Driving avoidance and path scheduling method and system for unmanned grab crane

Abstract

The present invention provides a method and system for avoiding and routing unmanned grab cranes, including: step 1: determining the material collection point and material drop point of each crane according to the material distribution in the storage area, and each crane determines whether the command of the adjacent crane is crossed through the crane positioning system after obtaining the instruction; step 2: the crane automatically executes the target value and completes the material dumping task. When interference with another crane is detected during the execution process, step 3 is executed; step 3: the avoidance result is obtained according to the avoidance strategy, and if the avoidance result is that the crane avoids, step 4 is executed; otherwise, step 2 is continued; step 4: the crane runs to the specified avoidance target position to complete the avoidance, and the avoidance is ended after receiving the end signal of the avoided crane, and the crane continues to execute step 2. The system of the present invention can automatically detect and execute the avoidance strategy according to the current situation to ensure the coordinated operation of the cranes.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned crane hoisting operations, and in particular to a method and system for avoiding and routing an unmanned grab crane. Background Art

[0002] At present, when the grab crane performs tasks such as unloading and loading, due to the limited size of the storage area, it is inevitable that operation interference will occur when multiple cranes operate in the same storage area, which seriously affects the efficiency of the crane operation. During manual operation, the crane operator needs to judge the operation status of the adjacent cranes by naked eyes, which not only increases the workload of the crane operator, but also reduces the safety of the operation. Through the Gray busbar and other equipment installed on the crane, the system detects that the crane triggers anti-collision, stops the crane operation to ensure safety, and sends a signal to the unmanned system. The unmanned system automatically determines the crane avoidance strategy and executes it to ensure that the crane continues to operate normally, which greatly improves the operation efficiency and safety. However, since the crane scheduling avoidance strategy is closely related to the actual production situation, when the actual situation is too complicated, the avoidance will be triggered frequently and the efficiency will be significantly reduced.

[0003] Patent document CN108280529A (application number: 2017100109347) discloses a method and system for optimizing the collaborative operation of multiple unmanned cranes with a common rail in a post-rolling warehouse for steel coils. The method includes the following steps: A. Accepting a lifting task list in the warehouse area and dividing it into subtask lists for steel coils; the different subtask lists record a single outbound or inbound operation of each steel coil in different time periods; B. Obtaining the current driving data of multiple cranes, and based on this and the subtask list, performing operation allocation for multiple cranes to generate each lifting operation list for each crane; C. Arranging the collaborative operation of each crane according to each lifting operation list of each crane, and controlling the operation of each crane accordingly. This method of allocating operation instructions according to the operation status of each crane can reduce the avoidance situation, but when the process is complicated or the crane fails, avoidance is still inevitable, and this method is more suitable for non-grab cranes. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a driving avoidance and path scheduling method and system for unmanned grab crane.

[0005] The method for avoiding and dispatching a path of an unmanned grab crane provided by the present invention comprises:

[0006] Step 1: Determine the material collection and delivery points of each crane according to the material distribution in the warehouse area. After receiving the instructions, each crane determines whether the instructions of the adjacent cranes intersect through the crane positioning system. If so, wait in place until the instructions do not intersect and then execute step 2; if not, directly execute step 2;

[0007] Step 2: The crane automatically executes the target value and completes the unloading task. If interference with another crane is detected during the execution, step 3 is executed. Otherwise, until the task is completed, return to step 1 to continue execution;

[0008] Step 3: Obtain an avoidance result according to the avoidance strategy. If the avoidance result is that the vehicle should avoid, then execute step 4; otherwise, continue to execute step 2;

[0009] Step 4: The vehicle runs to the designated avoidance target position to complete the avoidance. After receiving the end signal from the avoided vehicle, the avoidance ends and the vehicle continues to execute step 2.

[0010] Preferably, if another vehicle is in a stationary state of initialization or termination suspension, the stationary vehicle avoids according to the target value of the vehicle that is executing the instruction, and the target value of avoidance is the target value being executed plus a preset safety distance.

[0011] Preferably, if another vehicle is executing the command, the judgment is made based on the avoidance signals of the two vehicles: if both vehicles cannot avoid, it means that the two vehicles have already grabbed or unloaded the material at the target position, and no new avoidance target value is issued to the two vehicles;

[0012] If only one of the two vehicles can give way, the vehicle that can give way will do so, and the target value of the avoidance is the target value of the vehicle that cannot give way plus a preset safety distance;

[0013] If both vehicles can give way, the avoidance strategy is determined based on the priority of the process settings of the two vehicles. The vehicle with the lower priority gives way, and the target value of the avoidance is the target value of the vehicle with the higher priority plus a preset safety distance.

[0014] Preferably, if multiple vehicles are performing avoidance, the avoidance is performed according to the priority of the multiple vehicles. After the avoidance is completed, the avoidance status of each vehicle is cleared and the avoidance strategy is re-executed.

[0015] Preferably, the avoidance end signal is a command completion signal of the avoided vehicle, or a signal sent after the avoided vehicle reaches a preset coordinate;

[0016] Signals are sent and received via OPC communication technology.

[0017] The vehicle avoidance and path scheduling system for unmanned grab crane provided by the present invention comprises:

[0018] Module M1: Determine the material collection and delivery points of each crane according to the material distribution in the warehouse area. After receiving the instructions, each crane determines whether the instructions of the adjacent cranes intersect through the crane positioning system. If so, it waits in place until the instructions do not intersect and then calls module M2; if not, it directly calls module M2;

[0019] Module M2: The crane automatically executes the target value and completes the unloading task. If interference with another crane is detected during the execution, module M3 is called. Otherwise, module M1 is called until the task is completed.

[0020] Module M3: Obtain the avoidance result according to the avoidance strategy. If the avoidance result is that the vehicle should avoid, module M4 is called; otherwise, module M2 is called to continue to complete the instruction.

[0021] Module M4: The vehicle runs to the specified avoidance target position to complete the avoidance, and ends the avoidance after receiving the end signal of the avoided vehicle. The vehicle calls module M2 to continue to complete the instruction.

[0022] Preferably, if another vehicle is in a stationary state of initialization or termination suspension, the stationary vehicle avoids according to the target value of the vehicle that is executing the instruction, and the target value of avoidance is the target value being executed plus a preset safety distance.

[0023] Preferably, if another vehicle is executing the command, the judgment is made based on the avoidance signals of the two vehicles: if both vehicles cannot avoid, it means that the two vehicles have already grabbed or unloaded the material at the target position, and no new avoidance target value is issued to the two vehicles;

[0024] If only one of the two vehicles can give way, the vehicle that can give way will do so, and the target value of the avoidance is the target value of the vehicle that cannot give way plus a preset safety distance;

[0025] If both vehicles can give way, the avoidance strategy is determined based on the priority of the process settings of the two vehicles. The vehicle with the lower priority gives way, and the target value of the avoidance is the target value of the vehicle with the higher priority plus a preset safety distance.

[0026] Preferably, if multiple vehicles are performing avoidance, the avoidance is performed according to the priority of the multiple vehicles. After the avoidance is completed, the avoidance status of each vehicle is cleared and the avoidance strategy is re-executed.

[0027] Preferably, the avoidance end signal is a command completion signal of the avoided vehicle, or a signal sent after the avoided vehicle reaches a preset coordinate;

[0028] Signals are sent and received via OPC communication technology.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. When anti-collision occurs during the grab bucket unloading and loading operations, the system can automatically detect and execute avoidance strategies according to the current situation to ensure cooperative operation of the driving;

[0031] 2. The present invention uses vehicle avoidance and path scheduling procedures to achieve safe and efficient collaborative operation of vehicles during loading and unloading;

[0032] 3. The present invention completes avoidance according to priority during avoidance, effectively arranges the order of work, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0034] Figure 1 This is a schematic diagram of the operation interval of the present invention;

[0035] Figure 2 This is a schematic diagram of two cars avoiding each other;

[0036] Figure 3 This is a schematic diagram of the three vehicles avoiding each other.

[0037] Figure 4 This is a flowchart for vehicle avoidance. DETAILED DESCRIPTION

[0038] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0039] Example:

[0040] According to the unmanned grab crane driving avoidance and path scheduling method provided by the present invention, before the system starts running, the Gray busbar and its supporting equipment (including the oscillator box, antenna box, start box, terminal box and vehicle-mounted electrical cabinet, etc.) are installed on the corresponding positions of the large and small vehicles as required, and a two-dimensional coordinate system is formed. When the system starts running, select the operation mode, the system automatically sets the operation range for each crane, click the unloading button on the screen, the crane starts to automatically perform the unloading operation, and starts to perform the following steps, such as Figure 4 :

[0041] Step 1: The system determines the material collection and placement points of each crane according to the material distribution situation in the warehouse area. After receiving the instructions, each crane determines whether the instructions of the adjacent cranes intersect with its own instructions through the crane positioning system. If so, it waits in place, otherwise, go to step 2; Figure 1 , is a schematic diagram of the operation interval of the present invention;

[0042] Step 2: The vehicle automatically executes the target value. If interference with another vehicle is detected during the execution, the anti-collision avoidance program is entered and the execution proceeds to step 3. Otherwise, the task is completed and the execution returns to step 1.

[0043] Step 3, obtain the final avoidance result according to the avoidance strategy. If the final result is that the vehicle avoids, go to step 4; otherwise, continue to step 2;

[0044] Step 4, the vehicle runs to the specified avoidance target position. After the avoidance is completed, after receiving the end signal of the avoided vehicle, the avoidance is completed, and the vehicle continues its own unloading task and returns to step 2.

[0045] The signal sent and received can be a command completion signal of the avoided vehicle, or a signal sent after the avoided vehicle or vehicle reaches a certain coordinate, which needs to be determined according to the actual production situation on site; the method of sending and receiving signals is OPC.

[0046] Step 3 is as follows:

[0047] Step 3.1, if the other vehicle is in a stationary state such as initialization, end suspension, etc., the stationary vehicle will avoid the vehicle according to the target value of the vehicle that is executing the instruction. The target value of the avoidance is the target value being executed plus a safety distance, plus an additional two meters. Otherwise, go to step 3.2;

[0048] Step 3.2, if the other crane is also executing the command, it will first judge based on the avoidance signals of the two cranes: if both cranes cannot avoid, it means that the two cranes are already grabbing materials at the target position, and the unmanned system will not issue new avoidance target values ​​to the two cranes to ensure safety; if one crane can avoid and the other cannot, the crane that can avoid will avoid, and the avoidance target value is also the target value of the unavoidable crane plus a safety distance, plus an additional two meters; if both cranes can avoid, the avoidance strategy is determined based on the priority of the two cranes (based on the on-site process settings), and the crane with the lower priority will avoid, and the avoidance result is the same as above, such as Figure 2 , is a schematic diagram of two vehicles avoiding each other. If the other vehicle is not stationary and is not executing the command, go to step 3.3;

[0049] Step 3.3, if another vehicle is already in the avoidance state, it means that the vehicle has already avoided other vehicles once, and the avoidance involves three or more vehicles. At this time, it is necessary to first determine the priority of the current vehicle and the priority of the "other vehicles" to determine the avoidance result. Then, no matter what the final avoidance result is, the corresponding avoidance states of the original avoidance vehicle and the vehicles that have avoided it need to be cleared to ensure that the avoidance can be triggered again.

[0050] like Figure 3, is a schematic diagram of the three cars avoiding each other. Before avoiding: At this time, car No. 2 is avoiding car No. 3 and has reached the avoidance target value. Car No. 1 is executing normal instructions and triggers collision avoidance with car No. 2. The system detects that car No. 1 has a higher priority than car No. 3;

[0051] After avoidance: Car No. 2 starts to avoid Car No. 1 again and clears the previous avoidance signal related to Car No. 3. When executing the command, Car No. 3 finds that it has triggered anti-collision with Car No. 2 again. Since the car that is being avoided has been changed to Car No. 1 at this time, Car No. 3 detects that Car No. 1 has a higher priority. After clearing the corresponding signal, it decides to avoid it on its own.

[0052] There are many driving states, and different driving states need to be analyzed one by one. The driving states include but are not limited to initialization, material grabbing operation, material discharging operation, pause, end of operation, end completion, avoidance, waiting and failure, etc. The final processing results of different states may be roughly the same, but they all need to be carefully considered, otherwise the driving operation will be stuck, seriously affecting production efficiency;

[0053] The priority of traffic avoidance requires familiarity with the on-site process requirements and constant communication and adjustment with on-site personnel before final determination. The design cannot be too idealistic and must meet actual needs.

[0054] The vehicle avoidance and path scheduling system for unmanned grab crane provided by the present invention comprises:

[0055] Module M1: Determine the material collection and delivery points of each crane according to the material distribution in the warehouse area. After receiving the instructions, each crane determines whether the instructions of the adjacent cranes intersect through the crane positioning system. If so, it waits in place until the instructions do not intersect and then calls module M2; if not, it directly calls module M2;

[0056] Module M2: The crane automatically executes the target value and completes the unloading task. If interference with another crane is detected during the execution, module M3 is called. Otherwise, module M1 is called until the task is completed.

[0057] Module M3: Obtain the avoidance result according to the avoidance strategy. If the avoidance result is that the vehicle should avoid, module M4 is called; otherwise, module M2 is called to continue to complete the instruction.

[0058] Module M4: The vehicle runs to the specified avoidance target position to complete the avoidance, and ends the avoidance after receiving the end signal of the avoided vehicle. The vehicle calls module M2 to continue to complete the instruction.

[0059] Preferably, if another vehicle is in a stationary state of initialization or termination suspension, the stationary vehicle avoids according to the target value of the vehicle that is executing the instruction, and the target value of avoidance is the target value being executed plus a preset safety distance.

[0060] Preferably, if another vehicle is executing the command, the judgment is made based on the avoidance signals of the two vehicles: if both vehicles cannot avoid, it means that the two vehicles have already grabbed or unloaded the material at the target position, and no new avoidance target value is issued to the two vehicles;

[0061] If only one of the two vehicles can give way, the vehicle that can give way will do so, and the target value of the avoidance is the target value of the vehicle that cannot give way plus a preset safety distance;

[0062] If both vehicles can give way, the avoidance strategy is determined based on the priority of the process settings of the two vehicles. The vehicle with the lower priority gives way, and the target value of the avoidance is the target value of the vehicle with the higher priority plus a preset safety distance.

[0063] Preferably, if multiple vehicles are performing avoidance, the avoidance is performed according to the priority of the multiple vehicles. After the avoidance is completed, the avoidance status of each vehicle is cleared and the avoidance strategy is re-executed.

[0064] Preferably, the avoidance end signal is a command completion signal of the avoided vehicle, or a signal sent after the avoided vehicle reaches a preset coordinate;

[0065] Signals are sent and received via OPC communication technology.

[0066] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0067] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for avoiding and dispatching a vehicle path for an unmanned grab crane, characterized in that: include: First, install the Gray busbar and its supporting equipment, including the oscillator box, antenna box, start box, terminal box and on-board electrical cabinet of the large and small vehicles at the corresponding positions of the large and small vehicles as required, and form a two-dimensional coordinate system; select the operation mode, set the operation range for each crane, click the unloading button on the screen, and the crane will automatically perform the unloading operation; Step 1: Determine the material collection and delivery points of each crane according to the material distribution in the warehouse area. After receiving the instructions, each crane determines whether the instructions of the adjacent cranes intersect through the crane positioning system. If so, wait in place until the instructions do not intersect and then execute step 2; if not, directly execute step 2; Step 2: The crane automatically moves to the target value to complete the unloading task. If interference with another crane is detected during the execution, step 3 is executed. Otherwise, until the task is completed, return to step 1 to continue execution. Step 3: Obtain an avoidance result according to the avoidance strategy. If the avoidance result is that the vehicle should avoid, then execute step 4; otherwise, continue to execute step 2; Step 4: The vehicle runs to the designated avoidance target position to complete the avoidance, and ends the avoidance after receiving the end signal of the avoided vehicle, and the vehicle continues to perform step 2; If the other vehicle is in a stationary state of initialization or termination suspension, the stationary vehicle will avoid the vehicle according to the target value of the vehicle that is executing the instruction. The target value of the avoidance is the target value being executed plus a preset safety distance. If another crane is executing the command, the avoidance signal of the two cranes will be used to determine whether it can avoid the material. If neither crane can avoid the material, it means that the two cranes have already grabbed or unloaded the material at the target position, and no new avoidance target value will be issued to the two cranes. If only one of the two vehicles can give way, the vehicle that can give way will do so, and the target value of the avoidance is the target value of the vehicle that cannot give way plus a preset safety distance; If both vehicles can give way, the avoidance strategy is determined based on the priority of the process settings of the two vehicles. The vehicle with the lower priority gives way, and the target value of the avoidance is the target value of the vehicle with the higher priority plus a preset safety distance. If multiple vehicles are trying to avoid each other, they will be avoided according to their priority. After the avoidance is completed, the avoidance status of each vehicle will be cleared and the avoidance strategy will be re-executed. The avoidance completion signal is a signal that the command of the avoided vehicle is completed, or a signal sent after the avoided vehicle reaches the preset coordinates; Signals are sent and received via OPC communication technology.

2. A vehicle avoidance and path scheduling system for unmanned grab crane, characterized in that: include: First, install the Gray busbar and its supporting equipment, including the oscillator box, antenna box, start box, terminal box and on-board electrical cabinet of the large and small vehicles at the corresponding positions of the large and small vehicles as required, and form a two-dimensional coordinate system; select the operation mode, set the operation range for each crane, click the unloading button on the screen, and the crane will automatically perform the unloading operation; Module M1: Determine the material collection and delivery points of each crane according to the material distribution in the warehouse area. After receiving the instructions, each crane determines whether the instructions of the adjacent cranes intersect through the crane positioning system. If so, it waits in place until the instructions do not intersect and then calls module M2; if not, it directly calls module M2; Module M2: The crane automatically moves to the target value to complete the unloading task. If interference with another crane is detected during the execution, module M3 is called. Otherwise, module M1 is called until the task is completed. Module M3: Obtain the avoidance result according to the avoidance strategy. If the avoidance result is that the vehicle should avoid, module M4 is called; otherwise, module M2 is called to continue to complete the instruction. Module M4: The vehicle runs to the designated avoidance target position to complete avoidance and wait. After receiving the end signal of the avoided vehicle, the avoidance ends. The vehicle calls module M2 to continue to complete the instruction. If the other vehicle is in a stationary state of initialization or termination suspension, the stationary vehicle will avoid the vehicle according to the target value of the vehicle that is executing the instruction. The target value of the avoidance is the target value being executed plus a preset safety distance. If another crane is executing the command, the avoidance signal of the two cranes will be used to determine whether it can avoid the material. If neither crane can avoid the material, it means that the two cranes have already grabbed or unloaded the material at the target position, and no new avoidance target value will be issued to the two cranes. If only one of the two vehicles can give way, the vehicle that can give way will do so, and the target value of the avoidance is the target value of the vehicle that cannot give way plus a preset safety distance; If both vehicles can give way, the avoidance strategy is determined based on the priority of the process settings of the two vehicles. The vehicle with the lower priority gives way, and the target value of the avoidance is the target value of the vehicle with the higher priority plus a preset safety distance. If multiple vehicles are trying to avoid each other, they will be avoided according to their priority. After the avoidance is completed, the avoidance status of each vehicle will be cleared and the avoidance strategy will be re-executed. The avoidance completion signal is a signal that the command of the avoided vehicle is completed, or a signal sent after the avoided vehicle reaches the preset coordinates; Signals are sent and received via OPC communication technology.

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