CN112016810B - Intelligent scheduling method for same-rail double-crossing straddle carrier - Google Patents

Intelligent scheduling method for same-rail double-crossing straddle carrier Download PDF

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CN112016810B
CN112016810B CN202010762426.6A CN202010762426A CN112016810B CN 112016810 B CN112016810 B CN 112016810B CN 202010762426 A CN202010762426 A CN 202010762426A CN 112016810 B CN112016810 B CN 112016810B
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priority
work order
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CN112016810A (en
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李志亮
董一鸣
秦久莲
周志栋
佟明飞
孙金杰
赵晓曦
安乐新
姚辉
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Tangshan Iron And Steel Group Weier Automation Co ltd
Tangshan Iron and Steel Group Co Ltd
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Abstract

The invention relates to an intelligent scheduling method for double cross-vehicles on the same rail, which receives a request for carrying steel coils in each cross-district through real-time communication with a workshop secondary system, generates a work order, respectively issues the work order to two cross-vehicles according to priority sequence, and intelligently schedules the two cross-vehicles so as to enable the two cross-vehicles to run without conflict. The invention can issue a reasonable, accurate and unique operation instruction for the cross-over vehicles, shorten the waiting time for the mutual avoidance of the double cross-over vehicles, and simultaneously reduce the probability of the conflict and sudden stop of the double cross-over vehicles, thereby greatly improving the effective operation rate of the same-rail double cross-over vehicles. Two cross-over vehicles arranged on the same track are automatically dispatched according to the warehouse area management requirement to carry out automatic operation, the requirement of multi-span area multi-task operation is met, high-efficiency, stable and conflict-free operation of the multi-span area double cross-over vehicles is achieved, and the problem that the same-track double cross-over vehicles are difficult to dispatch is solved.

Description

Intelligent scheduling method for same-rail double-crossing straddle carrier
Technical Field
The application belongs to the technical field of logistics equipment control, and particularly relates to a same-rail double-crossing straddle intelligent scheduling method.
Background
At present, a newly-built hot-rolled coil bank of an iron and steel enterprise tends to develop in the directions of a multi-span area, a plurality of hanging positions and a plurality of outlets, and in order to realize the transfer of steel coils among a plurality of span areas, two cross-over vehicles are often arranged on the same track so as to improve the transport capacity of the steel coils crossing the spans. In the past, two straddle carriers are manually scheduled and controlled by operators in different regions, and the mode is mostly telephone communication. Along with the increasing rise of technologies such as intelligent logistics, intelligent warehousing and the like in steel enterprises, cross-car disputes are upgraded from manual control to automatic control, and manual dispatching control obviously cannot meet operation requirements.
In order to better exert the advantages of the cross-vehicle automatic control technology, the invention needs to be invented urgently, a method for intelligently scheduling the same-track double cross vehicles is realized, the requirements of multi-span area multi-task operation are met, and the efficient, stable and conflict-free automatic operation of the multi-span area double cross vehicles is realized.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an intelligent scheduling method for the same-rail double-cross straddlers, which is used for issuing a reasonable, accurate and unique operation instruction to the cross straddlers, shortening the waiting time for mutual avoidance of the double-cross straddlers, and reducing the probability of conflict and sudden stop of the double-cross straddlers, so that the effective operation rate of the same-rail double-cross straddlers is greatly improved. Two cross-over vehicles arranged on the same track are automatically dispatched according to the warehouse area management requirement to carry out automatic operation, the requirement of multi-span area multi-task operation is met, the high-efficiency, stable and conflict-free operation of the multi-span area double cross-over vehicles is realized, and the problems in the background technology are solved.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the method comprises the steps of receiving a request for carrying steel coils in each bay area through real-time communication with a workshop secondary system, generating a work order, issuing the work order to two cross-cars according to priority sequencing, and intelligently scheduling the two cross-cars so that the two cross-cars run without conflict.
The technical scheme of the invention is further improved as follows: the method specifically comprises the following steps:
step S001: the double-crossing straddle operation mode is selected and comprises the following steps: the method comprises the following steps of single-vehicle operation, conflict-free operation and conflict operation, wherein the single-vehicle operation is to designate one cross vehicle to perform operation, and the other cross vehicle is parked at a terminal at one side; the conflict-free operation refers to that a certain position in the middle of the track is taken as a breakpoint to divide two operation areas, and two cross-over vehicles only operate in the areas without mutual interference; the conflict operation means that the two cross-over vehicles can reach any position of the track according to the operation work order and conflict can be caused between the two cross-over vehicles;
step S002: communicating with a workshop secondary system, and receiving a request for carrying steel coils in each cross-district;
step S003: generating a group of cross-vehicle operation work orders according to the time sequence of the requests in the S002, wherein the work order content comprises: the method comprises the following steps of (1) setting a starting place coordinate, a destination coordinate, a cross-region identifier, a job type and request time, and simultaneously naming the set of work orders as C;
step S004: the method comprises the following steps of performing cross-vehicle static detection, wherein the detection content comprises the following steps: whether power supply is normal or not, whether communication is normal or not, whether a sensor is normal or not, whether a PLC is normal or not, if data is normal, the next step is carried out, and if not, an alarm is given;
step S005: the method comprises the following steps of carrying out dynamic detection on the crossed vehicle, wherein the detection content comprises the following steps: the current position of the cross-car, whether the work order is executed, whether the work order is overloaded or not and whether the work order is empty or not are available, if the data is normal, the next step is carried out, and if the data is abnormal, an alarm is given;
step S006: if S001 selects the single-vehicle operation, all the work orders in the S003 work order set C are sent to the appointed cross vehicle;
step S007: if the single-vehicle operation is not selected in the S001, the operation area screening is carried out on the operation work order set in the S003, the work order set C is divided into two subsets C1 and C2 according to the starting place coordinate and the destination coordinate, and two cross vehicles are named as a left cross vehicle and a right cross vehicle at the same time;
step S008: carrying out priority ranking on the work orders in the work order set C, wherein the priority is represented by P;
step S009: if S001 selects the conflict-free operation, the cross-vehicle only receives the work order with the start coordinate and the destination coordinate on one side of the cross-vehicle, and the two cross-vehicles operate according to the priorities of C1 and C2;
step S010: if the conflict operation is selected in S001, the dynamic priority of the two passing vehicles is respectively substituted into the calculation formula of S008 to calculate the priority PLeft side ofAnd PRight sideObtain two sets of prioritization PLeft side of{1,2,3,4,5 … } and PRight side{1,2,3,4,5 … }, corresponding to two straddle carriers, respectively;
firstly, issuing the work order with the highest priority in the two groups of priority sequences to the corresponding cross-vehicle, then deleting the cross-region work order of the issued work order from the cross-vehicle priority sequence group of which the work order is not obtained, reordering, and issuing the work order with the highest priority to the cross-vehicle;
step S011: when one of the cross-over vehicles is executing the work order and the other cross-over vehicle just obtains the work order, the cross-over vehicle which just obtained the work order avoids the cross-over vehicle which is executing the work order;
step S012: when the two cross-over vehicles just obtain the work orders and the operation areas conflict, the priority levels of the work orders executed by the two cross-over vehicles are compared, and the low-priority cross-over vehicle avoids the high-priority cross-over vehicle.
The technical scheme of the invention is further improved as follows: the step S008 priority determination process is:
the priority ranking is divided into four parts, respectively static priority PSDynamic priority PDAging priority PAEvolutionary priority PEThe calculation method of the priority order P is P = PS+PD+PA+PEThe value range of P is more than or equal to 1 and less than or equal to 10;
static priority PSDoes not change with the change of the state of the straddle carrierThe response factor comprises an operation type JT, an operation state JS of a crown block of a target cross-region and a work order issuing time T, JT =0.3, JS =0.09 and T =0.11 are set, and weight coefficients are s1、s2、s3The value range is 1-10;
PS= s1×JT+ s2×JS+ s3the times T and JT are divided into the following parts according to the priority level: cold rolling material loading>Level the material loading>Delivery of goods>Two-layer coil stack>Daily dumping; JS is divided into the following parts according to the priority: overhead traveling crane idle>Crown block coil taking and lifting>Crown block coil taking descending>Crown block unreeling descending>Unwinding and ascending the crown block; the T is divided into the following parts according to the priority level in sequence: work order issued first>Then issuing a work order;
dynamic priority PDThe influence factors include whether the cross-car is heavily loaded HL, whether the cross-car is fully loaded FL, the distance between the current position of the cross-car and the target position D, the current speed V of the cross-car, and the setting values are HL =0.12, FL =0.18, D =0.15 and V = 0.05; the weight coefficients are respectively d1，d2，d3，d4The value range is 1-10; pD= d1×HL+d2×FL+d3×D+ d4X V; the dynamic priority influence factors are divided into HL according to the priority level in turn: no load>Heavy loading; FL: with empty spaces>Fully loading; d: close range>A long distance; v: stop>Moving; JS: crown block coil taking and lifting>Crown block coil taking descending>Crown block unreeling descending>Unwinding and ascending the crown block; t: work order issued first>Then issuing a work order;
the sum of the static priority influence factor and the dynamic priority influence factor is equal to 1, namely JT + JS + T + HL + FL + D + V = 1;
aging priority PAWhen a cross-region sends and finishes a work order, the priority of other unfinished work orders in the cross-region is aged, the priority is reduced, and the corresponding cross-region work order is aged once every time the work order is executed until PA= -3, aging terminates, initialize aging priority, i.e. PA=0, weight coefficient a, range of values {0,1,2,3}, PA=-1×a=-a；
Evolution priority PEWhen a work order sent by a cross region is not executed for a long time, all work orders in the cross region are evolved to improve the priority, the corresponding cross work order is evolved once every 5 minutes of circulation until the work order is issued, the evolution is terminated after the work order is issued, and the evolution priority is initialized, namely PE=0, the value range of the weight coefficient e is {0,1,2,3,4,5,6,7}, PE=1×e=e。
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the invention can issue a reasonable, accurate and unique operation instruction to the cross-over vehicles, shorten the waiting time for mutual avoidance of the double cross-over vehicles, and simultaneously reduce the probability of conflict and sudden stop of the double cross-over vehicles, thereby greatly improving the effective operation rate of the same-rail double cross-over vehicles. Two cross-over vehicles arranged on the same track are automatically dispatched according to the warehouse area management requirement to carry out automatic operation, the multi-span area multi-task operation requirement is met, and the high-efficiency, stable and conflict-free operation of the multi-span area double-cross-over vehicles is realized.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a priority determination flow diagram of the present invention.
FIG. 3 is a diagram of an embodiment library bay layout of the present invention.
The figures are labeled as follows: 1. hot rolling storehouse district, 2, level produce the line, 3, cold rolling produces line transport chain, 4, overhead traveling crane, 5, the left side crosses the straddle carrier, 6, the right side crosses the straddle carrier, 7, the operation starting target position, 8, cross the straddle carrier track.
Detailed Description
The present invention will be described in further detail with reference to examples.
The invention discloses an intelligent scheduling method for double cross-vehicles on the same track, which is characterized in that the method receives a request for carrying steel coils in each cross-district through real-time communication with a workshop secondary system, generates a work order, respectively issues the work order to two cross-vehicles according to priority sequence, and intelligently schedules the two cross-vehicles so as to enable the two cross-vehicles to run without conflict.
Comprises the following steps:
step S001: the double-crossing straddle operation mode is selected and comprises the following steps: the method comprises the following steps of single-vehicle operation, conflict-free operation and conflict operation, wherein the single-vehicle operation is to designate one cross vehicle to perform operation, and the other cross vehicle is parked at a terminal at one side; the conflict-free operation means that two operation areas are divided by taking a certain position in the middle of the track as a breakpoint, and two cross-over vehicles only operate in the areas without mutual interference; the conflict operation means that the two cross-over vehicles can reach any position of the track according to the operation work order and conflict can be caused between the two cross-over vehicles;
step S002: communicating with a workshop secondary system, and receiving a request for carrying steel coils in each cross-district;
step S003: and generating a group of cross-vehicle operation work orders according to the time sequence by the requests in the S002, wherein the work order content comprises: the method comprises the following steps of (1) setting a starting place coordinate, a destination coordinate, a cross-region identifier, a job type and request time, and simultaneously naming the set of work orders as C;
step S004: the method comprises the following steps of performing cross-vehicle static detection, wherein the detection content comprises the following steps: whether power supply is normal or not, whether communication is normal or not, whether a sensor is normal or not, whether a PLC is normal or not, if data is normal, the next step is carried out, and if not, an alarm is given;
step S005: the method comprises the following steps of carrying out dynamic detection on the crossed vehicle, wherein the detection content comprises the following steps: the current position of the cross-car, whether the work order is executed, whether the work order is overloaded or not and whether the work order is empty or not are available, if the data is normal, the next step is carried out, and if the data is abnormal, an alarm is given;
step S006: if S001 selects the single-vehicle operation, all the work orders in the S003 work order set C are sent to the appointed cross vehicle;
step S007: if the single-vehicle operation is not selected in the S001, the operation area screening is carried out on the operation work order set in the S003, the work order set C is divided into two subsets C1 and C2 according to the starting place coordinate and the destination coordinate, and two cross vehicles are named as a left cross vehicle and a right cross vehicle at the same time;
step S008: carrying out priority ranking on the work orders in the work order set C, wherein the priority is represented by P;
step S009: if S001 selects the conflict-free operation, the cross-vehicle only receives the work order with the start coordinate and the destination coordinate on one side of the cross-vehicle, and the two cross-vehicles operate according to the priorities of C1 and C2;
step S010: if the conflict operation is selected in S001, the dynamic priority of the two passing vehicles is respectively substituted into the calculation formula of S008 to calculate the priority PLeft side ofAnd PRight sideObtain two sets of prioritization PLeft side of{1,2,3,4,5 … } and PRight side{1,2,3,4,5 … }, corresponding to two straddle carriers, respectively;
firstly, issuing the work order with the highest priority in the two groups of priority sequences to the corresponding cross-vehicle, then deleting the cross-region work order of the issued work order from the cross-vehicle priority sequence group of which the work order is not obtained, reordering, and issuing the work order with the highest priority to the cross-vehicle;
step S011: when one of the cross-over vehicles is executing the work order and the other cross-over vehicle just obtains the work order, the cross-over vehicle which just obtained the work order avoids the cross-over vehicle which is executing the work order;
step S012: when the two cross-over vehicles just obtain the work orders and the operation areas conflict, the priority levels of the work orders executed by the two cross-over vehicles are compared, and the low-priority cross-over vehicle avoids the high-priority cross-over vehicle.
The step S008 priority determination process is:
the priority ranking is divided into four parts, respectively static priority PSDynamic priority PDAging priority PAEvolutionary priority PEThe calculation method of the priority order P is P = PS+PD+PA+PEThe value range of P is more than or equal to 1 and less than or equal to 10;
static priority PSThe influence factors include an operation type JT, an operation state JS of a crown block of a target bay and a work order issuing time T, JT =0.3, JS =0.09 and T =0.11 are set, weight coefficients are s1、s2、s3The value range is 1-10;
PS= s1×JT+ s2×JS+ s3the times T and JT are divided into the following parts according to the priority level: cold rolling material loading>Level the material loading>Delivery of goods>Two-layer stack inverted stack>Daily dumping; JS is divided into the following parts according to the priority: overhead travelling craneLeisure time>Crown block coil taking and lifting>Crown block coil taking descending>Crown block unreeling descending>Unwinding and ascending the crown block; the T is divided into the following parts according to the priority level in sequence: work order issued first>Then issuing a work order;
dynamic priority PDThe influence factors include whether the cross-car is heavily loaded HL, whether the cross-car is fully loaded FL, the distance between the current position of the cross-car and the target position D, the current speed V of the cross-car, and the setting values are HL =0.12, FL =0.18, D =0.15 and V = 0.05; the weight coefficients are respectively d1，d2，d3，d4The value range is 1-10; pD= d1×HL+d2×FL+d3×D+ d4X V; the dynamic priority influence factors are divided into HL according to the priority level in turn: no load>Heavy loading; FL: with empty spaces>Fully loading; d: close range>A long distance; v: stop>Moving; JS: crown block coil taking and lifting>Crown block coil taking descending>Crown block unreeling descending>Unwinding and ascending the crown block; t: work order issued first>Then issuing a work order;
the sum of the static priority impact factor and the dynamic priority impact factor is equal to 1, namely JT + JS + T + HL + FL + D + V = 1;
aging priority PAWhen a cross-region sends and finishes a work order, the priority of other unfinished work orders in the cross-region is aged, the priority is reduced, and the corresponding cross-region work order is aged once every time the work order is executed until PA= -3, aging terminates, initialize aging priority, i.e. PA=0, weight coefficient a, range of values {0,1,2,3}, PA=-1×a=-a；
Evolution priority PEWhen a work order sent by a trans-regional area is not executed for a long time, all work orders of the trans-regional area are evolved to improve the priority, the corresponding trans-regional work orders are evolved once every 5 minutes of cycle until the work orders are issued, the evolution is terminated after the work orders are issued, and the evolution priority is initialized, namely PE=0, the value range of the weight coefficient e is {0,1,2,3,4,5,6,7}, PE=1×e=e。
The following examples are given for illustrative purposes.
Example one
Taking a certain hot rolling reservoir area as an example, as shown in fig. 2, the reservoir area is provided with 5 spans, wherein the number of the spans is 1#, 2#, 3#, 4#, and 5# from west to east in sequence, the number of the 1# is a cold rolling raw material span, the number of the 2# is a leveling raw material span, and the number of the 3# to 5# are finished product reservoirs (all having a delivery function), each span is 42 meters in length, each span area is provided with one crown block, meanwhile, the whole reservoir area is provided with two same-rail left-crossing straddlers and right-crossing straddles, and each straddle carrier is provided with 2 saddles. Suppose there is a coil transportation request for each bay, with 1# cold rolled up, 2# flat up, 3# two-layer coil unstacking, 4# delivery, and 5# daily warehouse dumping. The winding of the 1# crown block rises, the winding of the 2# crown block falls, the unwinding of the 3# crown block falls, the unwinding of the 4# crown block rises and the 5# crown block is idle. The left-side cross-car is fully loaded and runs at high speed currently; the right-hand cross-car is unloaded and is currently in a stop state.
Step S101: and selecting a double-crossing straddle operation mode as single-vehicle operation, and designating a left-crossing straddle to perform operation. The right-hand cross-car is automatically parked to the terminal on one side of the right-hand cross-car.
Step S102: and communicating with a workshop secondary system, and receiving the request of carrying steel coils in the cross-district of No. 1, No. 2, No. 3, No. 4 and No. 5.
Step S103: generating a group of cross-vehicle operation work orders according to the time sequence of the requests in the S102, wherein the work order content comprises: start location coordinates, destination coordinates, cross-region identification, job type, request time, etc. This set of work orders is named C.
Step S104: the method comprises the following steps of performing cross-vehicle static detection, wherein the detection content comprises the following steps: whether power supply is normal or not, whether communication is normal or not, whether a sensor is normal or not and whether a PLC is normal or not. And if the data is normal, the next step is carried out, otherwise, an alarm is given.
Step S105: the dynamic detection of the straddle carrier is carried out, and the detection content comprises the following steps: the current position of the cross-car, whether a work order is executed, whether the work order is overloaded, a few vacant positions and the like. And if the data is normal, the next step is carried out, otherwise, an alarm is given.
Step 106: and (5) all the work orders in the S103 work order set C are sent to the designated left-hand cross-car.
Example two
Taking a certain hot rolling reservoir area as an example, as shown in fig. 2, the reservoir area is provided with 5 spans, wherein the number of the spans is 1#, 2#, 3#, 4#, and 5# from west to east in sequence, the number of the 1# is a cold rolling raw material span, the number of the 2# is a leveling raw material span, and the number of the 3# to 5# are finished product reservoirs (all having a delivery function), each span is 42 meters in length, each span area is provided with one crown block, meanwhile, the whole reservoir area is provided with two same-rail left-crossing straddlers and right-crossing straddles, and each straddle carrier is provided with 2 saddles. Suppose there is a coil transportation request for each bay, with 1# cold rolled up, 2# flat up, 3# two-layer coil unstacking, 4# delivery, and 5# daily warehouse dumping. The winding of the 1# crown block rises, the winding of the 2# crown block falls, the unwinding of the 3# crown block falls, the unwinding of the 4# crown block rises and the 5# crown block is idle. The left-side cross-car is fully loaded and runs at high speed currently; the right-hand cross-car is unloaded and is currently in a stop state.
Step S201: and selecting a double-crossing straddle operation mode as conflict-free operation. The boundary line of the 2# and 3# spans is defined as an interruption point, the left-crossing operation intervals are 1# and 2#, and the right-crossing operation intervals are 3#, 4# and 5 #.
Step S202: and communicating with a workshop secondary system, and receiving a request for carrying the steel coils in each cross-district.
Step S203: generating a group of cross-vehicle operation work orders according to the time sequence of the requests in the S202, wherein the work order content comprises: start location coordinates, destination coordinates, cross-region identification, job type, request time, etc. This set of work orders is named C.
Step S204: the method comprises the following steps of performing cross-vehicle static detection, wherein the detection content comprises the following steps: whether power supply is normal or not, whether communication is normal or not, whether a sensor is normal or not and whether a PLC is normal or not. And if the data is normal, the next step is carried out, otherwise, an alarm is given.
Step S205: the method comprises the following steps of carrying out dynamic detection on the crossed vehicle, wherein the detection content comprises the following steps: the current position of the cross-car, whether a work order is executed, whether the work order is overloaded, a few vacant positions and the like. And if the data is normal, the next step is carried out, otherwise, an alarm is given.
Step S206: and (4) performing operation area screening on the operation work order set of the S203, dividing the work orders with the starting place coordinates and the destination coordinates in the numbers 1 and 2 into work order subsets C1 and issuing the work orders to the left-hand cross-car, and dividing the work orders with the starting place coordinates and the destination coordinates in the numbers 3#, 4# and 5# into work order subsets C2 and issuing the work orders to the right-hand cross-car.
Step S207: and (4) carrying out priority ordering on the work orders in the work order set C, wherein the priority is represented by P.
Analyzing static influence factors of each cross-region, giving a static priority weight coefficient, and according to a formula P in S008S= s1×JT+ s2×JS+ s3xT calculation of static priority PS. As shown in table 1.
TABLE 1 static priority calculation Table
Figure DEST_PATH_IMAGE002
Analyzing the dynamic influence factors of two left-hand cross vehicles and two right-hand cross vehicles, giving a dynamic priority weight coefficient, and according to a formula P in S008D= d1×HL+ d2×FL+ d3×D+ d4xV computing dynamic priority PD. As shown in table 2.
TABLE 2 dynamic priority computation Table
Figure DEST_PATH_IMAGE004
In the first work order period, there are no aging and evolution problems by definition, therefore, PA=PE=0。
1# Cross work order priority P1=PS1+PD left+ PA1 + PE1=4.73+3.31+0+0=8.04。
Work order priority P of 2# span2=PS2+PD left+ PA2 + PE2=3.49+3.31+0+0=6.8。
Order priority P of 3# span3=PS3+PD right side+ PA3 + PE3=2.83+4.25+0+0=7.08。
Work order priority P of 4# span4=PS4+PD right side+ PA4 + PE4=3.12+4.25+0+0=7.37。
Work order priority P of 5# span5=PS5+PD right side+ PA5 + PE5=2.72+4.25+0+0=6.97。
And according to the priority sorting rule, issuing the 1# cross-work order to the left cross-car and issuing the 4# cross-work order to the right cross-car.
Step S208: when one crossing vehicle finishes the work order, repeating the steps S201 to S207, and carrying out aging treatment on the crossing inner work order of the finished work order, namely PAAnd (4) = -1. The cycle continues, and each time the cycle is repeated, the corresponding cross-job order is aged until PA= -3, aging terminates, initialize aging priority, i.e. PA=0。
Step S209: counting every 5 minutes from the issuance of the first work order, and performing evolution processing on the cross-work orders which are never executed, namely PEAnd = 1. The circulation is continued, once every 5 minutes, the corresponding cross-work order is evolved once until the work order is issued, after the work order is issued, the evolution is terminated, and the evolution priority is initialized, namely PE=0。
EXAMPLE III
Taking a certain hot rolling reservoir area as an example, as shown in fig. 2, the reservoir area is provided with 5 spans, wherein the number of the spans is 1#, 2#, 3#, 4#, and 5# from west to east in sequence, the number of the 1# is a cold rolling raw material span, the number of the 2# is a leveling raw material span, and the number of the 3# to 5# are finished product reservoirs (all having a delivery function), each span is 42 meters in length, each span area is provided with one crown block, meanwhile, the whole reservoir area is provided with two same-rail left-crossing straddlers and right-crossing straddles, and each straddle carrier is provided with 2 saddles. Suppose there is a coil transportation request for each bay, with 1# cold rolled up, 2# flat up, 3# two-layer coil unstacking, 4# delivery, and 5# daily warehouse dumping. The winding of the 1# crown block rises, the winding of the 2# crown block falls, the unwinding of the 3# crown block falls, the unwinding of the 4# crown block rises and the 5# crown block is idle. The left-side cross-car is fully loaded and runs at high speed currently; the right-hand cross-car is unloaded and is currently in a stop state.
Step S301: and selecting a double-crossing straddle operation mode as conflict operation. The left-hand straddle carrier and the right-hand straddle carrier can arbitrarily receive work orders from 1#, 2#, 3#, 4# and 5# and can reach any position on the track.
Step S302: and communicating with a workshop secondary system, and receiving a request for carrying the steel coils in each cross-district.
Step S303: generating a group of cross-vehicle operation work orders according to the time sequence of the requests in the S302, wherein the work order content comprises: start location coordinates, destination coordinates, cross-region identification, job type, request time, etc. This set of work orders is named C.
Step S304: the method comprises the following steps of performing cross-vehicle static detection, wherein the detection content comprises the following steps: whether power supply is normal or not, whether communication is normal or not, whether a sensor is normal or not and whether a PLC is normal or not. And if the data is normal, the next step is carried out, otherwise, an alarm is given.
Step S305: the method comprises the following steps of carrying out dynamic detection on the crossed vehicle, wherein the detection content comprises the following steps: the current position of the cross-car, whether a work order is executed, whether the work order is overloaded, a few vacant positions and the like. And if the data is normal, the next step is carried out, otherwise, an alarm is given.
Step S306: and (4) carrying out priority ordering on the work orders of the work order subset C, wherein the priority is represented by P.
Analyzing static influence factors of each cross-region, giving a static priority weight coefficient, and according to a formula P in S008S= s1×JT+ s2×JS+ s3xT calculation of static priority PS. As shown in table 3.
TABLE 3 static priority calculation Table
Figure DEST_PATH_IMAGE006
Analyzing the dynamic influence factors of two left-hand cross vehicles and two right-hand cross vehicles, giving a dynamic priority weight coefficient, and according to a formula P in S008D= d1×HL+ d2×FL+ d3×D+ d4X V calculation dynamic priority PD. As shown in table 4.
Table 4 dynamic priority calculation table
Figure DEST_PATH_IMAGE008
In the first work order period, according to definition, it does not storeIn aging and evolution problems, therefore, PA=PE=0。
And calculating the priority of the work order of the left-hand cross vehicle in each cross area.
A. 1# Cross work order priority P1=PS1+PD left+ PA1 + PE1=4.73+3.01+0+0=7.74。
B. Work order priority P of 2# span2=PS2+PD left+ PA2 + PE2=3.49+3.31+0+0=6.8。
C. Order priority P of 3# span3=PS3+PD left+ PA3 + PE3=2.83+2.71+0+0=5.54。
D. 4# Cross work order priority P4=PS4+PD left+ PA4 + PE4=3.12+2.41+0+0=5.53。
E. Work order priority P of 5# span5=PS5+PD left+ PA5 + PE5=2.72+2.11+0+0=4.83。
And calculating the priority of the work order of the right crossing straddle carrier in each trans-zone.
F. 1# Cross work order priority P1=PS1+PD right side+ PA1 + PE1=4.73+3.8+0+0=8.53。
G. Work order priority P of 2# span2=PS2+PD right side+ PA2 + PE2=3.49+4.1+0+0=7.59。
H. Order priority P of 3# span3=PS3+PD right side+ PA3 + PE3=2.83+4.4+0+0=7.23。
I. 4# Cross work order priority P4=PS4+PD right side+ PA4 + PE4=3.12+4.7+0+0=7.82。
J. Work order priority P of 5# span5=PS5+PD right side+ PA5 + PE5=2.72+5.0+0+0=7.72。
According to the priority sorting rule, 10 priorities are sorted firstly, and the right-hand cross vehicle has the highest priority in the 1# cross, so that the 1# cross work order is issued to the right-hand cross vehicle. And then, eliminating the 1# cross work order from the left cross vehicle work order priority ranking groups A to E, reordering, and sending the 2# cross work order to the left cross vehicle, wherein the 2# cross work order has the highest priority.
Step S307: according to the requirement of S011, the left-side straddle carrier has a work order being executed, so the right-side straddle carrier needs to avoid the left-side straddle carrier firstly. After the left-side cross car finishes the current work order, the right-side cross car is avoided according to the requirement of S012 because the work order priority obtained by the right-side cross car is higher than the work order priority obtained by the left-side cross car.
Step S308: when one crossing vehicle finishes the work order, repeating the steps S301 to S307, and carrying out aging treatment on the crossing inner work order of the finished work order, namely PAAnd (4) = -1. The cycle continues, and each time the cycle is repeated, the corresponding cross-job order is aged until PA= -3, aging terminates, initialize aging priority, i.e. PA=0。
Step S309: counting every 5 minutes from the issuance of the first work order, and performing evolution processing on the cross-work orders which are never executed, namely PEAnd = 1. The circulation is continued, and once every 5 minutes, the corresponding cross-work order evolves once until the work order is issued or PE=7, after work order is issued, evolution is terminated, and the priority of evolution is initialized, namely PE=0。

Claims (1)

1. The intelligent scheduling method for the same-track double-crossing straddle carrier is characterized by comprising the following steps: the method comprises the steps that a request for carrying steel coils in each bay is received through real-time communication with a workshop secondary system, a work order is generated, the work orders are respectively issued to two cross-vehicles according to priority sequencing, and the two cross-vehicles are intelligently scheduled to run without conflict;
the method comprises the following steps:
step S001: the double-crossing straddle operation mode is selected and comprises the following steps: the method comprises the following steps of single-vehicle operation, conflict-free operation and conflict operation, wherein the single-vehicle operation is to designate one cross vehicle to perform operation, and the other cross vehicle is parked at a terminal at one side; the conflict-free operation means that two operation areas are divided by taking a certain position in the middle of the track as a breakpoint, and two cross-over vehicles only operate in the areas without mutual interference; the conflict operation means that the two cross-over vehicles can reach any position of the track according to the operation work order and conflict can be caused between the two cross-over vehicles;
step S002: communicating with a workshop secondary system, and receiving a request for carrying steel coils in each cross-district;
step S003: generating a group of cross-vehicle operation work orders according to the time sequence of the requests in the S002, wherein the work order content comprises: the method comprises the following steps of (1) setting a starting place coordinate, a destination coordinate, a cross-region identifier, a job type and request time, and simultaneously naming the set of work orders as C;
step S004: the method comprises the following steps of performing cross-vehicle static detection, wherein the detection content comprises the following steps: whether power supply is normal or not, whether communication is normal or not, whether a sensor is normal or not, whether a PLC is normal or not, if data is normal, the next step is carried out, and if not, an alarm is given;
step S005: the method comprises the following steps of carrying out dynamic detection on the crossed vehicle, wherein the detection content comprises the following steps: the current position of the cross-car, whether the work order is executed, whether the work order is overloaded or not and whether the work order is empty or not are available, if the data is normal, the next step is carried out, and if the data is abnormal, an alarm is given;
step S006: if the S001 selects the single-vehicle operation, all the work orders in the work order set C in the S003 are sent to the designated cross-vehicle;
step S007: if the single-vehicle operation is not selected in the S001, the operation area screening is carried out on the operation work order set in the S003, the work order set C is divided into two subsets C1 and C2 according to the starting place coordinate and the destination coordinate, and two cross vehicles are named as a left cross vehicle and a right cross vehicle at the same time;
step S008: carrying out priority ranking on the work orders in the work order set C, wherein the priority is represented by P;
step S009: if S001 selects the conflict-free operation, the cross-vehicle only receives the work order with the start coordinate and the destination coordinate on one side of the cross-vehicle, and the two cross-vehicles operate according to the priorities of C1 and C2;
step S010: if the conflict operation is selected in S001, the work order priority P of the two cross-over vehicles is calculated according to the priority sorting method of S008Left side ofAnd PRight sideObtain two sets of priority ranksSequence PLeft side of{1,2,3,4,5 … } and PRight side{1,2,3,4,5 … }, corresponding to two straddle carriers, respectively;
firstly, issuing the work order with the highest priority in the two groups of priority sequences to the corresponding cross-vehicle, then deleting the cross-region work order of the issued work order from the cross-vehicle priority sequence group of which the work order is not obtained, reordering, and issuing the work order with the highest priority to the cross-vehicle;
step S011: when one of the cross-over vehicles is executing the work order and the other cross-over vehicle just obtains the work order, the cross-over vehicle which just obtained the work order avoids the cross-over vehicle which is executing the work order;
step S012: when both the two cross-over vehicles just obtain the work order and the operation areas conflict, comparing the priority of the work order executed by the two cross-over vehicles, and avoiding the low-priority cross-over vehicle from the high-priority cross-over vehicle; the priority ranking process of step S008 is:
the priority ranking is divided into four parts, respectively static priority PSDynamic priority PDAging priority PAEvolutionary priority PEThe calculation method of the priority order P is P = PS+PD+PA+PEThe value range of P is more than or equal to 1 and less than or equal to 10;
static priority PSThe influence factors include an operation type JT, an operation state JS of a crown block of a target bay and a work order issuing time T, JT =0.3, JS =0.09 and T =0.11 are set, weight coefficients are s1、s2、s3The value range is 1-10;
PS= s1×JT+ s2×JS+ s3the times T and JT are divided into the following parts according to the priority level: cold rolling material loading>Level the material loading>Delivery of goods>Two-layer coil stack>Daily dumping; JS is divided into the following parts according to the priority: overhead traveling crane is idle>Crown block coil taking and lifting>Crown block coil taking descending>Crown block unreeling descending>Unwinding and ascending the crown block; the T is divided into the following parts according to the priority level in sequence: work order issued first>Then issuing a work order;
dynamic priority PDThe influence factor changes along with the change of the state of the cross vehicleThe method comprises the steps of judging whether the cross vehicle is overloaded or not HL, whether the cross vehicle is fully loaded or not FL, the distance D between the current position of the cross vehicle and a target position, and the current speed V of the cross vehicle, wherein HL =0.12, FL =0.18, D =0.15 and V =0.05 are set; the weight coefficients are respectively d1，d2，d3，d4The value range is 1-10; pD= d1×HL+d2×FL+d3×D+ d4X V; the dynamic priority influence factors are divided into HL according to the priority level in turn: no load>Heavy loading; FL: with empty spaces>Fully loading; d: close range>A long distance; v: stop>Moving;
the sum of the static priority impact factor and the dynamic priority impact factor is equal to 1, namely JT + JS + T + HL + FL + D + V = 1;
aging priority PAWhen a work order is sent and finished once in a cross-region, the priority of other unfinished work orders in the cross-region is aged, the priority is reduced, and the work order corresponding to the cross-region is aged once every time the work order is executed until PA= -3, aging terminates, initialize aging priority, i.e. PA=0, weight coefficient a, range of values {0,1,2,3}, PA=-1×a=-a；
Evolution priority PEWhen a work order sent by a cross-region is not executed for a long time, all work orders of the cross-region are evolved, the priority is improved, the work orders corresponding to the cross-region are evolved once every 5 minutes until the work orders are issued, the evolution is stopped after the work orders are issued, and the evolution priority is initialized, namely PE=0, the weight factor is e, and the range is {0,1,2,3,4,5,6,7}, PE=1×e=e。
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