CN107298386A - A kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane - Google Patents
A kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane Download PDFInfo
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- CN107298386A CN107298386A CN201710667820.XA CN201710667820A CN107298386A CN 107298386 A CN107298386 A CN 107298386A CN 201710667820 A CN201710667820 A CN 201710667820A CN 107298386 A CN107298386 A CN 107298386A
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- overhead traveling
- traveling crane
- conflict
- crane
- unmanned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a kind of method for realizing the unmanned many car conflict evadings of overhead traveling crane, belong to technical field of metallurgical automatic control.The technical scheme is that：With by being communicated with overhead traveling crane Unmanned Systems, receiving the input of overhead traveling crane Unmanned Systems, while sending job instruction to overhead traveling crane Unmanned Systems；The direction currently run according to the state and overhead traveling crane of current two overhead traveling crane, decision-making goes out final carry into execution a plan（8）.The present invention can issue rational, accurate, unique job instruction, and shorten avoidance overhead traveling crane stops the time for the treatment of, while the probability that conflict jerk occurs in day workshop is reduced, so as to greatly improve overhead traveling crane operating efficiency；Different evasion tacticses is used according to overhead traveling crane operation or inactive state; evaded by using precomputation, the more preferable protection equipment of evasion tactics is evaded and destroyed in process control; guaranteed efficiency and evade conflict it is more reasonable; the tomorrow requirement of overhead traveling crane Unmanned Systems development, the sustainable unpiloted smooth, Effec-tive Function of the overhead traveling crane growing to complexity are adapted to.
Description
Technical field
The present invention relates to a kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane, for solving metallurgical warehouse
In overhead traveling crane implement many days plant working collision problems produced after unmanned technology, pass through computer and carry out precomputation, mistake
The method reasonably avoiding conflict of process control and destruction, it is ensured that the smooth operation of overhead traveling crane, belongs to technical field of metallurgical automatic control.
Background technology
With the development of metallurgy industry intelligent plant, warehouse overhead traveling crane Unmanned Systems obtain common concern.Overhead traveling crane operation
Feature is more protruded in Unmanned Systems：There is public domain to complete the association in day workshop in the operating area in many days workshops
Make, in overlapping region, operation may result in a day workshop conflict；Warehouse overhead traveling crane homework type is more, and overhead traveling crane can not be one by one with homework type
Correspondence, the cooperation of day workshop mutual.Same type of operation may result in a day workshop conflict by the overhead traveling crane operation simultaneously of more than 2；
Operation is compact, and to cause overhead traveling crane to stop the time for the treatment of short, it is impossible to accomplishes that 1 overhead traveling crane completes another 1 operation again, then many overhead traveling cranes are responded simultaneously
It may result in a day workshop conflict, that is to say, that not loss of energy efficiency while evading conflict；The unmanned anti-sway technology of overhead traveling crane will
Ask, overhead traveling crane could be static to destination after starting, and pilot process, which abends, greatly reduces overhead traveling crane operational efficiency, and this is required
Evade conflict must overhead traveling crane from it is static be transferred to motion when be controlled, can just accomplish reasonably to evade conflict.Evade conflict
Reasonability directly decides the performance of overhead traveling crane Unmanned Systems, irrational evasion tactics, and operating efficiency is low and user
Experience is not good.
The content of the invention
It is an object of the present invention to provide a kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane, realize to overhead traveling crane
Unmanned Systems issue rational, accurate, unique job instruction, shorten and avoid stopping the time for the treatment of for overhead traveling crane, drop simultaneously
There is the probability of conflict jerk in low day workshop, so as to greatly improve overhead traveling crane operating efficiency；According to overhead traveling crane operation or quiet
Only state uses different evasion tacticses, is evaded by using precomputation, process control evades and to destroy evasion tactics more preferable
Protection equipment, it is ensured that efficiency and evade conflict it is more reasonable, solve background technology exist above mentioned problem.
Technical scheme is as follows：
A kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane, by being communicated with overhead traveling crane Unmanned Systems, connects
The input of overhead traveling crane Unmanned Systems is received, while sending job instruction to overhead traveling crane Unmanned Systems；Overhead traveling crane is pressed by calculating
Operation rule is merged into one group and corresponded with decision tree two-by-two（4）, the running statuses of two overhead traveling cranes is judged, it is determined that using pre-
Calculate or process control（5）, judge according to overhead traveling crane job information whether lifting lifting conflicts, rise to hang and whether conflict, put
Sling and whether conflict, put to hang and whether conflict, ultimately form 4 condition codes（6）, state according to current two overhead traveling crane and
The direction that overhead traveling crane is currently run, decision-making goes out final carry into execution a plan（8）.
The present invention is also referred to as characterized decision tree group's method 14.
The present invention is set firstly the need of data message, is then carried out feature decision-making woodlot and is calculated, live overhead traveling crane is run
State transformation calculates the strategy currently tackled and proposes decision-making, solves conflict；Instructed and required according to day vehicle control, fought to the finish
Plan information is formatted and issued.
Beneficial effects of the present invention：The present invention can issue rational, accurate, unique job instruction, shorten and keep away
Allow overhead traveling crane stops the time for the treatment of, while the probability that conflict jerk occurs in day workshop is reduced, so as to greatly improve overhead traveling crane operation
Efficiency；Different evasion tacticses is used according to overhead traveling crane operation or inactive state, evaded by using precomputation, process control is advised
Keep away and destroy the more preferable protection equipment of evasion tactics, it is ensured that efficiency and also evade conflict it is more reasonable, having adapted to overhead traveling crane, nobody drives
Sail the tomorrow requirement of System Development, the sustainable unpiloted smooth, Effec-tive Function of the overhead traveling crane growing to complexity.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of the embodiment of the present invention；
Fig. 2 is the feature decision-making woodlot method flow diagram of the embodiment of the present invention；
Fig. 3 is that double cars of the embodiment of the present invention avoid condition code process chart；
Fig. 4 is many car decision tree process charts of the embodiment of the present invention；
Marked in figure as follows：Routine executing step 0, routine executing step 1, routine executing step 2, routine executing step 3, program
Perform step 4, routine executing step 5, routine executing step 6, routine executing step 7, routine executing step 8, program and perform step
Rapid 9, routine executing step 10, operation information management 11, overhead traveling crane state information management 12, database configuration 13, feature decision tree
Group's method 14, overhead traveling crane perform job instruction 15, overhead traveling crane and avoid instruction 16.
Embodiment
Below in conjunction with accompanying drawing, by embodiment, the present invention will be further described.
A kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane, by logical with overhead traveling crane Unmanned Systems
Letter, receives the input of overhead traveling crane Unmanned Systems, while sending job instruction to overhead traveling crane Unmanned Systems；By calculating day
Car is merged into one group by operation rule and corresponded with decision tree two-by-two（4）, the running status of two overhead traveling cranes is judged, it is determined that adopting
With precomputation or process control（5）, judge according to overhead traveling crane job information whether lifting lifting conflicts, rise and hang and whether rush
Dash forward, put to sling and whether conflict, put to hang and whether conflict, ultimately form 4 condition codes（6）, according to the shape of current two overhead traveling crane
The direction that state and overhead traveling crane are currently run, decision-making goes out final carry into execution a plan（8）.
The present invention is also referred to as characterized decision tree group's method 14.
The present invention is set firstly the need of data message, is then carried out feature decision-making woodlot and is calculated, live overhead traveling crane is run
State transformation calculates the strategy currently tackled and proposes decision-making, solves conflict；Instructed and required according to day vehicle control, fought to the finish
Plan information is formatted and issued.
The data message is set, including：Operation information management 11, overhead traveling crane state information management 12, database configuration 13.
Operation information management 11 sets overhead traveling crane to perform the information of operation, including day license number, job number, lifting position, unreels position, class of jobs
Type, lifting position x coordinate value, the important information for unreeling the conflict of qualification such as an x coordinate value, current work state.Overhead traveling crane status information
Management 12 sets the current information of overhead traveling cranes, including day license number, current location x coordinate value, whether operation suspension, whether operate operation
Locking, whether operate back wait position, whether operate target position, whether system control pause, whether system control operation lock,
Whether system controls back to wait position, whether target position, the stage residing for current overhead traveling crane are gone in system control.Database configuration 13 is set
Important parameter, including small direction day license number, middle day license number, general orientation day license number, pause distance, distance of restarting, avoid away from
From, it is negligible with a distance from, day vehicle-width.
The feature decision-making woodlot method 14：Overhead traveling crane job information 11, the overhead traveling crane status information set according to data message
12 and database configuration 13, determine the overhead traveling crane quantity currently run and determine decision tree quantity, according to all overhead traveling crane shapes
State together decides on evasion tactics（Precomputation is evaded, process control is evaded, destruction is evaded）, calculate a day workshop conflict feature string,
Overhead traveling crane priority is calculated, overhead traveling crane traffic direction is calculated, determine to use the strategy of day workshop operation.As shown in Figure 3：Define decision-making
Tree, i.e., be made up of the conflict feature string for acting the stage that puts of two overhead traveling cranes, i.e., lift by crane position according to two overhead traveling cranes and unreel position progress
Conflict analysis, there is four-stage 4 groups of characteristic values of correspondence：The lifting position of i.e. two cars, first car lifting position and second car
Unreel position, first car and unreel the lifting position of position and second car, two cars and unreel position.On each group of characteristic value correspondence tree
One branch, has 16 branches, branch be defined as " 0000 ", " 0001 ", " 0010 ", " 0011 ", " 0100 ", " 0101 ",
“0110”、“0111”、“1000”、“1001”、“1010”、“1011”、“1100”、“1101”、“1110”、“1111”.Decision tree
Group is made up of the decision tree calculated by overhead traveling crane quantity, and the overhead traveling crane operating area of two decision-making woodlots is not overlapping.1 day
0 decision tree of car, 2 overhead traveling cranes need 1 decision tree；3 overhead traveling cranes need 3 decision trees.The decision tree that decision-making woodlot includes
Quantity is 3 to the maximum.Analyzed according to the quantity of decision tree：
The job instruction of 0 decision tree in decision-making woodlot：Overhead traveling crane always can operation.
The job instruction of 1 decision tree in decision-making woodlot：Need two overhead traveling cranes in operation information management 11（It is defined as
" A " and " B "）Lifting position（It is defined as " L "）With doffing position（It is defined as " U "）, the peace that operation is obtained in 13 is configured from database
The actual installation order of full distance, A and B.It need to verify whether job position distance reaches safe distance, job position and overhead traveling crane
Actual order whether there is cross-operation.Conflict so as to which the L and B that obtain A L whether there is, A L and B U is with the presence or absence of rushing
Prominent, A U and B L whether there is conflict, A U and B U with the presence or absence of conflict, it is 1 to have the then characteristic value that conflicts；Lothrus apterus is then special
Value indicative is 0, obtains A and the B characteristic value that conflicts.Which is in the current A of acquisition from overhead traveling crane state information management 12 and B overhead traveling cranes
In the stage, if unloaded, if to lift by crane, determine conflict with whether B has in A at this stage with reference to conflict characteristic value.By the correspondence of table 1
Analytical conclusions are selected, overhead traveling crane job instruction is generated by conclusion.
As shown in figure 4, the meaning of 3 decision trees is that can not directly give operation conclusion in decision-making woodlot, but according to the greatest extent
The principle that amount has the operation simultaneously of two overhead traveling cranes carries out decision-making woodlot simplification.The time order and function of job information is obtained according to 3 overhead traveling cranes（In the least
Second level）The priority of overhead traveling crane is defined, the overhead traveling crane highest priority that operation is obtained at first is represented with " H "；Second obtains the day of operation
The preferential level height of car is represented with " M "；The overhead traveling crane priority for finally obtaining operation is minimum with " L " expression.Overhead traveling crane is grouped simultaneously two-by-two
Conflict characteristic value is calculated, whether the stage being presently in further according to two overhead traveling cranes, which conflicts, to form abbreviation characteristic value.By the corresponding selection of table 2
Go out abbreviation conclusion, 3 original trees are just condensed into 0 or 1 tree by conclusion.Further according to 0 in decision-making woodlot or 1 tree life
Into job instruction method decision-making go out can operation overhead traveling crane and avoid overhead traveling crane.
It is described according to day vehicle control instruct require, decision information is formatted and issue including：Overhead traveling crane is performed
Job instruction 15, overhead traveling crane avoid instruction 16.Overhead traveling crane is performed job instruction 15 and sends and can be referred to operation to overhead traveling crane Unmanned Systems
Order.Overhead traveling crane avoids instruction 16 and sends overhead traveling crane avoidance instruction, including day license number, mobile target x coordinate value, mobile target y-coordinate value.
As shown in Fig. 2 feature decision-making woodlot method of the present invention, comprises the following steps：
Step 0, configuration systematic parameter, include the physical relation in day workshop；
The job information and overhead traveling crane status information of step 1, all overhead traveling cranes of input, and raw information merged, is converted into
Parameter can be used in system；
Step 2, determine that by job information overhead traveling crane runs quantity；
Step 3, quantity is run according to overhead traveling crane determine the number of decision tree；
Step 4, overhead traveling crane is merged into by operation rule one group two-by-two and corresponded with decision tree；
Step 5, the running status for judging two overhead traveling cranes, it is determined that using precomputation or process control；
Step 6, according to overhead traveling crane job information judge lifting lifting whether conflict, rise hang whether conflict, put sling whether
Conflict, put to hang and whether conflict, ultimately form 4 condition codes；
Step 7, handled into the corresponding 4 condition code branches of decision tree, the priority of overhead traveling crane is successively set according to operation；
Step 8, the direction currently run according to current two overhead traveling cranes state and overhead traveling crane, with the method for feature decision-making woodlot, certainly
Plan goes out final carry into execution a plan；
Step 9, according to carry into execution a plan be converted into job instruction and avoid instruction issue；
Step 10, end.
Claims (2)
1. a kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane, it is characterised in that：With by with overhead traveling crane nobody
Control loop communicates, and receives the input of overhead traveling crane Unmanned Systems, while sending job instruction to overhead traveling crane Unmanned Systems；It is logical
Calculating is crossed overhead traveling crane is merged into one group two-by-two by operation rule and corresponded with decision tree（4）, judge the operations of two overhead traveling cranes
State, it is determined that using precomputation or process control（5）, according to overhead traveling crane job information judge whether lifting lifting conflicts, lifts by crane
Put to hang and whether conflict, put to sling and whether conflict, put to hang and whether conflict, ultimately form 4 condition codes（6）, according to current
The direction that the state and overhead traveling crane of two overhead traveling cranes are currently run, decision-making goes out final carry into execution a plan（8）.
2. a kind of method for realizing the unmanned many days workshop conflict evadings of overhead traveling crane according to claim 1, its feature exists
In comprising the following steps：
Step 0, configuration systematic parameter, include the physical relation in day workshop；
The job information and overhead traveling crane status information of step 1, all overhead traveling cranes of input, and raw information merged, is converted into
Parameter can be used in system；
Step 2, determine that by job information overhead traveling crane runs quantity；
Step 3, quantity is run according to overhead traveling crane determine the number of decision tree；
Step 4, overhead traveling crane is merged into by operation rule one group two-by-two and corresponded with decision tree；
Step 5, the running status for judging two overhead traveling cranes, it is determined that using precomputation or process control；
Step 6, according to overhead traveling crane job information judge lifting lifting whether conflict, rise hang whether conflict, put sling whether
Conflict, put to hang and whether conflict, ultimately form 4 condition codes；
Step 7, handled into the corresponding 4 condition code branches of decision tree, the priority of overhead traveling crane is successively set according to operation；
Step 8, the direction currently run according to current two overhead traveling cranes state and overhead traveling crane, with the method for feature decision-making woodlot, certainly
Plan goes out final carry into execution a plan；
Step 9, according to carry into execution a plan be converted into job instruction and avoid instruction issue；
Step 10, end.
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| CN201710667820.XA CN107298386B (en) | 2017-08-07 | 2017-08-07 | A method of realizing the unmanned more days workshop conflict evadings of overhead traveling crane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107814312A (en) * | 2017-10-30 | 2018-03-20 | 俊杰机械(深圳)有限公司 | A kind of generation method and system of overhead traveling crane operation reserve |
| CN109360447A (en) * | 2018-10-16 | 2019-02-19 | 北京首钢自动化信息技术有限公司 | A kind of control method that stereo garage avoids automatically |
| CN112016810A (en) * | 2020-07-31 | 2020-12-01 | 唐山钢铁集团微尔自动化有限公司 | Intelligent scheduling method for same-rail double-crossing straddle carrier |
| CN112381281A (en) * | 2020-11-06 | 2021-02-19 | 河钢股份有限公司承德分公司 | Method for automatically acquiring optimal operation path of unmanned overhead travelling crane |
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