CN114056833B - Method and device for identifying stacking layer number of storage steel coil and computer medium - Google Patents
Method and device for identifying stacking layer number of storage steel coil and computer medium Download PDFInfo
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- CN114056833B CN114056833B CN202111457688.2A CN202111457688A CN114056833B CN 114056833 B CN114056833 B CN 114056833B CN 202111457688 A CN202111457688 A CN 202111457688A CN 114056833 B CN114056833 B CN 114056833B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 167
- 239000010959 steel Substances 0.000 title claims abstract description 167
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000005484 gravity Effects 0.000 claims abstract description 22
- 238000005516 engineering process Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 7
- 238000005303 weighing Methods 0.000 claims description 6
- 230000004323 axial length Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 101100545272 Caenorhabditis elegans zif-1 gene Proteins 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 239000010960 cold rolled steel Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/16—Special arrangements of articles in storage spaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
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- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a method and a device for identifying the stacking layer number of a storage steel coil and a computer medium, wherein the method comprises the following steps: constructing a three-dimensional coordinate system, wherein the X-axis direction is the same as the axial direction of the steel coil; the steel coil is hoisted by a hoisting mechanism, the outer diameter of the current steel coil is obtained, and the three-dimensional coordinate (x 0 ,y 0 ,z 0 ) And the ground clearance H of the lifting appliance; determining the layer number of the current steel coil, and recording the layer number, the outer diameter and the three-dimensional coordinates of the gravity center of the current steel coil to a database until the hoisting of all the steel coils is completed. Compared with the prior art, the invention has the advantages of high working efficiency, high reliability, strong safety, wide application range and the like.
Description
Technical Field
The invention relates to a steel coil storage management technology, in particular to a method and a device for identifying the number of stacking layers of stored steel coils and a computer medium.
Background
At present, the informatization development degree in the steel storage industry is low, and the stacking rule of steel coils is generally as follows: in the process of stacking the steel coils, the first layer is fully stacked, if more steel coils exist, one steel coil is stacked between every two steel coils, when stacking according to two layers, a large coil is arranged below, a small coil is arranged above, the width of the upper layer steel coil does not exceed the width of the lower layer steel coil, and the steel coils in the same warehouse are basically consistent in specification as far as possible. Because the sizes of the steel coils are different, the steel coils in the same storage area are difficult to be basically consistent, and the situation that the height of the small coils stacked on the third layer is similar to the height of the large coils stacked on the second layer often occurs, so that the layer number can not be simply judged by using the height. At present, the traditional warehouse steel coil positioning technology is mainly used for positioning a target steel coil to a specific row, and then searching the target steel coil in the row of steel coils, so that the operation efficiency is low, a steel coil storage area belongs to a dangerous environment, and potential safety hazards are large when workers search the target steel coil.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method and a device for identifying the number of stacking layers of a storage steel coil and a computer medium.
The aim of the invention can be achieved by the following technical scheme:
a method for identifying the number of stacking layers of storage steel coils comprises the following steps:
constructing a three-dimensional coordinate system, wherein the X-axis direction is the same as the axial direction of the steel coil, and the XY plane is parallel to the ground;
the steel coil is hoisted by a hoisting mechanism, the outer diameter of the current steel coil is obtained, and the three-dimensional coordinate (x 0 ,y 0 ,z 0 ) And the ground clearance H of the lifting appliance;
determining the layer number of the current steel coil, and recording the layer number, the outer diameter and the three-dimensional coordinates of the gravity center of the current steel coil to a database until hoisting of all the steel coils is completed;
the determination process of the layer number of the current steel coil comprises the following steps:
1) Let i=1;
2) Judging the outer diameter r of the current steel coil 0 Whether or not to satisfy r 0 ≥|H-z 0 I, if yes, judging that the current steel coil is positioned at the ith layer and recording, otherwise, executing the step 3);
3) Determining two stored steel coils closest to the current steel coil in the ith layer according to a database, wherein one stored steel coilThe gravity center Y coordinate, the gravity center Z coordinate and the outer diameter of the steel coil are respectively and />The gravity center Y coordinate, the gravity center Z coordinate and the outer diameter of the other stored steel coil are respectively +.> and />Judging whether the following conditions are satisfied simultaneously:
if yes, judging that the current steel coil is positioned at the (i+1) th layer, ending the step, otherwise, executing the step 4);
4) Let i=i+1, execute step 3);
in the steel coil pile, the steel coils of different layers possibly have the condition that the steel coil specifications are inconsistent, the number of layers of the steel coil cannot be judged according to the Z coordinate of the gravity center of the steel coil, the number of layers of the current steel coil is determined by judging the distance information between the current steel coil and the ground and between the current steel coil and the stored steel coil when the steel coil is put down, and the horizontal two-dimensional coordinate of the steel coil and the number of layers of the steel coil are stored in a database after the steel coil is hung down.
Further, the (x 0 ,y 0 ,z 0 ) And the acquisition process of H comprises the following steps:
setting a positioning base station at the origin of the three-dimensional coordinate system, setting a positioning label on the hoisting mechanism, and acquiring the three-dimensional coordinate of the current steel coil when being put down by the hoisting mechanism and the ground clearance H of the hoisting tool through the positioning base station and the positioning label.
Further, the positioning base station and the positioning tag are realized through a positioning technology.
Further, the positioning technology is UWB positioning technology.
Further, the hoisting mechanism comprises a walking track, a cart and a trolley, wherein the cart is arranged on the walking track in a sliding manner, the trolley is arranged on the cart in a sliding manner, the lifting appliance is arranged on the trolley, the driving direction of the cart is in the same direction as the Y axis of the three-dimensional coordinate system, and the driving direction of the cart is in the same direction as the X axis of the three-dimensional coordinate system.
Further, the positioning base station is arranged on the walking track and is positioned at the origin of the three-dimensional coordinate system.
Further, the positioning label comprises a first positioning label and a second positioning label, wherein the first positioning label is arranged on the cart, and the second positioning label is arranged on the lifting appliance.
Further, the process for obtaining the outer diameter of the current steel coil comprises the following steps:
the method comprises the steps that a weighing device is arranged on a hoisting mechanism, the mass m of a current steel coil is obtained through the weighing device, and the outer diameter of the current steel coil is calculated according to the mass m of the current steel coil by the following calculation formula:
wherein ,r3 The inner diameter of the steel coil, ρ is the density of the steel coil, and h is the axial length of the steel coil.
The device for identifying the number of stacking layers of the storage steel coil comprises a memory and a processor, wherein the memory stores a computer program, and the processor calls the program instruction to execute the identification method.
A computer readable storage medium comprising a computer program, said computer program being capable of being executed by a processor to perform the identification method.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the invention, the outer diameter of the steel coil is determined through the quality, the inner diameter and the density of the steel coil, and the steel coil is put down, and the verification is started one by one from the first layer according to the outer diameter of the steel coil, the distance between the current steel coil and the ground and the distance between the current steel coil and the stored steel coil until the number of layers of the current steel coil are determined, and after the steel coil is hung down, the horizontal two-dimensional coordinates of the steel coil and the number of layers of the steel coil are stored in the database, so that a worker can conveniently and quickly find the wanted steel coil, the reliability is high, the working efficiency is improved, the difficulty of the worker in searching the steel coil is reduced, and the safety is improved;
(2) In the process of determining the layer number of the steel coil, the outer diameter of the steel coil is considered, the influence of the condition of different sizes of the steel coil on the identification accuracy is reduced, the reliability is high, and the application range is wide;
(3) According to the invention, the positioning base station is arranged at the origin of the three-dimensional coordinate system, the positioning label is arranged on the hoisting mechanism, and the three-dimensional coordinate and the ground clearance of the lifting appliance when the current steel coil is put down by the hoisting mechanism are obtained through the positioning base station and the positioning label, so that the reliability is high and the cost is low.
Drawings
FIG. 1 is a schematic structural view of a lifting assembly;
fig. 2 is a sectional view of a current coil and a stored coil;
FIG. 3 is a front view of the hoist assembly;
the reference numerals in the figures illustrate:
1. the system comprises a walking track, a cart, a trolley, a positioning base station, a first positioning tag and a second positioning tag.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
Example 1
A method for identifying the number of stacking layers of storage steel coils comprises the following steps:
hoisting the steel coil through a hoisting mechanism to construct a three-dimensional coordinate system, wherein the X-axis direction is the same as the axial direction of the steel coil, and the XY plane is parallel to the ground;
the hoisting mechanism comprises a walking track 1, a cart 2 and a trolley 3, wherein the cart 2 is arranged on the walking track 1 in a sliding way, the trolley 3 is arranged on the cart 2 in a sliding way, the lifting appliance is arranged on the trolley 3, the running direction of the cart 2 is in the same direction as the Y axis of the three-dimensional coordinate system, and the running direction of the trolley 3 is in the same direction as the X axis of the three-dimensional coordinate system;
the positioning base station 4 is arranged on the walking track 1 and is positioned at the origin of the three-dimensional coordinate system, the positioning label comprises a first positioning label 5 and a second positioning label 6, the first positioning label 5 is arranged on the cart 2, the second positioning label 6 is arranged on the lifting appliance, and when the current steel coil is put down by the lifting mechanism, the Y-axis coordinate Y of the gravity center of the current steel coil is obtained through the positioning base station 4 and the first positioning label 5 0 The X-axis coordinate X of the gravity center of the current steel coil is obtained through the positioning base station 4 and the second positioning tag 6 0 The Z-axis coordinate Z of the gravity center of the current steel coil is obtained through a Z-axis collector on the lifting appliance 0 The ground clearance H of the lifting appliance is known;
acquiring the outer diameter of a current steel coil, determining the layer number of the current steel coil, and recording the layer number, the outer diameter and the three-dimensional coordinates of the center of gravity of the current steel coil to a database until hoisting of all the steel coils is completed;
the current steel coil layer number determining process comprises the following steps:
1) Let i=1;
2) Judging the outer diameter r of the current steel coil 0 Whether or not to satisfy r 0 ≥|H-z 0 I, if yes, judging the timeThe front steel coil is positioned on the ith layer and recorded, otherwise, executing the step 3);
3) Determining two stored steel coils closest to the current steel coil in the ith layer according to the database, wherein the gravity center Y coordinate, the gravity center Z coordinate and the outer diameter of one stored steel coil are respectively as shown in figure 2 and />The gravity center Y coordinate, the gravity center Z coordinate and the outer diameter of the other stored steel coil are respectively +.> and />Judging whether the following conditions are satisfied simultaneously:
if yes, judging that the current steel coil is positioned at the (i+1) th layer, ending the step, otherwise, executing the step 4);
4) Let i=i+1, execute step 3);
in the steel coil pile, the steel coils of different layers possibly have the condition that the steel coil specifications are inconsistent, the number of layers of the steel coil cannot be judged according to the Z coordinate of the gravity center of the steel coil, the number of layers of the current steel coil is determined by judging the distance information between the current steel coil and the ground and between the current steel coil and the stored steel coil when the steel coil is put down, and the horizontal two-dimensional coordinate of the steel coil and the number of layers of the steel coil are stored in a database after the steel coil is hung down.
The positioning base station 4 and the positioning tag are realized by UWB positioning technology.
The current acquisition process of the outer diameter of the steel coil comprises the following steps:
the method comprises the steps that a weighing device is arranged on a hoisting mechanism, the mass m of a current steel coil is obtained through the weighing device, and the outer diameter of the current steel coil is calculated according to the mass m of the current steel coil by the following calculation formula:
wherein ,r3 Is the inner diameter of the steel coil, ρ is the density of the steel coil, h is the axial length of the steel coil, r 3 And rho and h are all known parameters, the inner diameter of the hot rolled steel coil is 762mm, and the inner diameter of the cold rolled steel coil is 610mm.
Example 2
The device for identifying the number of stacking layers of the steel coil in storage comprises a memory and a processor, wherein the memory stores a computer program, and the processor calls the program instruction to execute the identification method of the embodiment 1.
Example 3
A computer readable storage medium comprising a computer program capable of being executed by a processor to perform the identification method of embodiment 1.
The embodiment 1, the embodiment 2 and the embodiment 3 provide a method, a device and a computer medium for identifying the number of stacked layers of a storage steel coil, which take the outer diameter of the steel coil as a basis, reduce the influence of different sizes of the steel coil on the identification accuracy, have high reliability and wide application range, can obtain the information of the number of stacked layers of the steel coil through simple data information, store the horizontal two-dimensional coordinates of the steel coil and the number of the layers of the steel coil into a database at the same time after the steel coil is lifted, facilitate a worker to quickly find the wanted steel coil, have high reliability, not only improve the working efficiency, but also reduce the difficulty of the worker to search the steel coil and improve the safety. The method can provide algorithm support for digital display in the steel storage industry and promote digital transformation in the steel storage industry.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (8)
1. The method for identifying the stacking layer number of the storage steel coil is characterized by comprising the following steps of:
constructing a three-dimensional coordinate system, wherein the X-axis direction is the same as the axial direction of the steel coil, and the XY plane is parallel to the ground;
hoisting the steel coil through a hoisting mechanism to obtain the outer diameter of the current steel coil and the three-dimensional coordinate of the gravity center of the current steel coil when the current steel coil is put down by the hoisting mechanismAnd the height from the ground of the lifting appliance +.>；
Determining the layer number of the current steel coil, and recording the layer number, the outer diameter and the three-dimensional coordinates of the gravity center of the current steel coil to a database until hoisting of all the steel coils is completed;
the determination process of the layer number of the current steel coil comprises the following steps:
1) Order thei=1；
2) Judging the outer diameter of the current steel coilWhether or not to meet->If yes, judging that the current steel coil is positioned at the first positioniLayer and record, otherwise carry out step 3);
3) Determining the first from the databaseiTwo stored steel coils closest to the current steel coil in the layer, wherein the gravity center Y coordinate, the gravity center Z coordinate and the outer diameter of one stored steel coil are respectively、/> and />The gravity center Y coordinate, the gravity center Z coordinate and the outer diameter of the other existing steel coil are respectively +.>、/> and />Judging whether the following conditions are satisfied simultaneously:
，
，
if yes, judging that the current steel coil is positioned at the first positioni+1 layer, step ends, otherwise go to step 4);
4) Order thei=i+1, performing step 3);
the said process and />The acquisition process of (1) comprises:
a positioning base station (4) is arranged at the origin of the three-dimensional coordinate system, a positioning label is arranged on the lifting mechanism, and the three-dimensional coordinate of the current steel coil when being put down by the lifting mechanism and the ground clearance of the lifting appliance are obtained through the positioning base station (4) and the positioning label；
The process for obtaining the outer diameter of the current steel coil comprises the following steps:
the hoisting mechanism is provided with a weighing device, and the current steel coil quality is obtained through the weighing deviceAccording to the quality of the current steel coilThe outer diameter of the current steel coil is calculated by the following calculation formula:
，
，
，
wherein ,is the inner diameter of the steel coil>Is the density of the steel coil>Is the axial length of the steel coil.
2. The method for identifying the number of stacked layers of the stored steel coil according to claim 1, wherein the positioning base station (4) and the positioning label are realized by a positioning technology.
3. The method for identifying the number of stacked layers of the steel coil storage according to claim 2, wherein the positioning technology is a UWB positioning technology.
4. The method for identifying the number of stacked layers of the storage steel coil according to claim 1, wherein the hoisting mechanism comprises a walking track (1), a cart (2) and a trolley (3), the cart (2) is arranged on the walking track (1) in a sliding mode, the trolley (3) is arranged on the cart (2) in a sliding mode, the hoisting tool is arranged on the trolley (3), the running direction of the cart (2) is in the same direction with the Y axis of the three-dimensional coordinate system, and the running direction of the trolley (3) is in the same direction with the X axis of the three-dimensional coordinate system.
5. The method for identifying the number of stacked layers of the stored steel coil according to claim 4, wherein the positioning base station (4) is arranged on the walking track (1) and is positioned at the origin of the three-dimensional coordinate system.
6. The method for identifying the number of stacked layers of the storage steel coil according to claim 4, wherein the positioning labels comprise a first positioning label (5) and a second positioning label (6), the first positioning label (5) is arranged on the cart (2), and the second positioning label (6) is arranged on the lifting appliance.
7. A device for identifying the number of stacked layers of steel coils in a warehouse, comprising a memory and a processor, wherein the memory stores a computer program, and the processor invokes the program to execute the identification method according to any one of claims 1 to 6.
8. A computer readable storage medium comprising a computer program executable by a processor to implement the identification method of any one of claims 1-6.
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| CN202111457688.2A CN114056833B (en) | 2021-12-02 | 2021-12-02 | Method and device for identifying stacking layer number of storage steel coil and computer medium |
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| CN202111457688.2A CN114056833B (en) | 2021-12-02 | 2021-12-02 | Method and device for identifying stacking layer number of storage steel coil and computer medium |
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| CN114056833B true CN114056833B (en) | 2023-08-29 |
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| JP2015068683A (en) * | 2013-09-27 | 2015-04-13 | 株式会社ブレインズ | Position detection device of cylindrical coil |
| CN105427068A (en) * | 2015-11-06 | 2016-03-23 | 湖南千盟物联信息技术有限公司 | Intelligent recommendation method for stacking position of steel coil storeroom |
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| CN113177753A (en) * | 2021-04-21 | 2021-07-27 | 中物(北京)物流信息服务有限公司 | Storage goods space positioning method and system |
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| CN114056833A (en) | 2022-02-18 |
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