A method for automatic operation scheduling of multi-day cranes

Abstract

This invention relates to an automatic operation scheduling method for multiple overhead cranes, comprising: continuously scanning the overhead crane working area within a workshop using multiple lidar units to establish a three-dimensional model of the workshop; installing vehicle-mounted UWB ranging sensors that move with the crane trolleys on each crane and connecting them to an onboard PLC; the onboard PLC collecting real-time data on the absolute spatial position and crane status of each crane trolley, hoist, and lifting device, and uploading this data to an automatic operation scheduling system for multiple overhead cranes; and the scheduling system sending control commands to the onboard PLC control system based on the uploaded absolute spatial position and crane status data. The advantages of this invention are: it optimizes the operation time of multiple overhead cranes in a workshop; the implementation of this automatic operation scheduling method ensures that each crane operates at its most efficient mode, thereby improving workshop production efficiency, reducing the workload of crane operators, and increasing the level of automation.

Description

Technical Field

[0001] This invention discloses an automatic operation scheduling method for multiple overhead cranes, belonging to the field of automatic control of hoisting equipment in the metallurgical industry, and applicable to automatic overhead crane retrofit technology. Background Technology

[0002] In the metallurgical and mining industries, overhead cranes used in workshops and warehouses often consist of multiple cranes sharing the same main track. When production tasks are urgent, multiple cranes may need to operate simultaneously. However, the shared track prevents cranes from crossing over each other, and overlapping tasks or work areas between adjacent cranes lead to low efficiency in manual scheduling and coordination, resulting in interference and even collisions between cranes. For example, the scheduling platform described in the invention patent application number 20211112904.7 uses a highly reliable audio transmission scheme to ensure the accuracy of information transmission. However, besides increasing hardware costs, it still relies on manual voice commands and human execution, which can still lead to operational errors due to fatigue after long hours of work and in noisy environments. Adding an automatic scheduling algorithm can reduce the intensity of human operation and prevent production accidents. The anti-collision safety system described in the invention patent application number 201821699240.5 uses a large number of switching sensors connected to an onboard PLC to achieve collision detection and early warning. This solution can only be used when the crane is handling workpieces with a fixed shape placed within a fixed area. Furthermore, the use of numerous switching sensors increases the number of potential failure points; a failure of any one sensor will significantly impact the system's functionality and safety. Moreover, this solution only applies to the automation of a single crane at the equipment level, lacking room for further intelligent upgrades. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic operation scheduling method for multiple overhead cranes, which solves the above-mentioned technical problems. While ensuring the safe operation and normal functioning of the overhead cranes, it improves the response efficiency of each overhead crane and reduces the idle time of the overhead cranes.

[0004] The objective of this invention is achieved as follows.

[0005] The present invention provides an automatic operation scheduling method for multiple cranes, characterized by comprising the following steps:

[0006] S1. Multiple LiDAR units continuously scan the overhead crane work area within the workshop to establish a 3D model of the workshop. The system obtains real-time information on the positions of each overhead crane, the workshop work area, and the placement of each workpiece hoisting task. Based on the workshop model established by the LiDAR feedback, the scheduling system meshes the 3D model using the longest side of the rectangle representing the maximum opening of the overhead crane's lifting device as the unit of length *l*. The time required for the overhead crane to traverse one unit of mesh is...

[0007] S2. Install UWB ranging sensors at the end of one side of the main track of the same-track overhead crane. Install on-board UWB ranging sensors that move with the main crane on each overhead crane and connect them to the on-board PLC. The on-board PLC collects the absolute spatial position and crane status data of each overhead crane, trolley and hoist in real time and uploads it to the dispatching system through the communication system.

[0008] S3. The scheduling system calculates the required travel distances in the X, Y, and Z directions for the trolleys, cranes, and lifting devices of each crane without a task to reach the work point of the workpiece hoisting production task based on the uploaded absolute spatial positions of the cranes, crane status data, and the work point location of the workpiece hoisting production task X. These distances are denoted as l. n1 l n2 l n3 ;

[0009] S4. The scheduling system determines the work point location of the workpiece hoisting production task X and the preset trolley speed V for each unattended overhead crane N. a The speed of the trolley is V b The lifting speed of the spreader is V c Calculate the time required for each of the non-task overhead cranes N to reach the work point position of the workpiece hoisting production operation X: And select the T with the shortest time. a =min(T) n The non-task overhead crane N corresponding to ) will proceed to the next step of the judgment, where: a = 1, 2, ..., n;

[0010] S5. The dispatching system determines whether there is a running crane M based on the feedback from the lidar and the real-time status data transmitted from the onboard PLC of each crane. If there is no running crane M, it sends a control command to the onboard PLC control system through the communication system. a The corresponding unattended overhead crane N is assigned task X and executed. During its operation, the unattended overhead crane N uploads the range of its own trolley position relative to the workpiece hoisting production task X to the scheduling system. Simultaneously, the scheduling system marks the trolley operating range of the unattended overhead crane N as an interference zone. The process returns to step S1. If an overhead crane M is currently in operation, the scheduling system reads the pre-stored data from Level 2 to obtain the trolley operating range of the operating overhead crane M. It then determines whether the workpiece hoisting production task X executed by the unattended overhead crane N overlaps with the trolley operating range of the operating overhead crane M. If there is an overlap, the overhead crane N does not execute the workpiece hoisting production task X and proceeds to step T. uAfter the time interval, the scheduling system's judgment process returns to step S1. If the trolley travel range of the untasked overhead crane N and the running overhead crane M does not overlap, the untasked overhead crane N is assigned task X by the scheduling system and executed. The scheduling system's judgment process returns to step S1. During the operation of the untasked overhead crane N receiving the workpiece hoisting production task X, the scheduling system marks the range between the position of the untasked overhead crane N and the work point position of the workpiece hoisting production task X as an interference zone. When the overhead crane completes its task, the scheduling system cancels the interference zone mark and returns to the "step S1" stage to wait for a new task from the upper system. After all overhead cranes complete their current tasks, the onboard PLC uploads its own untasked status data to the scheduling system, and the scheduling system cancels the interference zone mark of this untasked overhead crane N.

[0011] Preferably, the crane status data includes the crane's automatic mode, manual mode, alarm status, running status, and whether or not it has a task.

[0012] The present invention discloses an automatic operation scheduling system for multiple overhead cranes, characterized in that it includes multiple overhead cranes mounted on the same-track overhead cranes within the workshop work area, an information acquisition system and an onboard PLC control system, a scheduling system and a communication system mounted on a host computer.

[0013] The information acquisition system is used to collect the image information of the entire processing workshop and the absolute spatial position and status data of each overhead crane, trolley, and lifting device, including feedback data from multiple lidar instruments, UWB ranging sensors, and vehicle-mounted UWB ranging sensors.

[0014] The scheduling system automatically calculates which crane should move to which location and perform which action based on the position of the workpiece being lifted and the absolute spatial positions of the crane's main trolley, auxiliary trolley, and lifting device, as well as the execution time of a certain action; and sends scheduling commands to the on-board PLC control and execution system through the communication system.

[0015] The advantages of this invention are: it can optimize the operation time of multiple overhead cranes in the workshop. The implementation of this automatic operation scheduling method ensures that each overhead crane is in the most efficient working mode, thereby improving the production efficiency of the workshop, reducing the workload of the overhead crane operators, and improving the level of automation. Attached Figure Description

[0016] Figure 1 This is a flowchart of the multi-crane automatic operation scheduling method of the present invention. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings.

[0018] See Figure 1The present invention discloses an automatic operation and scheduling system for multiple overhead cranes, characterized in that it includes multiple overhead cranes installed on the same track within the workshop work area, an information acquisition system and an onboard PLC control system, a scheduling system and a communication system installed on a host computer.

[0019] The information acquisition system is used to collect image information of the entire processing workshop and the absolute spatial position and status data of each overhead crane, trolley, and lifting device, including multiple lidar instruments, UWB ranging sensors, and vehicle-mounted UWB ranging sensors.

[0020] The scheduling system automatically calculates which crane should move to which location and perform which action based on the position of the workpiece being lifted and the absolute spatial positions of the crane's main trolley, auxiliary trolley, and lifting device, as well as the execution time of a certain action; and sends scheduling commands to the on-board PLC control and execution system through the communication system.

[0021] The present invention discloses an automatic operation scheduling method for multiple cranes, characterized by comprising the following steps:

[0022] S1. Multiple LiDAR units continuously scan the overhead crane work area within the workshop to establish a 3D model of the workshop. The system obtains real-time information on the positions of each overhead crane, the workshop work area, and the placement of each workpiece hoisting task. Based on the workshop model established by the LiDAR feedback, the scheduling system meshes the 3D model using the longest side of the rectangle representing the maximum opening of the overhead crane's lifting device as the unit of length *l*. The time required for the overhead crane to traverse one unit of mesh is...

[0023] S2. Install UWB ranging sensors at the end of one side of the main track of the same-track overhead crane. Install vehicle-mounted UWB ranging sensor base stations that move with the main crane on each main crane and connect them to the vehicle-mounted PLC. The vehicle-mounted PLC collects the absolute spatial position and crane status data of each main crane, trolley and hoist in real time and uploads it to the dispatching system through the communication system.

[0024] S3. The scheduling system calculates the required travel distances in the X, Y, and Z directions for the trolleys, cranes, and lifting devices of each crane without a task to reach the work point of the workpiece hoisting production task based on the uploaded absolute spatial positions of the cranes, crane status data, and the work point location of the workpiece hoisting production task X. These distances are denoted as l. n1 l n2 l n3 ;

[0025] The crane status data includes the crane's automatic mode, manual mode, alarm status, running status, and whether it has any tasks.

[0026] S4. The scheduling system determines the work point location of the workpiece hoisting production task X and the preset trolley speed V for each unattended overhead crane N. a The speed of the trolley is V b The lifting speed of the spreader is V c Calculate the time required for each of the non-task overhead cranes N to reach the work point position of the workpiece hoisting production operation X: And select the T with the shortest time. a =min(T) n The non-task overhead crane N corresponding to ) will proceed to the next step of the judgment, where: a = 1, 2, ..., n;

[0027] This invention addresses the issue of the speed V of the overhead cranes N without assigned tasks in a real workshop work area. a The speed of the trolley is V b The lifting speed of the spreader is V c The type is set to use random workpiece hoisting production task X in the workshop crane working area to solve the conflict in the execution of multiple tasks by multiple cranes caused by spatial constraints and mutual obstacle constraints during the operation of multiple cranes, which can effectively improve the production efficiency of the workshop hoisting process.

[0028] S5. The dispatching system determines whether there is a running crane M based on the feedback from the lidar and the real-time status data transmitted from the onboard PLC of each crane. If there is no running crane M, it sends a control command to the onboard PLC control system through the communication system. a The corresponding crane N without a task is assigned task X and executed.

[0029] During the operation of the unattended overhead crane N, the crane uploads the range of its own trolley position relative to the workpiece hoisting production task X to the scheduling system. Simultaneously, the scheduling system marks the trolley operating range of the unattended overhead crane N as an interference zone. The process returns to step S1. If an overhead crane M is currently in operation, the scheduling system reads the pre-stored data from Level 2 to obtain the trolley operating range of the operating crane M. It then determines whether the trolley operating range of the unattended overhead crane N performing workpiece hoisting production task X overlaps with that of the operating crane M. If there is an overlap, the overhead crane N does not perform workpiece hoisting production task X and... uAfter the time interval, the scheduling system's judgment process returns to step S1. If the trolley travel range of the untasked overhead crane N and the running overhead crane M does not overlap, the untasked overhead crane N is assigned task X by the scheduling system and executed. The scheduling system's judgment process returns to step S1. During the operation of the untasked overhead crane N receiving the workpiece hoisting production task X, the scheduling system marks the range between the position of the untasked overhead crane N and the work point position of the workpiece hoisting production task X as an interference zone. When the overhead crane completes its task, the scheduling system cancels the interference zone mark and returns to the "step S1" stage to wait for a new task from the upper system. After all overhead cranes complete their current tasks, the onboard PLC uploads its own untasked status data to the scheduling system, and the scheduling system cancels the interference zone mark of this untasked overhead crane N. This scheduling algorithm solves the inefficiency caused by mutual waiting during task scheduling of multiple overhead cranes on the same track within a workshop. Simultaneously, the onboard UWB ranging sensors can be used for real-time measurement of the relative distance between the main trolleys of each crane. The real-time relative positions of each crane can be adjusted and relative distance thresholds can be set according to specific circumstances. When the relative distance between two adjacent cranes is detected to be less than this threshold, the scheduling layer's host computer will send a collision alarm to the corresponding two cranes via the communication system. The onboard PLCs of the two cranes will then control the crane stop mechanism to brake and avoid collisions, thus improving the production safety of the multi-crane system.

[0030] It is understood that the above specific description of the present invention is only for illustrating the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention to achieve the same technical effect; as long as the use needs are met, they are all within the protection scope of the present invention.

Claims

1. A method for automatic operation scheduling of multiple trains, characterized in that: Includes the following steps: S1. Multiple LiDAR units continuously scan the overhead crane work area within the workshop to establish a 3D model of the workshop. The system obtains real-time information on the placement of each overhead crane, the workshop work area, and the lifting and production tasks of each workpiece. Based on the workshop model established by the LiDAR feedback, the scheduling system meshes the 3D model using the long side of the rectangle representing the maximum opening of the overhead crane's lifting device as the unit of length l. The preset speed of each overhead crane is V. a The speed of the trolley is V b The lifting speed of the spreader is V c The time required for the overhead crane to traverse one unit grid is... S2. Install UWB ranging sensors at the end of one side of the main track of the same-track overhead crane. Install on-board UWB ranging sensors that move with the main crane on each overhead crane and connect them to the on-board PLC. The on-board PLC collects the absolute spatial position and crane status data of each overhead crane, trolley and lifting device in real time, and uploads it to the multi-crane automatic operation scheduling system through the communication system. S3. The multi-crane automatic operation scheduling system calculates the required running distances in the X, Y, and Z directions for the trolleys, trolleys, and lifting devices of each crane to reach the work point of the workpiece hoisting production task X, based on the uploaded absolute spatial positions of the cranes, trolleys, and lifting devices of each crane without a task, and the crane status data, as well as the work point location of the workpiece hoisting production task X. These distances are denoted as l. n1 l n2 l n3 ; S4. The multi-crane automatic operation scheduling system determines the location of the workpiece hoisting production task X and the preset trolley speeds V of each non-task crane N. a The speed of the trolley is V b The lifting speed of the spreader is V c Calculate the time required for each of the non-task overhead cranes N to reach the work point position of the workpiece hoisting production operation X: And select the T with the shortest time. a =min(T) n The non-task overhead crane N corresponding to ) will proceed to the next step of the judgment, where: a = 1, 2, ..., n; S5, the multi-crane automatic operation scheduling system determines whether there is a crane M in operation based on the feedback from the lidar and the real-time status data transmitted back by the on-board PLC of each crane. If there is no crane M in operation, it sends a control command to the on-board PLC control system through the communication system. a The corresponding unattended overhead crane N is assigned task X and executed. During its operation, the unattended overhead crane N uploads the range of its own trolley position relative to the workpiece hoisting production task X to the scheduling system. Simultaneously, the scheduling system marks the trolley operating range of the unattended overhead crane N as an interference zone. The process returns to step S1. If an overhead crane M is currently in operation, the scheduling system reads the pre-stored data from Level 2 to obtain the trolley operating range of the operating overhead crane M. It then determines whether the workpiece hoisting production task X executed by the unattended overhead crane N overlaps with the trolley operating range of the operating overhead crane M. If there is an overlap, the overhead crane N does not execute the workpiece hoisting production task X and proceeds to step T. u After the time interval, the scheduling system's judgment process returns to step S1. If the trolley travel range of the untasked overhead crane N and the running overhead crane M does not overlap, the untasked overhead crane N is assigned task X by the scheduling system and executed. The scheduling system's judgment process returns to step S1. During the operation of the untasked overhead crane N receiving the workpiece hoisting production task X, the scheduling system marks the range between the position of the untasked overhead crane N and the work point position of the workpiece hoisting production task X as an interference zone. When the overhead crane completes its task, the scheduling system cancels the interference zone mark and returns to the "step S1" stage to wait for a new task from the upper system. After all overhead cranes complete their current tasks, the onboard PLC uploads its own untasked status data to the scheduling system, and the scheduling system cancels the interference zone mark of this untasked overhead crane N.

2. The automatic crane operation scheduling method according to claim 1, characterized in that: The crane status data includes the crane's automatic mode, manual mode, alarm status, running status, and whether it has any tasks.

3. The automatic crane operation scheduling method according to claim 1, characterized in that: The multi-crane automatic operation and scheduling system includes multiple cranes installed on the same track within the workshop work area, an information acquisition system and an on-board PLC control system, as well as a scheduling system and a communication system installed on a host computer. The information acquisition system is used to collect image information of the entire processing workshop and the absolute spatial position and status data of each overhead crane, trolley, and lifting device, including feedback data from multiple lidar units, UWB ranging sensors, and vehicle-mounted UWB ranging sensors. The scheduling system automatically calculates which crane should move to which location and perform which action based on the position of the workpiece being lifted and the absolute spatial positions of the crane's main trolley, auxiliary trolley, and lifting device, as well as the execution time of a certain action; and sends scheduling commands to the on-board PLC control and execution system through the communication system.

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