sensor 222 is included in the target distance data.

Step S202: and determining a distance difference value between the distance information in the target distance data.

Here, the difference value of each distance information in the target distance data is determined according to the screened target distance data.

In the embodiment of the application, the target distance data of which the position of the first target library position is matched with the width of the first target library position is screened out from a group of distance data, and the distance difference value between the distance information in the target distance data is determined. The state of the first target bin can be accurately detected by using the distance difference value between the distance information in the target distance data, and whether the first target bin can be unreeled is determined.

The embodiment of the application provides a coil unreeling method, wherein two distance sensors only need to be started, as shown in fig. 3, the method can comprise steps S301 to S307:

Step S301: determining a driving path of the unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage position;

Wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; and the distance sensor is used for measuring the actual distance from the bottom of the corresponding side of the clamp to the object below.

Here, step S301 corresponds to step S110 described above.

Step S302: determining the target side direction of the current distance detection point at the first target garage position based on the traveling path direction of the unmanned crown block;

In some embodiments, the target side direction is one of two sides of the unmanned aerial vehicle clamp, e.g., see fig. 2B, the target side direction is the right side, and in fig. 2C, the target side direction is the lower side.

Step S303: in the process that the unmanned crown block runs to a first target storage position, controlling a distance sensor at the corresponding side under the unmanned crown block clamp based on the direction of the target side, and collecting the group of distance data;

Wherein the set of distance data includes distance information for at least three detection points acquired for a width of the first target bin during movement of the gripper.

Here, step S303 corresponds to step S120 described above.

With continued reference to fig. 2B, when the target side direction is the right side, the distance sensor on the corresponding side under the unmanned aerial vehicle clamp is the first sensor 212, i.e., the first sensor 212 is controlled to collect a set of distance data, whereas in fig. 2C, when the target side direction is the lower side, the distance sensor on the corresponding side under the unmanned aerial vehicle clamp is the first sensor 222, i.e., the first sensor 222 is controlled to collect a set of distance data.

Step S304: screening the position of the first target bin and target distance data matched with the width of the first target bin from the group of distance data;

Step S305: determining a distance difference value between each distance information in the target distance data;

here, step S304 and step S305 correspond to step S201 and step S202 described above, respectively.

Step S306: determining whether the first target library bit is in an idle state or not based on the magnitude relation between the distance difference value and a preset first distance threshold value;

step S307: and under the condition that the first target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position.

Here, step S306 and step S307 correspond to step S140 and step S150 described above, respectively.

In the embodiment of the application, the current distance detection point is determined to be positioned in the target side direction of the first target garage position based on the traveling path direction of the unmanned crown block; and in the direction of the target side, controlling a distance sensor at the corresponding side under the unmanned crown block clamp to acquire a group of distance data. Therefore, in the running process of the unmanned crown block, only the distance sensor in the direction of the target side is started, so that resources can be saved, and the target distance data can be screened out more quickly and accurately.

The embodiment of the application provides a coil unreeling method, as shown in fig. 4, the method may include steps S401 to S408:

step S401: determining a driving path of the unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage position;

here, step S401 corresponds to step S110 described above.

Step S402: responding to a starting instruction, and controlling distance sensors respectively arranged at two sides below a clamp of the unmanned crown block to acquire a group of distance data in the process of controlling the unmanned crown block to travel to a first target storage position according to a determined travel path;

Here, the acquired set of distance data includes data acquired by distance sensors on two sides below the unmanned crown block clamp; with continued reference to fig. 2B, the set of acquired distance data includes distance data acquired by first sensor 212 and second sensor 213, while in fig. 2C, the set of acquired distance data includes distance data acquired by first sensor 222 and second sensor 223.

Step S403: determining target distance sensors corresponding to the traveling path direction of the unmanned crown block from the distance sensors at two sides below the clamp;

Here, the traveling path direction of the unmanned crown block is the shortest path direction from the start position to the target storage position detection position of the unmanned crown block.

The target distance sensor is a distance sensor under a clamp corresponding to the unmanned aerial vehicle approaching the target garage in the traveling path direction of the unmanned aerial vehicle, with continued reference to fig. 2B, the target distance sensor is the first sensor 212, and in fig. 2C, the target distance sensor is the first sensor 222.

Step S404: screening the distance data acquired by the target distance sensor from the group of distance data;

here, the distance data is distance data acquired by the target distance sensor.

Step S405: screening target distance data matched with the position of the first target library bit and the width of the first target library bit from the distance data;

Here, the target distance data is distance data detected by the target distance sensor at a detection point near the first target stock position, and the distance data includes distance information of at least three detection points acquired for the width of the first target stock position during the moving of the gripper.

Step S406: determining a distance difference value between each distance information in the target distance data;

here, step S406 to step S405 correspond to step S130 described above.

Step S407: determining whether the first target library bit is in an idle state or not based on the magnitude relation between the distance difference value and a preset first distance threshold value;

Step S408: and under the condition that the first target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position.

Here, step S407 and step S408 correspond to step S140 and step S150 described above, respectively.

In the embodiment of the application, in the process that the unmanned crown block runs to a first target storage position according to a determined running path, distance sensors respectively arranged at two sides below a clamp of the unmanned crown block are controlled to acquire a group of distance data; screening target distance data acquired by a target distance sensor corresponding to the traveling path direction of the unmanned crown block; screening target distance data matched with the position of the first target bin and the width of the first target bin based on the target distance data; and determining a distance difference value between the distance information in the target distance data. The screening method of the target distance data can screen the target distance data of which the position of the first target storage position is matched with the width of the first target storage position from the distance data collected by the distance sensors at the two sides below the unmanned crown block clamp.

In some embodiments, the first target bin is an upper layer bin, and in the case that the first target bin is in an idle state, the method may include, as shown in fig. 5, step S501 to step S503, where the clamp of the unmanned crown block is controlled to place the clamped steel coil into the first target bin:

step S501: screening target distance information when the unmanned aerial vehicle is positioned at the first target library position from each distance information in the group of distance data;

Here, the target distance information is distance information acquired when the unmanned crown block is located at the first target garage position; and the device is used for determining whether the lower layer of the first target bin has a steel coil or not and the outer diameter size of the steel coil.

Step S502: determining whether a steel coil exists in a lower-layer library position of the first target library position based on the distance information from the bottom of the clamp to the ground and the target distance information;

Here, the distance of the bottom of the clamp to the ground is known information; the target distance information is screened from a group of distance data; and determining whether steel coils exist in the lower-layer library position of the first target library position by comparing the size relation between the distance information from the bottom of the clamp to the ground and the target distance information.

Step S503: and under the conditions that steel coils exist in the lower-layer warehouse position of the first target warehouse position and the outer diameter size of the steel coils in the lower-layer warehouse position of the first target warehouse position is proper, controlling the clamp of the unmanned crown block to put the clamped steel coils into the first target warehouse position.

Here, it is determined that the steel coil does not exist in the lower-layer library of the first target library in the case where the difference between the distance information from the bottom of the clamp to the ground and the target distance information is less than or equal to a preset second distance threshold.

On the basis of the embodiment shown in fig. 5, as shown in fig. 6, the method may further include steps S601 to S607:

Step S601: screening target distance information when the unmanned aerial vehicle is positioned at the first target library position from each distance information in the group of distance data;

here, step S601 corresponds to step S501 described above.

Step S602: determining a target difference value between the distance information from the bottom of the clamp to the ground and the target distance information;

here, the distance information of the clamp bottom to the ground is known; the target distance information is the target distance information screened out from a group of distance data acquired by the distance sensor.

Step S603: under the condition that the target difference value is larger than a preset second distance threshold value, determining that a steel coil exists in a lower-layer library position of the first target library position;

Step S604: under the condition that the target difference value is smaller than or equal to a preset second distance threshold value, determining that the steel coil in the lower-layer library position of the first target library position does not exist;

step S605: under the condition that steel coils exist in lower-layer library positions of the first target library positions and the difference value between the target distance information is smaller than a preset third distance threshold value, determining that the outer diameter size of the steel coils in the lower-layer library positions of the first target library positions is proper;

here, under the condition that the outer diameter size of the steel coil in the lower layer of the first target storage position is proper, the clamp of the unmanned crown block is controlled to put the clamped steel coil into the first target storage position.

Step S606: under the condition that steel coils exist in lower-layer library positions of the first target library positions and the difference value between the target distance information is larger than or equal to a preset third distance threshold value, determining that the outer diameter size of the steel coils in the lower-layer library positions of the first target library positions is unsuitable;

And under the condition that the outer diameter size of the steel coil in the lower-layer library position of the first target library position is not suitable, sending a signal that the library position state is not suitable to a library management system.

Step S607: and under the conditions that steel coils exist in the lower-layer warehouse position of the first target warehouse position and the outer diameter size of the steel coils in the lower-layer warehouse position of the first target warehouse position is proper, controlling the clamp of the unmanned crown block to put the clamped steel coils into the first target warehouse position.

Here, step S607 corresponds to step S503 described above.

On the basis of the embodiment shown in fig. 5, as shown in fig. 7, in the case that the state of the first target bin is a non-idle state, or the outer diameter size of the steel coil in the lower bin of the first target bin is not suitable, or the steel coil in the lower bin of the first target bin is not present, the method may further include steps S701 to S705:

Step S701: sending a signal of occupying the library bits to a library management system;

after receiving the signals of the occupied positions, the garage management system marks the first target garage position as an abnormal garage position, and sends a second target garage position to the unmanned crown block.

Step S702: responding to a second target position issued by the warehouse management system, and determining a driving path of the unmanned crown block based on the starting position of the unmanned crown block and the position of the second target position;

Here, the shortest path of the unmanned aerial vehicle from the start position to the position of the second target storage position is taken as the travel path of the unmanned aerial vehicle.

Step S703: acquiring a group of distance data through distance sensors at two sides below the clamp in the process that the unmanned crown block runs to the second target storage position;

Step S704: determining a distance difference between each distance information in the set of distance data;

here, target distance data, in which the position of the second target bin matches the width of the second target bin, is selected from the set of distance data; and determining a distance difference value between the distance information in the target distance data.

Step S705: and under the condition that the distance difference value is smaller than the preset fourth distance threshold value, determining the state of the second target library bit to be an idle state.

In the embodiment of the application, when the state of the first target bin is a non-idle state, or the outer diameter size of the steel coil in the lower bin of the first target bin is unsuitable, or the steel coil in the lower bin of the first target bin is not present, a bin occupied signal is sent to a bin management system, and after the unmanned aerial vehicle receives the second target bin which is sent back by the bin management system again, whether the second target bin is in an idle state is determined again.

The method of unreeling the steel coil is specifically described below with reference to a specific embodiment, however, it should be noted that this specific embodiment is only for better illustrating the present application, and is not meant to limit the present application unduly.

The embodiment of the application provides a general technical scheme of a coil unreeling method, as shown in fig. 8, the method can include steps S801 to S811:

step S801: receiving a warehousing task initiated by a WMS library management system;

Step S802: the unmanned crown block drives to a target warehouse position detection position with the steel coil;

The vertical downward distance sensors are installed on the clamps on two sides of the unmanned crown block, the sensors can measure the actual distance from the bottom of the clamp to an object below the clamp, as shown in fig. 9, the distance sensors detect the actual distance from the clamp to the object right below the bottom through a sensor ranging laser 901 and a sensor ranging laser 902, the measuring range is 20 meters (m), and the measuring precision is about + -3 mm millimeters (mm).

Because the steel coil width dimensions are different, when the unmanned crown block lifts the steel coil to be located right above the target warehouse location, the distance sensor installed on the unmanned crown block clamp cannot detect whether the steel coil is placed in the warehouse location, and as shown in fig. 10, the sensor ranging laser 1001 and the sensor ranging laser 1002 fall outside the target warehouse location 1003. Therefore, two steel coil stock detection positions are newly added outside the position right above the target stock, as shown in fig. 11, the two newly added steel coil stock detection positions are respectively a left detection position 1101 and a right detection position 1102, and the positions of the two newly added steel coil stock detection positions are respectively located at two sides 500mm above the steel coil.

In the primary unreeling process, the unmanned crown block control system can judge whether the steel coil storage position detection position of the secondary unreeling is positioned at the left side or the right side of the storage position according to the starting position of the unmanned crown block and the target storage position, and the judgment logic is based on a crown block running track shortest algorithm.

Based on the determined running track of the unmanned crown block, the clamp of the unmanned crown block clamps the steel coil to drive to the detection position of the unreeled steel coil warehouse.

Step S803: starting target library position detection;

And under the condition that the difference value between the distance information detected by the steel coil stock position detection position and the distance from the lower part of the unmanned crown block clamp to the ground is smaller than a preset first distance threshold value, determining that the target stock position is empty.

And under the condition that the difference value between the distance information detected by the steel coil storage position detection position and the distance from the lower part of the unmanned crown block clamp to the ground is larger than or equal to a preset first distance threshold value, determining that the target storage position is not empty.

Step S804: whether the target bin is empty;

If the target bin is empty, the process proceeds to step S805; otherwise, step S809 is entered;

step S805: whether the steel coil warehouse is a double-layer steel coil warehouse;

If the steel coil warehouse is a double-layer steel coil warehouse, the step S806 is entered; otherwise, go to step S811;

The steel coil warehouse is divided into a single-layer steel coil warehouse and a double-layer steel coil warehouse. The single-layer steel coil warehouse arrangement schematic diagram is shown in fig. 12, and comprises a single-layer warehouse 1201; the arrangement of the double-layer steel coil warehouse is shown in fig. 13, and comprises an upper layer warehouse 1301 and a lower layer warehouse 1302.

Under the condition that the warehouse is a single-layer steel coil warehouse, warehousing steel coils; if the warehouse is a double-layer steel coil warehouse, step S805 is performed to further detect the lower layer warehouse of the target warehouse.

Step S806: the unmanned crown block drives the steel coil to a position right above the target warehouse position;

Step S807: starting lower library position detection;

aiming at a double-layer steel coil warehouse, the detection of the steel coil warehouse position state is realized by adopting a multiple detection mode. The method for detecting whether the target bank bit is in an idle state is shown in fig. 14.

For example, for a double-layer steel coil warehouse, whether the upper layer steel coil position is empty is detected first, and the detection principle is similar to that of a single-layer steel coil warehouse, as shown in fig. 14, the target warehouse detection position 1402 is detected at 500mm on the left or right side of the target warehouse 1401.

After determining that the target bin 1401 is empty, the detection of the lower layer steel coil bin is performed again. The detection of the lower steel coil stock has two purposes, namely, firstly, whether steel coils exist in the lower steel coil stock is detected, as shown in fig. 15, and the unmanned crown block acquires distance information at a lower steel coil stock detection position 1501 through a sensor ranging laser 1502 and a sensor ranging laser 1503. And comparing the acquired distance information with the distance from the lower part of the clamp of the unmanned crown block to the ground, and determining whether steel coils exist in the lower steel coil storage position.

And secondly, when the lower steel coil is inspected, whether the outer diameter of the lower steel coil is proper or not is detected, the situation that the outer diameters of the two lower steel coils are too large in difference is avoided, as shown in fig. 16, the unmanned crown block collects distance information at a lower-layer warehouse-position detection position 1601 through a sensor ranging laser 1602 and a sensor ranging laser 1603, and the distance information collected by the sensor ranging laser 1602 is compared with the distance information collected by the sensor ranging laser 1603 to determine whether the outer diameter of the lower steel coil is proper or not.

Step S808: the outer diameter of the lower layer steel coil warehouse position and the steel coil meets the requirement;

the steel coil outer diameter meets the requirements at the lower steel coil warehouse position, and the step S811 is carried out; otherwise, step S809 is performed.

Step S809: feeding back a WMS library management system, wherein library positions are occupied;

Step S810: the WMS library management system issues a new target library position; and proceeds to step S802.

The library management system issues a new target library bit, and proceeds to step S802 to repeat the above detection process.

Step S811: and (5) warehousing the steel coil.

And placing the steel coil into a target warehouse.

In the embodiment of the application, a steel coil target warehouse position detection position is newly added in an unmanned crown block control system, and the unmanned crown block can detect whether a steel coil exists in the target warehouse position or not through an installed sensor at the position. The method can free centralized control room staff, and no observation and monitoring are needed to prevent the roll collision. When the condition of the target stock position is detected to be incorrect, the unmanned aerial vehicle control system can feed information back to the WMS stock management system, and then the WMS stock management system sends a new target stock position to the unmanned aerial vehicle control system, and steel coils are placed in the new target stock position. The method can smoothly place the steel coil in storage into a new target storage position under the condition of not stopping the operation of equipment, thereby avoiding the shutdown of the equipment and further influencing the production.

Based on the foregoing embodiments, the present application provides an unreeling device for a steel coil, where the unreeling device includes each module included, and each unit included in each module, etc., which may be implemented by a processor in a computer device; of course, the method can also be realized by a specific logic circuit; in an implementation, the Processor may be a central processing unit (Central Processing Unit, CPU), a microprocessor (Microprocessor Unit, MPU), a digital signal Processor (DIGITAL SIGNAL Processor, DSP), or a field programmable gate array (Field Programmable GATE ARRAY, FPGA), or the like.

The embodiment of the application provides a coil unreeling device, as shown in fig. 17, the coil unreeling device 1700 comprises:

A first determining module 1701, configured to determine a travel path of the unmanned aerial vehicle based on a starting position of the unmanned aerial vehicle and a position of a first target garage; wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; the distance sensor is used for measuring the actual distance from the bottom of the corresponding side of the clamp to an object below;

the first acquisition module 1702 is configured to acquire a set of distance data through distance sensors on two sides below the clamp during the process of the unmanned crown block traveling to a first target garage position; wherein the set of distance data includes distance information for at least three detection points acquired for a width of the first target bin during movement of the gripper;

a second determining module 1703 for determining a distance difference between distance information in the set of distance data;

a third determining module 1704, configured to determine, based on a magnitude relation between the distance difference value and a preset first distance threshold, whether the first target bin is in an idle state;

and the control module 1705 is used for controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position under the condition that the first target storage position is in an idle state.

In some embodiments, the second determining module comprises: a first screening unit, configured to screen the position of the first target bin and target distance data that matches the width of the first target bin from the set of distance data; and the first determining unit is used for determining the distance difference value between the distance information in the target distance data.

In some embodiments, the unreeling device of the steel coil further comprises: a fourth determining module, configured to determine, based on a direction of a travel path of the unmanned crown block, a target side direction in which a current distance detection point is located at a first target garage position; the second acquisition module is used for controlling the distance sensor at the corresponding side under the unmanned crown block clamp based on the direction of the target side and acquiring the group of distance data.

In some embodiments, the first acquisition module comprises: the first control unit is used for responding to the starting instruction and controlling the distance sensors at the two sides below the unmanned crown block clamp to acquire a group of distance data in the process of controlling the unmanned crown block to travel to the first target storage position according to the determined travel path; a second determining unit configured to determine a target distance sensor corresponding to a traveling path direction of the unmanned aerial vehicle from among the distance sensors on both sides below the clamp; the first acquisition unit is used for screening the target distance data acquired by the target distance sensor from the group of distance data; and a third determining unit, configured to determine a distance difference between each distance information in the target distance data.

In some embodiments, the control module includes: the second screening unit is used for screening out target distance information when the unmanned aerial vehicle is positioned at the first target library position from each distance information in the group of distance data; a fourth determining unit, configured to determine whether a steel coil exists in a lower-layer library position of the first target library position based on the distance information from the bottom of the clamp to the ground and the target distance information; the second control unit is used for controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position under the condition that the steel coil exists in the lower-layer storage position of the first target storage position and the outer diameter size of the steel coil in the lower-layer storage position of the first target storage position is proper.

In some embodiments, the fourth determining unit includes: a first determining subunit, configured to determine a target difference between the distance information from the bottom of the clamp to the ground and the target distance information; the second determining subunit is used for determining that a steel coil exists in the lower-layer library position of the first target library position under the condition that the target difference value is larger than a preset second distance threshold value; under the condition that the target difference value is smaller than or equal to a preset second distance threshold value, determining that the steel coil in the lower-layer library position of the first target library position does not exist; and the third determination subunit is used for determining whether the outer diameter size of the steel coil in the lower-layer library position of the first target library position is proper or not based on the target distance information.

In some embodiments, the third determining subunit is further configured to determine that the outer diameter size of the steel coil in the lower layer of the first target bin is suitable if the difference between the target distance information is smaller than a preset third distance threshold; and under the condition that the difference value between the target distance information is larger than or equal to a preset third distance threshold value, determining that the outer diameter size of the steel coil in the lower-layer library position of the first target library position is unsuitable.

In some embodiments, the control module further comprises: a sending unit, configured to send a signal that a library bit occupies to a library management system; a fifth determining unit, configured to determine a travel path of the unmanned crown block based on a starting position of the unmanned crown block and a position of a second target location in response to the second target location issued by the garage management system; the second acquisition unit is used for acquiring a group of distance data through the distance sensors at two sides below the clamp in the process that the unmanned crown block runs to the second target storage position; a sixth determining unit configured to determine a distance difference between each distance information in the set of distance data; a seventh determining unit, configured to determine that the state of the second target bank bit is an idle state when the distance difference is smaller than the preset fourth distance threshold.

The description of the apparatus embodiments above is similar to that of the method embodiments above, with similar advantageous effects as the method embodiments. In some embodiments, the functions or modules included in the apparatus provided by the embodiments of the present application may be used to perform the methods described in the foregoing method embodiments, and for technical details that are not disclosed in the embodiments of the apparatus of the present application, reference should be made to the description of the embodiments of the method of the present application.

It should be noted that, in the embodiment of the present application, if the method is implemented in the form of a software functional module, and sold or used as a separate product, the method may also be stored in a computer readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be essentially or some of contributing to the related art may be embodied in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the application are not limited to any specific hardware, software, or firmware, or any combination of hardware, software, and firmware.

The embodiment of the application provides a computer device, which comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes part or all of the steps in the method when executing the program.

Embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs some or all of the steps of the above-described method. The computer readable storage medium may be transitory or non-transitory.

Embodiments of the present application provide a computer program comprising computer readable code which, when run in a computer device, causes a processor in the computer device to perform some or all of the steps for carrying out the above method.

Embodiments of the present application provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program which, when read and executed by a computer, performs some or all of the steps of the above-described method. The computer program product may be realized in particular by means of hardware, software or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium, and in other embodiments, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

It should be noted here that: the above description of various embodiments is intended to emphasize the differences between the various embodiments, the same or similar features being referred to each other. The above description of apparatus, storage medium, computer program and computer program product embodiments is similar to that of method embodiments described above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus, the storage medium, the computer program and the computer program product of the present application, reference should be made to the description of the embodiments of the method of the present application.

An embodiment of the present application provides a computer device, as shown in fig. 18, where hardware entities of the computer device 1800 include: a processor 1801, a communication interface 1802, and a memory 1803, wherein: the processor 1801 generally controls the overall operation of the computer device 1800. The communication interface 1802 may enable a computer device to communicate with other terminals or servers over a network. The memory 1803 is configured to store instructions and applications executable by the processor 1801, and may also cache data (e.g., image data, audio data, voice communication data, and video communication data) to be processed or processed by the respective modules in the processor 1801 and the computer device 1800, and may be implemented by a FLASH memory (FLASH) or a random access memory (Random Access Memory, RAM). Data transfer may occur between processor 1801, communication interface 1802, and memory 1803 via bus 1804.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence number of each step/process described above does not mean that the execution sequence of each step/process should be determined by its functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to 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 each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.

Or the above-described integrated units of the application may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the related art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

The foregoing is merely an embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application.

Claims (11)

1. A method for unreeling a steel coil, which is applied to a crown block control system, the method comprising:

Determining a driving path of the unmanned crown block based on a starting position of the unmanned crown block and a position of a first target storage position; wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; the distance sensor is used for measuring the actual distance from the bottom of the corresponding side of the clamp to an object below;

Acquiring a group of distance data through distance sensors at two sides below the clamp in the process that the unmanned crown block runs to a first target storage position; wherein the set of distance data includes distance information for at least three detection points acquired for a width of the first target bin during movement of the gripper;

determining a distance difference between each distance information in the set of distance data;

Determining whether the first target library bit is in an idle state or not based on the magnitude relation between the distance difference value and a preset first distance threshold value;

and under the condition that the first target storage position is in an idle state, controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position.

2. The method of claim 1, wherein determining a distance difference between distance information in the set of distance data comprises:

Screening the position of the first target bin and target distance data matched with the width of the first target bin from the group of distance data;

and determining a distance difference value between the distance information in the target distance data.

3. The method as recited in claim 1, wherein the method further comprises:

Determining the target side direction of the current distance detection point at the first target garage position based on the traveling path direction of the unmanned crown block;

The distance sensors passing through the two sides below the clamp collect a group of distance data, including: and controlling a distance sensor on the corresponding side under the unmanned crown block clamp based on the target side direction, and collecting the group of distance data.

4. The method of claim 1, wherein acquiring a set of distance data via the distance sensors on both sides of the clamp during travel of the unmanned aerial vehicle to the first target storage location comprises:

Responding to a starting instruction, and controlling distance sensors at two sides below a clamp of the unmanned crown block to acquire a group of distance data in the process of controlling the unmanned crown block to travel to a first target storage position according to a determined travel path;

the determining a distance difference between each distance information in the set of distance data includes:

determining target distance sensors corresponding to the traveling path direction of the unmanned crown block from the distance sensors at two sides below the clamp;

screening target distance data acquired by the target distance sensor from the group of distance data;

and determining a distance difference value between the distance information in the target distance data.

5. The method as set forth in claim 1, wherein the first target bin is an upper bin, and controlling the clamp of the unmanned crown block to place the clamped steel coil into the first target bin if the first target bin is in an idle state includes:

screening target distance information when the unmanned aerial vehicle is positioned at the first target library position from each distance information in the group of distance data;

determining whether a steel coil exists in a lower-layer library position of the first target library position based on the distance information from the bottom of the clamp to the ground and the target distance information;

and under the conditions that steel coils exist in the lower-layer warehouse position of the first target warehouse position and the outer diameter size of the steel coils in the lower-layer warehouse position of the first target warehouse position is proper, controlling the clamp of the unmanned crown block to put the clamped steel coils into the first target warehouse position.

6. The method of claim 5, wherein determining whether a coil is present in a lower bin of the first target bin based on the clamp bottom to ground distance information and the target distance information comprises:

Determining a target difference value between the distance information from the bottom of the clamp to the ground and the target distance information;

Under the condition that the target difference value is larger than a preset second distance threshold value, determining that a steel coil exists in a lower-layer library position of the first target library position; under the condition that the target difference value is smaller than or equal to a preset second distance threshold value, determining that the steel coil in the lower-layer library position of the first target library position does not exist;

Based on the target distance information, determining whether the outer diameter size of the steel coil in the lower-layer library position of the first target library position is suitable comprises:

Under the condition that the difference value between the target distance information is smaller than a preset third distance threshold value, determining that the outer diameter size of the steel coil in the lower-layer library position of the first target library position is proper; and under the condition that the difference value between the target distance information is larger than or equal to a preset third distance threshold value, determining that the outer diameter size of the steel coil in the lower-layer library position of the first target library position is unsuitable.

7. The method as set forth in claim 5, wherein in the case where the state of the first target bin is a non-idle state, or the outer diameter size of the coil of steel in the lower bin of the first target bin is not suitable, or the coil of steel in the lower bin of the first target bin is not present, the method further comprises:

sending a signal of occupying the library bits to a library management system;

Responding to a second target position issued by the warehouse management system, and determining a driving path of the unmanned crown block based on the starting position of the unmanned crown block and the position of the second target position;

acquiring a group of distance data through distance sensors at two sides below the clamp in the process that the unmanned crown block runs to the second target storage position;

determining a distance difference between each distance information in the set of distance data;

and under the condition that the distance difference value is smaller than the preset fourth distance threshold value, determining the state of the second target library bit to be an idle state.

8. An unreeling device of a steel coil, characterized by comprising:

the first determining module is used for determining a driving path of the unmanned crown block based on the starting position of the unmanned crown block and the position of the first target storage position; wherein, the two sides below the unmanned crown block clamp are respectively provided with a distance sensor; the distance sensor is used for measuring the actual distance from the bottom of the corresponding side of the clamp to an object below;

the first acquisition module is used for acquiring a group of distance data through the distance sensors at two sides below the clamp in the process that the unmanned crown block runs to a first target storage position; wherein the set of distance data includes distance information for at least three detection points acquired for a width of the first target bin during movement of the gripper;

a second determining module, configured to determine a distance difference between each distance information in the set of distance data;

a third determining module, configured to determine whether the first target library bit is in an idle state based on a magnitude relation between the distance difference value and a preset first distance threshold value;

and the control module is used for controlling the clamp of the unmanned crown block to put the clamped steel coil into the first target storage position under the condition that the first target storage position is in an idle state.

9. A computer device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

11. A computer program product comprising a computer program or instructions which, when executed by a processor, carries out the steps of the method of any one of claims 1 to 7.