Crown block interlayer operation method

Abstract

The invention discloses a crown block interlayer operation method which comprises the following steps: after a transportation control system of a starting layer receives an interlayer operation instruction, an interlayer operation execution instruction is sent to an execution crown block executing the interlayer operation instruction in the starting layer; the execution crown block moves to a butt joint point of a corresponding crown block elevator at a starting layer according to the interlayer operation execution instruction; and after the execution crown block interacts with the crown block elevator, the execution crown block is transferred to a target layer corresponding to the interlayer operation instruction through the crown block elevator. According to the method, the conventional mode that materials are directly carried in conventional interlayer carrying is changed, the execution crown block directly enters the crown block elevator, additional input devices and taking-out devices do not need to be arranged, the implementation structure is simpler, transfer procedures are fewer, efficiency is higher, meanwhile, a conventional elevator scheme can be adopted in the scheme, and the cost is reduced. A brand-new structure does not need to be developed, and popularization and application are easier.

Description

Technical Field

[0001] The invention relates to the field of automatic material handling, in particular to an overhead crane inter-layer operation method. Background Art

[0002] The automatic material handling system (Automated Material Handling System), as the name suggests, is a system for transporting materials. With the increase in labor costs and the improvement of intelligent and refined production, traditional manual transportation between machines has become a bottleneck for production efficiency and production quality. The AMHS system has begun to be popularized in high-end manufacturing industries, such as wafer fabs, LCD flat panel factories, etc., and it is believed that it will enter more production fields in the future.

[0003] In a large automated factory, there are multiple layers of space, and each layer is equipped with certain equipment to achieve certain processing. At the same time, materials need to be transported between different layers of space in order to be processed at the equipment on different layers of space.

[0004] Overhead crane handling system (OHT) is an important component of the automatic material handling system. Usually, an overhead crane handling system is set up in each floor space to realize the handling of materials in the first floor space.

[0005] The existing patent with the authorization announcement number CN110740952B discloses a system and method for transporting materials in a multi-layer space. When transporting materials, the materials are placed on the partition part of the vertical transport device to realize the movement of materials in different layers of space.

[0006] However, this method requires the installation of complex input and removal devices at each layer to place materials on the partition and remove materials from the partition, which not only increases the equipment cost, but also increases the handling process, which is not conducive to improving the handling efficiency. At the same time, this method requires the redesign of a new vertical handling device, which is more difficult to develop. Summary of the invention

[0007] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a method for overhead crane inter-layer operation.

[0008] The purpose of the present invention is achieved through the following technical solutions: The method for operating the crane between layers includes the following steps: After receiving the inter-layer operation instruction, the transportation control system of the starting layer sends the inter-layer operation execution instruction to the execution crane in the starting layer that executes the inter-layer operation instruction; The execution crane moves to the docking point of the corresponding crane elevator at the starting layer according to the inter-layer operation execution instruction; After the execution crane interacts with the crane elevator, it is transferred to the target layer corresponding to the inter-layer operation instruction through the crane elevator. When the execution crane is in the crane elevator, its map is switched from the map of the starting layer to the map of the target layer.

[0009] Preferably, the inter-layer operation instruction is an inter-layer transport instruction or an inter-layer scheduling instruction.

[0010] Preferably, the overhead travelling crane elevator comprises at least one overhead travelling crane transfer rail.

[0011] Preferably, the top surface of the overhead crane transfer track has two symmetrical and connected inclined surfaces, one end of the two inclined surfaces connected is lower than their opposite ends, and the portion where the top surface of the overhead crane transfer track connects with the opposite ends of the two inclined surfaces is a plane.

[0012] Preferably, the docking point includes an access point and an exit point that are independent of each other, and the overhead travelling vehicle transfer track includes an entry end and an exit end corresponding to the access point and the exit point.

[0013] Preferably, after the execution crane moves to the docking point, it sends a request to the crane elevator whether the transfer can be performed; If the overhead crane elevator can be transferred, the overhead crane elevator feeds back to the executing overhead crane that the transfer can be performed; The execution crane feeds back information that the transfer can be performed to the transportation control system of the starting layer; The transportation control system of the starting layer sends a command to the execution crane to allow entry into the crane elevator; The execution crane moves into the crane elevator and feeds back information of entering the crane elevator to the transportation control system of the starting layer and applies to leave the control of the transportation control system of the starting layer; The transportation control system of the starting layer releases the control of the executing overhead crane after sending an execution transfer instruction to the executing overhead crane; The execution crane sends an execution transfer instruction to the crane elevator; The overhead crane elevator sends feedback information of receiving the execution transfer instruction to the execution crane and moves to the target layer according to the information of the target layer to be transferred to; The execution crane moves out to the docking point of the target layer.

[0014] Preferably, when it is determined that the execution crane can be moved out of the crane elevator, the execution crane is connected to communicate with the transportation control system of the target layer, and sends a control request to the transportation control system of the target layer to control it. After receiving the control request, the transportation control system of the target layer includes the execution crane in its control range, and sends feedback information to the MCS that the execution crane has arrived at the target layer; After the execution overhead crane moves to the docking point of the target layer, the transportation control system of the target layer sends an instruction to the execution overhead crane under its control to move the execution overhead crane to the avoidance point, and the execution overhead crane moves to the avoidance point according to the instruction of the transportation control system of the target layer.

[0015] Preferably, if the transportation control system at the starting position receives multiple inter-layer operation instructions sent by the MCS, it determines whether there are at least two inter-layer operation instructions corresponding to the same overhead crane elevator. If so, the order of moving the overhead cranes corresponding to the at least two inter-layer operation instructions to the same overhead crane elevator is determined according to the priority algorithm.

[0016] Preferably, before the executing overhead travelling crane moves to the docking point of the starting layer, the transportation control system of the starting layer may send a cancellation instruction of the inter-layer operation to the executing overhead travelling crane.

[0017] Preferably, the map of the target layer may be pre-stored in the execution crane or sent by the transportation control system corresponding to the access layer or sent by the transportation control system corresponding to the target layer.

[0018] After the MCS sends an inter-layer operation instruction to the transportation control system of a starting layer, it confirms whether the number of executing overhead cranes on the starting layer is lower than the lower limit threshold. If so, the MCS determines the number of executing overhead cranes on each layer and sends an inter-layer operation instruction to the transportation control system of the layer where the number of executing overhead cranes exceeds the upper limit threshold and is closest to the starting layer.

[0019] The advantages of the technical solution of the present invention are mainly reflected in: The present invention changes the conventional way of directly transporting materials between conventional layers. The present invention enables the overhead crane to directly enter the overhead crane elevator, thereby eliminating the need to set up additional input devices and removal devices, achieving a simpler structure, fewer transfer processes, and higher efficiency. At the same time, this solution can adopt a conventional elevator solution, does not require the development of a completely new structure, and is easier to promote and apply.

[0020] The overhead crane elevator of the present invention only needs to set up a simple overhead crane transfer track in the car to realize the transfer, which is easy to implement. At the same time, through the design of the overhead crane transfer track, the separation of the overhead crane entry and output can be realized, so that the overhead crane can enter at the same time, which is beneficial to improving the working efficiency.

[0021] The structure of the present invention can realize the dispatching of overhead cranes between different layers according to different needs, thereby ensuring the balance of the number of overhead cranes on each layer, and further ensuring the handling efficiency of each layer.

[0022] The overhead crane for performing inter-layer transportation of the present invention can perform map replacement in the overhead crane elevator, which can fully utilize the lifting time and thus improve efficiency.

[0023] When the overhead crane on each floor performs the inter-floor transport task, the present invention can dispatch overhead cranes from other floors at the first time according to the number of overhead cranes on the floor, so that the overhead crane performing the inter-floor transport task does not need to return to its original floor, thereby ensuring the timeliness and timeliness of the overhead crane dispatching. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of a three-dimensional transport system of the present invention; Figure 2 It is a plan view of a docking structure between a track in a layer and an overhead travelling crane lift in the present invention; Figure 3 It is a plan view of another docking structure between the track in a layer and the overhead travelling crane elevator in the present invention; Figure 4 It is a schematic diagram of the structure of matching a spoof MCS in each layer of the present invention; Figure 5 It is a process schematic diagram of the method of the present invention; Figure 6 It is a schematic diagram of the execution crane of the starting layer in the present invention moving to the docking point; Figure 7 It is a schematic diagram of the process of the crown block communicating with the crown block elevator and the TCS after the crown block reaches the docking point according to the present invention; Figure 8 It is a schematic diagram of the crown crane entering the crown crane elevator in the present invention; Fig. 9 is a schematic diagram of the overhead travelling crane elevator in the present invention moving to a target layer; Fig.10 It is a schematic diagram of the process of executing TCS communication between the overhead travelling vehicle and the target layer in the present invention; Fig.11 It is a schematic diagram of the process of executing the movement of the overhead travelling crane to the docking point of the target layer in the present invention. DETAILED DESCRIPTION

[0025] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0026] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] Example 1 The following is an explanation of the overhead crane inter-layer operation method disclosed by the present invention in conjunction with the accompanying drawings. The method of the present invention is based on a three-dimensional transport system, as shown in the attached drawings. Figure 1 As shown, the three-dimensional transport system includes an overhead travelling vehicle system disposed in different layers 100 and an overhead travelling vehicle elevator 400 connecting the overhead travelling vehicle systems in different layers 100 .

[0028] The layer 100 may be a floor of a building, or a space separated by multiple layers in the same space.

[0029] The structure of the overhead travelling vehicle system is the same as that of the prior art, and generally comprises an intra-layer track 200 and an overhead travelling vehicle 300 moving along the intra-layer track 200 .

[0030] The overhead crane lift 400 may be a known feasible vertical elevator. In a typical example, it includes an elevator shaft 410 and a car 420 disposed in the elevator shaft 410 and driven up and down by a driving assembly. Of course, the elevator shaft 410 is not necessary and may be omitted, and the car 420 may be a closed car with an automatic opening and closing door, or a hollow car composed of a rectangular frame. Alternatively, in another embodiment, the overhead crane lift 400 may also be a known guide rail industrial elevator or a known scissor lift, sleeve cylinder lift, oil cylinder straight top lift, etc. An overhead crane transfer track 430 is disposed in the car 420, which can be docked with the intra-layer track 200 of the overhead crane system on each floor.

[0031] In order to prevent the transport crane from moving randomly on the crane transfer rail 430 during lifting, the top surface of the crane transfer rail 430 can have two symmetrical and connected inclined surfaces, the slope of the inclined surfaces is, for example, between 1° and 5°, and the end where the two inclined surfaces are connected is lower than their opposite ends, and the part where the top surface of the crane transfer rail is connected to the opposite ends of the two inclined surfaces is a plane.

[0032] As attached Figure 1 As shown, in order to avoid interference between the normal operation of the overhead crane system and the inter-floor transport operation, the intra-floor track 200 of the overhead crane system of each floor 100 is connected with a docking point 500 extending outside the intra-floor track 200 and used to dock with the overhead crane transfer track 430. The docking point 500 is actually a transition track connected to the intra-floor track 200 of the overhead crane system and can dock with the overhead crane transfer track 430. There can be only one docking point 500. In this case, the overhead crane 300 entering and exiting a floor 100 must pass through the docking point 500 to enter and exit the car 420. Of course, as shown in the attached figure, Figure 2 As shown, in other embodiments, there may be two docking points 500 for each layer 100, and the corresponding docking points 500 for each layer 100 include independent access points 510 and access points 520. The access point 510 is used to execute the transition track of the overhead crane moving to the overhead crane transfer track 430, and the contact point is used to execute the transition track of the overhead crane moving out of the transition track to the track of the floor. Correspondingly, the overhead crane transfer track 430 in the car 420 includes an entry end and an exit end corresponding to the access point 510 and the access point 520. At this time, the number of the overhead crane transfer track 430 may be one, and both ends of the overhead crane transfer track 430 extend to the car door. In addition, according to the number of the car doors, the overhead crane transfer track 430 can be set to different shapes. For example, when there is only one car door, the overhead crane transfer track 430 needs to be set to a C-shaped or U-shaped structure that can realize turning, as shown in the attached figure. Figure 2 When there are two car doors and they are located on different sides of the car 420, the overhead crane transfer rail 430 may be L-shaped or straight and both ends of the overhead crane transfer rail 430 extend to the two car doors, as shown in the attached Figure 3 As shown. In addition, in order to facilitate the docking of the docking point 500 with the overhead crane transfer rail 430, so that the top height of the car door is lower than the overhead crane transfer rail 430, both ends of the overhead crane transfer rail 430 can extend to the outer surface of the car, and even extend to the outside of the car. Of course, in other embodiments, the car door is not necessary and can be omitted, and the car 420 can only be provided with a hole for the overhead crane 300 to pass through.

[0033] Of course, in other embodiments, the overhead crane transfer rails 430 in the car 420 may also be distributed in multiple layers, which can improve the transfer capacity of the car 420 to a certain extent, that is, the car 420 can transport multiple overhead cranes in one upward or downward movement.

[0034] When the overhead crane elevator 400 has an elevator shaft 410, a hall door corresponding to each floor 100 may be provided at the elevator shaft 410, and each of the car doors corresponds to one hall door. At the same time, the top of the door leaf of the hall door is lower than the bottom of the transition track, so that the transition track can extend to the top door or inside the hall door, thereby ensuring that the transition track and the overhead crane transfer track 430 on the overhead crane elevator 400 are docked with as little gap as possible. Of course, the elevator shaft and the hall door are not necessary and can be omitted.

[0035] The opposite ends of the transition track and the overhead crane transfer track are provided with matching alignment detection devices, and the alignment detection devices are, for example, known through-beam sensors or reflective plates and reflective photoelectric sensors. Preferably, a reflective plate can be provided at one end of the overhead crane transfer track facing the docking point, and the reflective plate can be recessed in a mounting groove at the end of the overhead crane transfer track. At the same time, a self-reflective photoelectric sensor is provided at one end of the transition track facing the overhead crane transfer track, and the self-reflective sensor is also recessed at the end of the transition track. When the car of the overhead crane elevator moves into place, if the self-reflective photoelectric sensor has a trigger signal, it is confirmed that the transition track and the overhead crane transfer track are aligned, otherwise, it is confirmed that there is an error between the transition track and the overhead crane transfer track. At this time, the machine can be stopped to alarm, or the position of the car of the overhead crane elevator can be fine-tuned up and down. Such a design does not require power supply to the car of the overhead crane elevator.

[0036] The number of the overhead crane elevators 400 can be designed according to actual application requirements, and there can be only one or more, which is not limited here.

[0037] As attached Figure 1 , Attachment Figure 4 As shown, the three-dimensional handling system also includes known control systems, such as MCS (Material Control System) and transportation control system (TCS, Transportation Control System). The overhead crane system of each layer 100 has an independent transportation control system 700. Multiple transportation control systems 700 can be connected to the same MCS600. Of course, each transportation control system 700 can also be connected to an independent MCS600, and each MCS600 can communicate with each other.

[0038] As attached Figure 5As shown, the overhead crane inter-layer operation method comprises the following steps: After receiving the inter-layer operation instruction, the transportation control system (TCS) of the starting layer 101 sends the inter-layer operation execution instruction to the execution crane 301 in the starting layer 101 that executes the inter-layer operation instruction; the inter-layer operation instruction is an inter-layer transport instruction or an inter-layer scheduling instruction.

[0039] The execution crane 301 moves to the docking point 500 of the corresponding crane elevator 400 at the starting layer 101 according to the inter-layer operation execution instruction; After the execution crane 301 interacts with the crane elevator 400, it is transferred to the target layer 102 corresponding to the inter-layer operation instruction through the crane elevator 400. When the execution crane 301 is in the crane elevator 400, its map is switched from the map of the starting layer to the map of the target layer.

[0040] The starting layer 101 is the layer 100 where the execution crane 301 that is to execute the inter-layer transport instruction is initially located. The inter-layer transport instruction refers to an instruction that an execution crane 301 of the starting layer 101 needs to transport the material of the starting layer 101 to a target layer 102 different from the starting layer 101. The inter-layer scheduling instruction refers to an instruction to schedule the execution crane 301 of the starting layer 101 to a target layer 102 different from the starting layer 101, and the scheduled execution crane 301 does not need to transport materials during the scheduling process.

[0041] The inter-layer operation instruction is sent by MCS600 to the transportation control system of the starting layer 101. After receiving the inter-layer operation instruction sent by MCS600, the transportation control system of the starting layer 101 feeds back a response to the instruction to the MSC. At the same time, the transportation control system of the starting layer 101 receives the inter-layer operation instruction including information of the execution crane 301 that executes the inter-layer operation instruction, information of the crane elevator 400, and the target layer 102 to be transferred to. The information of the execution crane 301 includes, for example, the number, position and moving route of the execution crane 301, and the information of the crane elevator 400 includes, for example, the number and position of the crane elevator 400.

[0042] The transportation control system of the starting layer 101 sends an inter-layer operation execution instruction to the execution crane 301 that executes the inter-layer operation instruction. After receiving the inter-layer operation execution instruction, the execution crane 301 sends a response to the transportation control system of the starting layer 101 that the instruction has been received, and operates according to the inter-layer operation execution instruction. When the inter-layer operation instruction is an inter-layer transport instruction, the execution crane 301 first moves to the material to be transported, grabs the material, and then moves to the docking point 500 of the corresponding crane elevator. If the inter-layer operation instruction is an inter-layer scheduling instruction, the execution crane 301 directly moves to the docking point 500 of the corresponding crane elevator, as shown in the attached figure. Figure 6 shown.

[0043] As attached Figure 7 As shown, after the execution crane 301 moves to the docking point 500, it feeds back the information of reaching the docking point 500 to the transportation control system of the starting layer, and sends a request to the crane elevator 400 whether the transfer can be performed; If the overhead crane elevator 400 can be transferred, the overhead crane elevator 400 feeds back information indicating that the transfer can be performed to the executing overhead crane 301; The execution crane feeds back information that the crane can be transferred to the transportation control system of the starting layer 101; The transportation control system of the starting layer 101 sends an instruction to the execution crane 301 to allow entry into the crane elevator, as shown in the attached Figure 8 As shown, the execution crane 301 moves into the crane elevator 400 and feeds back information of entering the crane elevator to the transportation control system of the starting layer 101 and applies to leave the control of the transportation control system of the starting layer 101; The transportation control system of the starting layer releases the control over the executing overhead crane after sending the execution transfer instruction to the executing overhead crane, and feeds back to the MCS the information that the executing overhead crane is heading to the target layer.

[0044] The execution crane 301 sends an execution transfer instruction to the crane elevator 400, that is, an instruction for the crane elevator to start the transfer.

[0045] The overhead crane 400 sends a feedback message of receiving the execution transfer instruction to the execution overhead crane and moves to the target layer 102 according to the information of the target layer 102 to be transferred to, as shown in the attached figure. Fig. 9 shown.

[0046] As attached Fig.10As shown, after the overhead crane elevator 400 moves to the target layer 102, it feeds back information that it has reached the target layer 102 and can move to the docking point of the target layer 102 to the executing crane 301. After receiving the information that it can move to the docking point of the target layer 102, the executing crane 301 moves out of the overhead crane elevator 400 to the docking point 500 of the target layer 102.

[0047] At any time between the time when the overhead crane elevator arrives at the target layer and the time when the execution crane 301 moves to the docking point 500 of the target layer 102, it is preferred that when it is determined that the execution crane 301 can be moved out of the overhead crane elevator, the execution crane connects and communicates with the transportation control system of the target layer, and sends a control request to the transportation control system of the target layer to control it. The connection and communication between the execution crane and the transportation control system can be achieved through known wireless communication technology. The corresponding wireless communication technology is a known technology and is not an innovation of the present invention, and will not be described here. Alternatively, the communication between the execution crane and the transportation control system can also adopt other communication methods. For example, the execution crane can switch its IP to be consistent with the network segment of the transportation control system of one layer, and then communicate with the transportation control systems of each layer through UDP unicast.

[0048] After receiving the control request, the transportation control system of the target layer includes the execution crane in its control range and sends the control information to the execution crane. The specific method for the transportation control system to release the control of the crane and include the crane in its control range is a known technology. For example, in one implementation, the transportation control system of each layer has a control crane table. When a new crane requests its control, the transportation control system adds the information of the crane requested to be controlled to the control crane table, that is, includes the crane in its control range. The crane can be controlled according to the information in the control crane table. On the contrary, the information of the crane requested to be out of its control is removed from the control crane table, that is, the control of the crane is released. This is not an innovation of the present invention and will not be elaborated here. Then, the transportation control system of the target layer reports to MCS600 the information that the execution crane 301 has arrived, so that MCS can timely and accurately understand which cranes each transportation control system communicates with.

[0049] After the execution crane moves to the docking point of the target layer, it sends information of arriving at the docking point of the target layer to the transportation control system of the target layer. Then, the transportation control system of the target layer sends an instruction to the execution crane 301 to leave the docking point of the target layer and move to a predetermined avoidance point on the layer track of the target layer. This can avoid as much as possible the impact on the next execution crane transported by the crane elevator. The avoidance point can be designed as needed, such as the point where the layer track intersects with the docking point, which is not limited here.

[0050] The execution crane 301 moves to the avoidance point and sends information of reaching the avoidance point to the transportation control system of the target layer.

[0051] Furthermore, each of the overhead cranes stores maps of the tracks within each layer. After the executing overhead crane enters the overhead crane elevator, the executing overhead crane can find the map corresponding to the target layer from its pre-stored maps according to the information of the target layer to be moved to, such as the number of the target layer to be moved to, and switch the currently used map from the map of the starting layer to the map of the target layer. The technology of automatic map switching is a known technology and will not be described in detail here. In this way, the time of the executing overhead crane moving up and down can be effectively used to switch the map, thereby effectively improving the work efficiency.

[0052] If the inter-layer operation instruction is an inter-layer transport instruction, the MCS600 system sends a transport instruction to the transportation control system of the target layer 102, and the transportation control system of the target layer 102 controls the execution crane 301 to transport the grabbed materials from the avoidance point to the target position according to the transport instruction; after the execution crane 301 completes the material transportation, the transportation control system of the target layer controls the execution crane to move to the designated position and wait for call according to the control instruction of the MCS.

[0053] If the inter-layer operation instruction is an inter-layer scheduling instruction, the transportation control system of the target layer 102 controls the execution crane 301 to execute the transportation task or move to a designated position to wait for calling according to the control instruction of the MCS.

[0054] If the transportation control system of the starting layer receives multiple inter-layer operation instructions sent by MCS600, it determines whether there are at least two inter-layer operation instructions corresponding to the same overhead crane elevator 400. If so, the order of moving the execution crane 301 corresponding to the at least two inter-layer operation instructions to the same overhead crane elevator 400 is determined according to the priority algorithm. The priority algorithm determines the specific execution order according to conditions such as the type of inter-layer operation instructions and / or the sequence of inter-layer operation instructions and / or the difference in the number of floors between the target layer and the starting layer of the inter-layer operation instructions. For example, among multiple inter-layer operation instructions that require the use of the same overhead crane elevator, if one is an inter-layer transport instruction, the inter-layer transport instruction is executed first, and then the other inter-layer operation instructions are processed according to the sequence of other inter-layer operation instructions. Moreover, when the MCS determines that the execution crane corresponding to an inter-layer operation instruction has reached the target layer, it will control the execution crane corresponding to the next inter-layer operation instruction to start executing the inter-layer transportation instruction. Of course, when the execution crane of an inter-layer operation instruction leaves the docking point of the starting layer, the execution crane corresponding to the next inter-layer operation instruction to be executed can be moved to the docking point of the starting layer first.

[0055] Before the execution crane 301 moves to the docking point 500 of the starting layer 101 , the transportation control system of the starting layer 101 may send a cancel inter-layer operation instruction to the execution crane 301 .

[0056] After the MCS600 sends an inter-layer operation instruction to the transportation control system of a starting layer 101, it confirms whether the number of executing cranes 301 of the starting layer 101 is lower than the lower limit threshold. If so, the MCS600 determines the number of executing cranes 301 of each layer 100 and sends an inter-layer operation instruction to the transportation control system of the layer 100 whose number of executing cranes 301 exceeds the upper limit threshold and is closest to the starting layer 101, so that the cranes of this layer are dispatched to the starting layer 101. This can effectively improve the deployment efficiency of the cranes, thereby ensuring that the number of cranes on each layer is balanced so that each crane can have the maximum utilization rate.

[0057] The MCS600 communicates with each overhead crane elevator, and each overhead crane elevator feeds back its operating status to the MCS600, so that the MCS600 can select a suitable overhead crane elevator to execute the corresponding inter-layer transportation instructions according to the operating status of the overhead crane elevator.

[0058] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for operating an overhead crane between floors, characterized in that: The steps include: After receiving the inter-layer operation instruction, the transportation control system of the starting layer sends the inter-layer operation execution instruction to the execution crane in the starting layer that executes the inter-layer operation instruction; The execution crane moves to the docking point of the corresponding crane elevator at the starting layer according to the inter-layer operation execution instruction; After the execution crane interacts with the crane elevator, it is transferred to the target layer corresponding to the inter-layer operation instruction through the crane elevator. When the execution crane is in the crane elevator, its map is switched from the map of the starting layer to the map of the target layer.

2. The method for overhead crane inter-layer operation according to claim 1, characterized in that: The inter-layer operation instruction is an inter-layer transport instruction or an inter-layer scheduling instruction.

3. The method for overhead crane inter-layer operation according to claim 1, characterized in that: The overhead travelling crane elevator includes at least one overhead travelling crane transfer rail.

4. The method for overhead crane inter-layer operation according to claim 3, characterized in that: The top surface of the overhead crane transfer track has two symmetrical and connected inclined surfaces, one end of the two inclined surfaces connected is lower than their opposite ends, and the part where the top surface of the overhead crane transfer track connects with the opposite ends of the two inclined surfaces is a plane.

5. The method for overhead crane inter-layer operation according to claim 3, characterized in that: The docking point includes an access point and an exit point that are independent of each other, and the overhead travelling vehicle transfer track includes an entry end and an exit end corresponding to the access point and the exit point.

6. The method for overhead crane inter-layer operation according to claim 1, characterized in that: After the execution crane moves to the docking point, it sends a request to the crane elevator whether the transfer can be performed; If the overhead crane elevator can be transferred, the overhead crane elevator feeds back to the executing overhead crane that the transfer can be performed; The execution crane feeds back information that the transfer can be performed to the transportation control system of the starting layer; The transportation control system of the starting layer sends a command to the execution crane to allow entry into the crane elevator; The execution crane moves into the crane elevator and feeds back information of entering the crane elevator to the transportation control system of the starting layer and applies to leave the control of the transportation control system of the starting layer; The transportation control system of the starting layer releases the control of the executing overhead crane after sending an execution transfer instruction to the executing overhead crane; The execution crane sends an execution transfer instruction to the crane elevator; The overhead crane elevator sends feedback information of receiving the execution transfer instruction to the execution crane and moves to the target layer according to the information of the target layer to be transferred to; The execution crane moves out to the docking point of the target layer.

7. The method for overhead crane inter-layer operation according to claim 6, characterized in that: When it is determined that the execution crane can be moved out of the crane elevator, the execution crane communicates with the transportation control system of the target layer, and sends a control request to the transportation control system of the target layer to control it. After receiving the control request, the transportation control system of the target layer includes the execution crane in its control range, and sends feedback information to the MCS that the execution crane has arrived at the target layer; After the execution overhead crane moves to the docking point of the target layer, the transportation control system of the target layer sends an instruction to the execution overhead crane under its control to move the execution overhead crane to the avoidance point, and the execution overhead crane moves to the avoidance point according to the instruction of the transportation control system of the target layer.

8. The method for overhead crane inter-layer operation according to claim 1, characterized in that: If the transportation control system at the starting position receives multiple inter-layer operation instructions sent by the MCS, it determines whether there are at least two inter-layer operation instructions corresponding to the same overhead crane elevator. If so, the order of moving the overhead cranes corresponding to the at least two inter-layer operation instructions to the same overhead crane elevator is determined according to the priority algorithm.

9. The method for overhead crane inter-layer operation according to claim 1, characterized in that: Before the executing overhead travelling crane moves to the docking point of the starting layer, the transportation control system of the starting layer may send a cancelling inter-layer operation instruction to the executing overhead travelling crane.

10. The method for overhead crane inter-layer operation according to claim 1, characterized in that: The map of the target layer may be pre-stored in the execution crane or sent by the transportation control system corresponding to the access layer or sent by the transportation control system corresponding to the target layer.

11. The method for overhead crane inter-layer operation according to any one of claims 1 to 10, characterized in that: After receiving the inter-layer operation instruction, the transportation control system of the starting layer confirms whether the number of executing overhead cranes on the starting layer is lower than the lower limit threshold. If so, the transportation control system of the starting layer sends an executing overhead crane call request to the MCS. The MCS determines the number of executing overhead cranes on each layer and sends the inter-layer operation instruction to the transportation control system of the layer whose number of executing overhead cranes exceeds the upper limit threshold and is closest to the starting layer.

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