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Unmanned same-span multi-crown-block cooperative scheduling method and system, medium and terminal

A collaborative scheduling, unmanned driving technology, applied in manufacturing computing systems, instruments, data processing applications, etc., can solve problems such as inability to adapt to variability

Pending Publication Date: 2020-10-27
SHANGHAI HI TECH CONTROL SYST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method fails to truly realize the coordinated scheduling of multi-day vehicles, and cannot adapt to variability

Method used

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  • Unmanned same-span multi-crown-block cooperative scheduling method and system, medium and terminal
  • Unmanned same-span multi-crown-block cooperative scheduling method and system, medium and terminal
  • Unmanned same-span multi-crown-block cooperative scheduling method and system, medium and terminal

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0080] Embodiment 1. Path Conflict Judgment and Conflict Resolution

[0081] Such as image 3 As shown, in this embodiment, the job scheduling layer provides the planned path Path_A=(Location_Start_A, Location_End_A) for Crane_A, the current location of Crane_B is Location_current_B, and the end point is Location_End_B, that is, Path_B=(Location_current_B, Location_End_B).

[0082] First, block conflict judgment is performed on the crane Crane_A and the crane Crane_B. Since the closed area of ​​Crane_B is empty, there is no conflict.

[0083] Then, a path conflict judgment is performed. Since Path_A and Path_B have overlapping overlap points, there is a path conflict.

[0084] Next, conflict resolution is performed. Location_End_B is the closest conflict point to the current position of Crane_A, and the safe waiting position Location_Wait_A is determined after considering the safety distance Distance_Safety. Therefore, the executable path of Crane_A is updated as Path_A=(L...

Embodiment 2

[0085] Embodiment 2. Conflict Judgment and Conflict Resolution in Blocked Areas

[0086]Such as image 3 As shown, in Embodiment 1, after the execution path (Location_Start_A, Location_Wait_A) of the crane Crane_A and the execution path (Location_current_B, Location_End_B) of the crane Crane_B are respectively completed, the crane Crane_A waits, and the job scheduling layer gives the planned path Path_B for the crane Crane_B= (Location_End_B, Location_End_B_new).

[0087] In this embodiment, block conflict judgment is performed first. Since the path Path_B=(Location_End_B,Location_End_B_new) and the blocking zone Blocking_Zone=(Crane_A,Location_Wait_A,Location_End_A) have overlapping overlapping points, it is determined that there is a blocking zone conflict between the crane Crane_A and the crane Crane_B. At this time, Crane_B is the target crane, and Crane_A is the adjacent crane.

[0088] Next, conflict resolution is performed. It is determined that the safe avoidance p...

Embodiment 4

[0089] Embodiment 4: Changes in destinations of cranes, faults or abnormalities of adjacent cranes, etc.

[0090] Such as Figure 4 shown. In this embodiment, crane Crane_B is in the process of hoisting, and crane Crane_A is waiting at Location_Wait_A, its destination is Location_End_A, and its blocking zone is Blocking_Zone=(Crane_A, Location_Wait_A, Location_End_A). The destination of the crane is changed due to emergency order insertion, or the destination of Crane_A is canceled due to the failure or abnormality of the adjacent crane Crane_B. At this time, the job scheduling layer gives the latest path Path_A=(Location_Wait_A, Location_End_A_new) of Crane_A.

[0091] First, block conflict judgment is performed. Since the blocking zone Blocking_Zone and the path Path_A belong to Crane_A, there is no blocking zone conflict, and the blocking zone is set to empty.

[0092] Then, path conflict judgment is performed. Since the path Path_A and the path (Location_End_B, Locati...

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Abstract

The invention provides an unmanned same-span multi-crown-block cooperative scheduling method and system, a medium and a terminal. The method comprises the following steps that the starting positions,destinations, planned paths and blocking areas of target crown blocks and adjacent crown blocks located in the same span are obtained; judging whether the target crown block and the adjacent crown block have a blocking area conflict or not; if yes, eliminating the blocking area conflict through avoidance, and updating the blocking area of the target crown block; if not, judging whether path conflict exists between the target crown block and the adjacent crown block or not; if yes, waiting to eliminate the path conflict, and updating the blocked area of the target crown block; and if not, outputting the planned path of the target crown block as an executable path of the target crown block. According to the unmanned same-span multi-crown-block cooperative scheduling method and system, the medium and the terminal, path conflict resolution and orderly avoidance of multiple crown blocks can be achieved, and the method and system can adapt to crown block operation destination changes, crownblock faults or abnormalities and other variability.

Description

technical field [0001] The present invention relates to the technical field of automation control, and in particular to a method and system, a medium and a terminal for coordinated dispatching of unmanned vehicles with multiple cranes. Background technique [0002] In recent years, intelligent manufacturing has developed rapidly on a global scale, which has had an important impact on industrial development, division of labor, and the promotion of new production methods, industrial forms, and business models. At present, most of the cranes in the storage operations of the domestic metallurgical industry still use the traditional manual driving method. Promoting unmanned and intelligent driving of cranes can improve warehouse utilization and efficiency of entering and exiting warehouses, greatly improve employee safety and reduce labor costs. Therefore, unmanned and intelligent cranes have become an inevitable trend for the metallurgical industry to accelerate supply-side str...

Claims

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Application Information

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IPC IPC(8): G06Q10/06G06Q10/04G06Q50/04
CPCG06Q10/0631G06Q10/047G06Q50/04Y02P90/30
Inventor 祝军
Owner SHANGHAI HI TECH CONTROL SYST
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