Intelligent Control System Based on the Traveling Mechanism

Abstract

The present invention relates to an intelligent control system based on a traveling mechanism, which is applied to the intelligent transformation of traditional traveling cranes. It includes the operation control scheme of the traveling crane, the PLC program logic for the operation control of the traveling crane, and the interlock control scheme between the traveling crane and the roller table. Among them, in order to facilitate communication with different types of hardware devices, the design of the operation control scheme of the traveling crane involves three interface schemes: ModBusTCP, ModBusRTU, and ProfiBus⪻. The program logic of the PLC includes: the main program of the management system, the subroutine for coordinate confirmation, the subroutine for heartbeat signal, the subroutine for real-time coordinate acquisition, the subroutine for pause management, the subroutine for emergency stop management, the subroutine for MES parsing, the subroutine for operation management, the subroutine for safety monitoring, the subroutine for alarm management, and the subroutine for recovery management. The interlock control between the traveling crane and the roller table includes: determining the conditions for loading on the roller table, the transformation of corresponding equipment, and hardware protection. Compared with the traditional traveling crane control module, this invention can make the control parameters of the traveling crane tend to be optimal and achieve the intelligent control of the traveling crane.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent control of traveling cranes, and particularly relates to an intelligent control system not based on the traveling mechanism of a crane. Background Art

[0002] Steel plates, as the production raw materials of shipbuilding enterprises, are all stored in the steel plate yard. When moving the steel plates, a traveling crane is needed for transportation. A traditional traveling crane is a lifting device that spans over workshops, warehouses, and material yards for material hoisting. Since its two ends are located on tall cement columns or metal brackets, it resembles a bridge. The bridge of the traditional traveling crane runs longitudinally along the tracks laid on both sides of the elevated racks, and can make full use of the space under the bridge to hoist materials without being hindered by ground equipment. It is one of the most widely used and most numerous types of lifting machinery. Its bridge runs longitudinally along the tracks (roller tracks) laid on both sides of the elevated racks, and the hoisting trolley runs transversely along the tracks laid on the bridge, forming a rectangular working range, so that the space under the bridge can be fully utilized to hoist materials without being hindered by ground equipment. It is widely used in indoor and outdoor warehouses, factories, docks, open storage yards, etc.

[0003] At present, the traveling cranes used in the yard operations of domestic shipbuilding enterprises all adopt the traditional manual operation mode. The on-site environment is complex, and parameters such as the weight, size, and wind speed of the steel plates vary. The operation process relies heavily on manual experience, and the control accuracy is average. This makes it difficult for enterprises to implement intelligent control of the factory. Therefore, there is an urgent need to carry out intelligent transformation on the control module of the existing traveling crane. The deficiencies existing in the traditional traveling crane control method seriously affect the production efficiency of shipbuilding enterprises and the automatic control of the production raw materials in the yard. This requires improving the control module of the traditional traveling crane. However, in some existing improvement schemes, only a very small number of traveling crane control modules are involved, and the particularity of the problem leads to the non-universality of some improvement schemes for control modules. Summary of the Invention

[0004] In view of the above defects or improvement requirements of the prior art, the present invention provides an intelligent control system based on the traveling mechanism of a crane. This article studies the intelligent traveling crane control module designed based on the drive module of the traditional traveling crane. First, the operation control scheme of the traveling crane is designed. Each traveling crane mechanism is equipped with a set of PLC control cabinets, which are connected to the original lifting equipment through IO interfaces to replace the original manual control, and three interface schemes are proposed to achieve communication between various devices; then the PLC program logic for the operation control of the traveling crane is designed; finally, in order to avoid collisions between the traveling crane and the roller track, an interlock control between the traveling crane and the roller track is designed. These three parts together constitute the intelligent control module of the traveling crane, completing the intelligent upgrade of the traditional traveling crane control module.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows:

[0006] Design a driving operation control scheme for the crane. Each crane mechanism is equipped with a set of PLC control cabinets, which are connected to the original lifting equipment through IO interfaces to replace the original manual control. The PLC control cabinets are set with three interface schemes to achieve communication between various devices. Design the PLC program logic to realize the intelligent control of the crane operation. Finally, install an interlock control between the crane and the roller table to avoid collisions between the crane and the roller table.

[0007] For the driving operation control scheme of the crane, each crane mechanism is equipped with a set of Mitsubishi R series PLC control cabinets, which are connected to the original lifting equipment through IO interfaces to replace the original manual control.

[0008] For the driving operation control scheme of the crane, communicate with the RFID reader and the laser rangefinder through Ethernet or serial communication protocol to read ID and distance information. The laser rangefinder includes a laser rangefinder for measuring the horizontal direction of the crane mechanism and a laser rangefinder for measuring the vertical direction of the crane mechanism.

[0009] For the driving operation control scheme of the crane, each set of PLC control cabinets is equipped with a MES interface module, which cooperates with the wireless communication module to build a wireless communication link with the operation management system, processes and receives the crane commands issued by the operation management system and gives feedback, and caches when the wireless communication link is abnormal. At the same time, each set of PLC control cabinets is also configured with a 10-inch HMI touch screen to facilitate the on-site staff to understand the current situation and perform manual control when necessary.

[0010] For the driving operation control scheme of the crane, in order to facilitate communication with different types of hardware devices, the PLC control cabinets propose three interface schemes: ModBusTCP, ModBusRTU, and ProfiBus&ProfiNet.

[0011] For the driving operation control scheme of the crane, the common requirements for the three interface schemes of the PLC control cabinets are as follows:

[0012] (1) Each crane mechanism is equipped with a set of high-performance R series PLCs of MITSUBISHI, and each PLC is configured with a 10-inch HMI touch screen to be used as the carrier for human-machine interaction.

[0013] (2) One wireless communication module is equipped on the side of the PLC cabinet of each crane mechanism, and a wireless communication link is built through this wireless communication module and the wireless AP in the central control room.

[0014] (3) A dedicated MES interface module is equipped in the PLC control cabinet of each traveling mechanism, which can be used to process the traveling commands sent by the job management system and also to feedback some operating states of the traveling mechanism to the job management system. At the same time, this module can also cache the signal loss when the PLC control cabinet feedbacks to the job management system due to abnormal wireless communication links, ensuring the integrity of the data feedback from the PLC control cabinet to the job management system, and can also record each feedback log on the server on the job management system side.

[0015] (4) A DC module with 64 inputs and 64 outputs is equipped in the PLC control cabinet of each traveling mechanism for interacting with external signals. Inside the PLC cabinet, an intermediate relay with display is configured for each input and output point, which can not only play the role of interacting with external signals, but also play the role of isolation between systems, and can also conveniently and intuitively identify the presence or absence of signals.

[0016] (5) Each traveling mechanism is an independent system, and there is no signal exchange between the traveling mechanisms. The design rule of the PLC control cabinet of each traveling mechanism is to add the automatic function while retaining the original manual function of the traveling mechanism.

[0017] For the above traveling operation control scheme, the ModBusTCP interface scheme has the following separate requirements:

[0018] (1) The PLC control cabinet of each traveling mechanism communicates with the RFID through the built-in Ethernet interface of the CPU using the communication protocol of MODBUS-TCP, which maximally ensures the stability and rapidity of communication with the external RFID reader.

[0019] (2) The PLC control cabinet of each traveling mechanism communicates with the laser rangefinder through the built-in Ethernet interface in the CPU using the mature MODBUS-TCP method in the industry at a maximum speed of 10M / S, ensuring that during the movement of the trolley and the crane, the current position information of the trolley is fed back in real time for the PLC control cabinet of the traveling mechanism to call.

[0020] For the above traveling operation control scheme, the ModBusRTU interface scheme has the following separate requirements:

[0021] (1) A separate Modbus RTU master station module is equipped in the PLC control cabinet of each traveling mechanism, which communicates with the RFID using serial communication, maximally ensuring the stability and rapidity of communication with the external RFID reader.

[0022] (2) A separate Modbus RTU master module is equipped in the PLC control cabinet of each traveling mechanism. It communicates with the laser rangefinder using the mature industrial field serial bus, ensuring that during the movement of the trolley and the crane, the current trolley position information is real-time feedback for the traveling crane PLC control cabinet to call.

[0023] For the traveling crane operation control scheme, the ProfiBus&ProfiNet interface scheme has the following separate requirements:

[0024] (1) A PROFINET master module is equipped in the PLC control cabinet of each traveling mechanism. It communicates with the RFID using the industrial Ethernet bus protocol (100M), ensuring the stability and rapidity with the external RFID reader to the greatest extent.

[0025] (2) A PROFIBUS-DP master module is equipped in the PLC control cabinet of each traveling mechanism. It communicates with the laser rangefinder using the mature industrial field serial bus at a maximum speed of 10M / S, ensuring that during the movement of the trolley and the crane, the current trolley position information is real-time feedback for the traveling crane PLC control cabinet to call.

[0026] The traveling crane operation control PLC program logic includes a management system main program, a coordinate confirmation subprogram, a heartbeat signal subprogram, a coordinate real-time acquisition subprogram, a pause management subprogram, an emergency stop management subprogram, an MES parsing subprogram, an operation management subprogram, a safety monitoring subprogram, an alarm management subprogram, and a recovery management subprogram.

[0027] For the interlock control between the traveling crane and the roller table, the conditions for the roller table to receive the steel plate are as follows: The roller table control switch is set in the processing department. The opening and stopping signals of the roller table are both sent by the roller table control console in the processing department. When the steel plate yard control system Syms (hereinafter referred to as Syms) does not receive the roller table stop signal, only unloading, warehousing, and outbound operation instructions are issued to the traveling crane, and no online operation instructions are issued. When the online operation of the traveling crane is not completed, the roller table control console cannot execute the roller table opening operation either.

[0028] For the interlock control between the traveling crane and the roller table, in order to realize the process control of the roller table receiving the steel plate, it is necessary to transform Syms and the roller table operating system in the processing department:

[0029] (1) A single-selection switch (i.e., a switch with two states of "on / off") is installed on the roller table operation console, with a matching label or indicator light.

[0030] (2) A roller table operation indicating device (indicator light) is installed on the roller table operation console. The roller table can be operated after the process of the roller table receiving the steel plate is completed (in two modes of single-span or three-span completion), avoiding misoperation of the roller table during the process of receiving the steel plate.

[0031] (3) Under the closed state of the roller table operation, the Syms cannot be issued an allowable instruction - the roller table motor contactor interlock series I / O closed signal;

[0032] (4) An interface is installed in the centralized control room to access the steel plate yard control system and receive I / O signals;

[0033] (5) An output interface is installed in the centralized control room. The Syms outputs executable permissions and prevents incorrect operation of the roller table - the roller table motor contactor interlock series I / O closed signal.

[0034] The above intelligent control system based on the traveling crane mechanism is applied to the intelligent transformation of traditional traveling cranes, including the traveling crane operation control scheme, the traveling crane operation control PLC program logic, and the interlock control scheme between the traveling crane and the roller table. Among them, in order to facilitate communication with different types of hardware devices, the traveling crane operation control scheme design involves three interface schemes: ModBusTCP, ModBusRTU, and ProfiBus&ProfiNet. The program logic of the PLC includes: the management system main program, the coordinate confirmation subroutine, the heartbeat signal subroutine, the real-time coordinate acquisition subroutine, the pause management subroutine, the emergency stop management subroutine, the MES parsing subroutine, the operation management subroutine, the safety monitoring subroutine, the alarm management subroutine, and the recovery management subroutine. The interlock control between the traveling crane and the roller table includes: determining the conditions for the plate on the roller table, the transformation of the corresponding equipment, and hardware protection. Compared with the traditional traveling crane control module, this invention can make the traveling crane control parameters tend to be optimal and realize the intelligent control of the traveling crane. Description of the Drawings

[0035] Figure 1 It is a composition diagram of the intelligent control module scheme;

[0036] Figure 2 It is a block diagram of the traveling crane system using the ModBusTCP interface scheme;

[0037] Figure 3 It is a block diagram of the traveling crane system using the ModBusRTU interface scheme;

[0038] Figure 4 It is a block diagram of the traveling crane system using the ProfiBus&ProfiNet interface scheme;

[0039] Figure 5 It is a logic diagram of the management system main program;

[0040] Figure 6 It is a logic diagram of the system coordinate confirmation subroutine;

[0041] Figure 7 It is a logic diagram of the heartbeat signal management subroutine;

[0042] Figure 8It is the logic diagram of the real-time coordinate reading subroutine;

[0043] Figure 9 It is the logic diagram of the pause management subroutine;

[0044] Figure 10 It is the logic diagram of the emergency stop management subroutine;

[0045] Figure 11 It is the logic diagram of the MES parsing subroutine;

[0046] Figure 12 It is the logic diagram of the operation management subroutine;

[0047] Figure 13 It is the logic diagram of the safety monitoring subroutine;

[0048] Figure 14 It is the logic diagram of the alarm management subroutine;

[0049] Figure 15 It is the logic diagram of the recovery management subroutine;

[0050] Figure 16 It is the flow chart of the plate loading on the roller table. Specific implementation mode

[0051] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0052] As described herein, the term "comprising" and its various variants can be understood as open-ended terms, meaning "including but not limited to". The term "based on" can be understood as "at least partially based on". The term "one embodiment" can be understood as "at least one embodiment". The term "another embodiment" can be understood as "at least one other embodiment".

[0053] The intelligent transformation of the traditional driving control module includes three parts: First, design the driving operation control scheme. Each driving mechanism is equipped with a set of PLC control cabinets, which are connected to the original lifting equipment through IO interfaces to replace the original manual control. Three interface schemes are proposed to achieve communication between devices. Then, design the PLC program logic to achieve intelligent control of the driving operation. Finally, install the interlock control between the crane and the roller table to avoid collisions between the crane and the roller table. For example, an intelligent control system (module) based on the driving mechanism includes a laser rangefinder, an RFID reader, a wireless communication module, a PLC control cabinet, and an operation management system installed on the driving mechanism. The laser rangefinder is used to measure the position information of the driving mechanism in real time, that is, measure the distance between the driving mechanism and the obstacle to obtain the position; the RFID reader is used to identify the RFID tags on each batch of lifted materials to obtain the material status and the workload information of the incoming and outgoing of this batch; the PLC control cabinet is connected to the driving mechanism through the IO interface to control the operation of the driving mechanism, and communicates with the RFID reader and the laser rangefinder through Ethernet or serial communication protocol to read the ID and distance information. A MES interface module is equipped in the PLC control cabinet. The MES interface module cooperates with the wireless communication module and the operation management system to build a wireless communication link to process and receive the driving commands issued by the operation management system (app on the client) and feedback, and cache when the wireless communication link is abnormal.

[0054] The first step is the design of the driving operation control scheme, and its specific implementation method is as follows:

[0055] Each driving mechanism is equipped with a set of Mitsubishi R series PLC control cabinets, which are connected to the original lifting equipment through IO interfaces to replace the original manual control; communicate with the RFID reader and the laser rangefinder through Ethernet or serial communication protocol to read the ID and distance information. A MES interface module is equipped in each set of PLC control cabinets, which cooperates with the wireless communication module and the operation management system to build a wireless communication link to process and receive the driving commands issued by the operation management system and feedback, and cache when the wireless communication link is abnormal. At the same time, each set of PLC control cabinets is also configured with a 10-inch HMI touch screen to facilitate the staff to understand the current situation on-site and perform manual control when necessary. In order to facilitate communication with different types of hardware devices, the following three interface schemes are proposed: ModBusTCP, ModBusRTU, and ProfiBus&ProfiNet.

[0056] Such as Figure 2 , according to the block diagram of the driving system using the ModBusTCP interface scheme, the implementation method of the ModBusTCP interface scheme is as follows:

[0057] (1) Each traveling mechanism is equipped with a set of high-performance R series PLCs from MITSUBISHI. Each PLC is configured with a 10-inch HMI touch screen, which is used as the carrier for human-machine interaction.

[0058] (2) A wireless communication module is equipped on the side of the PLC cabinet of each traveling mechanism. A wireless communication link is built through this wireless communication module and the wireless AP in the central control room.

[0059] (3) A dedicated MES interface module is equipped in the PLC control cabinet of each traveling mechanism. It can be used to process the traveling commands issued by the operation management system and also to feedback some operating states of the traveling to the operation management system. At the same time, this module can also cache the signal loss of the PLC control cabinet feedback to the operation management system caused by abnormal wireless communication links, ensure the integrity of the data feedback from the PLC control cabinet to the operation management system, and can also record each feedback log on the server side of the operation management system.

[0060] (4) The PLC control cabinet of each traveling mechanism communicates with the RFID through the built-in Ethernet interface of the CPU in the way of MODBUS-TCP protocol, which maximally ensures the stability and rapidity of communication with the external RFID reader.

[0061] (5) The PLC control cabinet of each traveling mechanism communicates with the laser rangefinder through the built-in Ethernet interface in the CPU body using the mature MODBUS-TCP method in the industry at a speed of up to 10M / S, ensuring that during the movement of the trolley and the crane, the current trolley position information is fed back in real time for the traveling PLC control cabinet to call.

[0062] (6) A DC module with 64 inputs and 64 outputs is equipped in the PLC control cabinet of each traveling mechanism for interaction with external signals. An intermediate relay with display is configured for each input and output point inside the PLC cabinet, which can not only play the role of interacting with external signals, but also play the role of isolation between systems, and can also conveniently and intuitively identify the presence or absence of signals.

[0063] (7) Each traveling mechanism is an independent system, and there is no signal exchange between the traveling mechanisms. The design rule of the PLC control cabinet of each traveling mechanism is to add the automatic function implementation of the traveling on the premise of retaining the original manual function of the traveling.

[0064] Such as Figure 3 , according to the block diagram of the traveling system using the ModBusRTU interface scheme, the implementation method of the ModBusRTU interface scheme is as follows:

[0065] (1) Each traveling mechanism is equipped with a set of high-performance R series PLCs from MITSUBISHI. Each PLC is configured with a 10-inch HMI touch screen, which is used as the carrier for human-machine interaction.

[0066] (2) A wireless communication module is equipped on the side of the PLC cabinet of each traveling mechanism. A wireless communication link is built through this wireless communication module and the wireless AP in the central control room.

[0067] (3) A dedicated MES interface module is equipped in the PLC control cabinet of each traveling mechanism. It can be used to process and receive the traveling commands issued by the operation management system, and can also be used to feedback some operating states of the traveling to the operation management system. At the same time, this module can also cache the signal loss of the PLC control cabinet feedback to the operation management system caused by the abnormal wireless communication link, ensure the integrity of the data feedback from the PLC control cabinet to the operation management system, and can also record each feedback log on the server side of the operation management system.

[0068] (4) A separate Modbus RTU master station module is equipped in the PLC control cabinet of each traveling mechanism. It communicates with the RFID in a serial communication manner, which maximally ensures the stability and rapidity with the external RFID reader.

[0069] (5) A separate Modbus RTU master station module is equipped in the PLC control cabinet of each traveling mechanism. It communicates with the laser rangefinder using the mature industrial field serial bus, ensuring that during the movement of the trolley and the crane, the current trolley position information is fed back in real time for the traveling PLC control cabinet to call.

[0070] (6) A DC module with 64 inputs and 64 outputs is equipped in the PLC control cabinet of each traveling mechanism for interaction with external signals. An intermediate relay with display is configured for each input and output point inside the PLC cabinet, which can not only play the role of interacting with external signals, but also play the role of isolation between systems, and can also conveniently and intuitively identify the presence or absence of signals.

[0071] (7) Each traveling mechanism is an independent system, and there is no signal exchange between the traveling mechanisms. The design rule of the PLC control cabinet of each traveling mechanism is to add the realization of the automatic function of the traveling on the premise of retaining the original manual function of the traveling.

[0072] Such as Figure 4 , according to the block diagram of the traveling system using the ProfiBus&ProfiNet interface scheme, the implementation method of the ProfiBus&ProfiNet interface scheme is as follows:

[0073] (1) Each traveling mechanism is equipped with a set of high-performance R series PLCs from MITSUBISHI. Each PLC is configured with a 10-inch HMI touch screen, which is used as the carrier for human-machine interaction.

[0074] (2) A wireless communication module (provided by a third-party manufacturer) is equipped on the side of the PLC cabinet of each traveling mechanism. A wireless communication link is built through this wireless communication module and the wireless AP in the central control room.

[0075] (3) A dedicated MES interface module is equipped in the PLC control cabinet of each traveling mechanism. That is, the MES interface module can be used to process and receive the traveling commands issued by the job management system, and can also be used to feedback some operating states of the traveling mechanism to the job management system. At the same time, this module can also cache the signal loss of the PLC control cabinet feedback to the job management system due to abnormal wireless communication links, ensure the integrity of the data feedback from the PLC control cabinet to the job management system, and can also record each feedback log on the server side of the job management system.

[0076] (4) A PROFINET master station module is equipped in the PLC control cabinet of each traveling mechanism. It communicates with the RFID using the industrial Ethernet bus protocol (100M), which maximally ensures the stability and rapidity of communication with the external RFID reader.

[0077] (5) A PROFIBUS-DP master station module is equipped in the PLC control cabinet of each traveling mechanism. It communicates with the laser rangefinder using the mature industrial field serial bus at a maximum speed of 10M / S. This ensures that during the movement of the trolley and the crane, the current trolley position information is fed back in real time for the traveling PLC control cabinet to call. The traveling mechanism includes a trolley and a crane. The crane runs longitudinally along the tracks (roller tracks) laid on both sides of the elevated structure, and the lifting trolley runs transversely along the tracks laid on the bridge, forming a rectangular working range.

[0078] (6) A DC module with 64 inputs and 64 outputs is equipped in the PLC control cabinet of each traveling mechanism for interaction with external signals. An intermediate relay with display is configured for each input and output point inside the PLC cabinet. This can not only play the role of interacting with external signals, but also play the role of isolating between systems, and at the same time can conveniently and intuitively identify the presence or absence of signals.

[0079] (7) Each traveling mechanism is an independent system, and there is no signal exchange between the traveling mechanisms. The design rule of the PLC control cabinet of each traveling mechanism is to add the automatic function of the traveling mechanism while retaining the original manual function of the traveling mechanism.

[0080] The second step is the traveling crane PLC program logic, which aims to achieve intelligent control of the traveling crane operation, including: the main program of the management system, the coordinate confirmation subroutine, the heartbeat signal subroutine, the real-time coordinate acquisition subroutine, the pause management subroutine, the emergency stop management subroutine, the MES parsing subroutine, the operation management subroutine, the safety monitoring subroutine, the alarm management subroutine, and the recovery management subroutine.

[0081] The flowchart of the main program of the management system, and the program logic flow is as Figure 5 , the logic flow of the system coordinate confirmation subroutine is as Figure 6 , the program logic flow of the heartbeat signal management subroutine is as Figure 7 , the logic flow of the real-time coordinate reading subroutine is as Figure 8 , the logic flow of the pause management subroutine is as Figure 9 , the logic flow of the emergency stop management subroutine is as Figure 10 , the logic flow of the MES parsing subroutine is as Figure 11 , the logic flow of the operation management subroutine is as Figure 12 , the logic flow of the safety monitoring subroutine is as Figure 13 , the logic flow of the alarm management subroutine is as Figure 14 , the logic flow of the recovery management subroutine is as Figure 15 .

[0082] The third step is the interlock control between the traveling crane mechanism and the roller table, aiming to avoid collisions between the traveling crane and the roller table. The implementation methods include determining the conditions for the plate on the roller table and the transformation and hardware protection of the equipment.

[0083] As Figure 16 is the flowchart for the plate on the roller table. The roller table control switch is set inside the processing department. The signals for starting and stopping the roller table are all sent by the roller table control console in the processing department. When the steel plate yard control system Syms (hereinafter referred to as Syms) does not receive the roller table stop signal, it only issues unloading, warehousing, and outbound operation instructions to the traveling crane, and does not issue online operation instructions.

[0084] When the online operation of the traveling crane is not completed, the roller table control console cannot execute the roller table start operation either.

[0085] To achieve the process control of the plate on the roller table, it is necessary to transform Syms and the roller table operating system in the processing department:

[0086] (1) Install a single-selection switch (i.e., a switch with two states of "on / off") on the roller table operation console, and be equipped with labels or indicator lights;

[0087] (2) Install a roller table operation indication device (indicator light) on the roller table operation console. The roller table can be operated after the plate-on-roller-table process is completed (in two modes: single-span or three-span completion), to avoid misoperation of the roller table during the plate-on-roller-table process;

[0088] (3) When the roller table is in the running state and in the closed state, no permission command can be issued to Syms - the interlock series I / O closed signal of the roller table motor contactor;

[0089] (4) An interface is installed in the centralized control room to access the steel plate yard control system to receive I / O signals;

[0090] (5) An output interface is installed in the centralized control room. The Syms outputs the executable permission and prevents the roller table from misoperation - the interlock series I / O closed signal of the roller table motor contactor.

[0091] The above description of the embodiments is to enable those of ordinary skill in the art to understand and apply the present invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative labor. Therefore, the present invention is not limited to the embodiments here, and all improvements and modifications made by those skilled in the art based on the disclosure of the present invention should be within the protection scope of the present invention.

Claims

1. An intelligent control system based on a traveling mechanism, characterized in that, it includes: a laser rangefinder, an RFID reader, a wireless communication module, a PLC control cabinet, and an operation management system arranged on the traveling mechanism. The laser rangefinder is used to measure the position information of the traveling mechanism in real time; the RFID reader is used to identify the RFID tags on each batch of lifted materials to obtain the material status and the workload information of the inbound and outbound of this batch; the PLC control cabinet accesses the traveling mechanism through the IO interface to control the operation of the traveling mechanism, and communicates with the RFID reader and the laser rangefinder through Ethernet or serial communication protocol to read the ID and distance information. A MES interface module is equipped in the PLC control cabinet. The MES interface module cooperates with the wireless communication module and the operation management system to build a wireless communication link to process and feedback the traveling commands issued by the operation management system, and cache when the wireless communication link is abnormal; the PLC control cabinet runs according to the PLC program. The PLC program includes a heartbeat signal subroutine. The heartbeat signal subroutine is configured to send a square wave signal with 2 seconds ON and 2 seconds OFF generated in real time to the upper computer system through OPC, and detect the square wave signal sent by the upper computer system in the OPC variable in real time. If the square wave signal sent by the upper computer system has not changed for 30 seconds, it is determined that the traveling mechanism has a fault and an alarm is processed; it also includes a roller table control switch for controlling the operation of the roller table, a steel plate yard control system, and a roller table console. The roller table console collects the roller table opening and stop signals of the roller table control switch and sends the collected signals to the steel plate yard control system. When the steel plate yard control system does not receive the roller table stop signal, it only issues unloading, inbound and outbound operation instructions to the traveling mechanism, and does not issue online operation instructions. When the online operation of the traveling mechanism is not completed, the roller table console cannot execute the roller table opening operation either; the interlock control between the traveling mechanism and the roller table requires the transformation of the steel plate yard control system and the processing department roller table operation system to realize the process control of loading the plate on the roller table: (1) Install a single selection switch on the roller table console, with supporting labels or indicators; (2) Install a roller table operation indication device on the roller table console. The roller table can be operated after the plate loading process is completed to avoid misoperation of the roller table during the plate loading process; (3) When the roller table is in the running state and in the closed state, it is impossible to send an allow instruction to the steel plate yard control system - the roller table motor contactor interlocks and connects in series with the I / O closed signal; (4) Install an interface in the centralized control room to access the steel plate yard control system to receive I / O signals; (5) Install an output interface in the centralized control room. The output of the steel plate yard control system has executable permissions and prevents misoperation of the roller table - the roller table motor contactor interlocks and connects in series with the I / O closed signal.

2. The intelligent control system based on a traveling mechanism according to claim 1, characterized in that, a master station module of ModBus TCP is equipped in the PLC control cabinet, and it communicates with the RFID reader and the laser rangefinder by means of communication of the MODBUS-TCP protocol to ensure the stability and rapidity of communication.

3. The intelligent control system based on the traveling mechanism according to claim 1, characterized in that, the main station module of Modbus RTU is equipped in the PLC control cabinet, and serial communication is used to communicate with the RFID reader and the laser rangefinder, so as to ensure the stability and rapidity of communication.

4. The intelligent control system based on the traveling mechanism according to claim 1, characterized in that, the main station module of PROFINET is equipped in the PLC control cabinet, and the industrial Ethernet bus protocol is used to communicate with the RFID and the laser rangefinder, so as to ensure the stability and rapidity of communication.

5. The intelligent control system based on the traveling mechanism according to claim 1, characterized in that, the PLC control cabinet is the high-performance R series PLC of MITSUBISHI, and each PLC control cabinet is configured with an HMI touch screen as the carrier for human-machine interaction.

6. The intelligent control system based on the traveling mechanism according to claim 1, characterized in that, the DC module with 64 inputs and 64 outputs is equipped in the PLC control cabinet for the interaction with the external signals of the operation management system. Each input and output point of the DC module is equipped with an intermediate relay with display for the interaction with the external signals, and it can also play the role of isolation between systems, and at the same time, it can conveniently and intuitively identify the presence or absence of signals.

7. The intelligent control system based on the traveling mechanism according to claim 1, characterized in that, the PLC program further includes: the main program of the management system, the subroutine for coordinate confirmation, the subroutine for real-time coordinate acquisition, the subroutine for pause management, the subroutine for emergency stop management, the MES parsing subroutine, the operation management subroutine, the safety monitoring subroutine, the alarm management subroutine, and the recovery management subroutine.

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