Automatic crossing transfer method for silicon steel coils
By obtaining the inlet information of silicon steel coils and generating task paths, and combining the priority judgment method to avoid paths, the problems of low efficiency and safety risks in the transportation of silicon steel coils are solved, and an efficient and safe transportation process is achieved.
Patent Information
- Application Number
- CN202411877938.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-19
- Publication Date
- 2025-03-25
AI Technical Summary
In the prior art, the transport method of silicon steel coils between longitudinal thread shearing and material warehouses has problems of inefficiency and safety risks, especially in the transport between multiple longitudinal thread shearing and multiple material warehouses, collisions may occur across the cross-span trolleys, affecting transportation efficiency.
By obtaining the storage information of the silicon steel coil, the transfer car is determined and the task path is generated, and whether there is a conflict in the task path of the adjacent car. If it is a conflict, the priority of the car is determined based on the preset priority judgment method. The car with low priority avoids the car with high priority to avoid collisions.
It effectively avoids collisions between cars across the trolleys, improves transportation efficiency, and can complete tasks with high priority as soon as possible.
Smart Images
Figure CN119683194A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of automatic transportation, and in particular to an automatic cross-transportation method for silicon steel coils. Background Art
[0002] Due to the heavy weight of silicon steel coils, the transportation process of silicon steel coils from the slitting line to the material warehouse is mostly carried out by crane and forklift. This transportation method has the following two main defects: 1. Both driving and forklift transfers require manual operation, which affects efficiency and has certain safety risks.
[0003] 2. Driving transfer can only be carried out within a single span and cannot cross the span; forklift transfer requires a transfer channel to be reserved, which affects the layout of the workshop.
[0004] Therefore, a cross-over trolley is currently set between the slitting line and the material warehouse, and the cross-over trolley is used to automatically transfer the silicon steel coil to overcome the above-mentioned defects. In actual production, there are generally more than one slitting line and material warehouse. In order to improve the transportation efficiency, multiple cross-over trolleys are required between multiple slitting lines and multiple material warehouses. In order to save space, these cross-over trolleys share a track, which may cause collisions between adjacent cross-over trolleys. How to maximize the transportation efficiency while avoiding collisions between cross-over trolleys is a problem that needs to be solved at present. Summary of the invention
[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a method for automatic cross-span transfer of silicon steel coils to solve one or more problems in the prior art.
[0006] To achieve the above object, the technical solution of the present invention is as follows: A method for automatically transferring a silicon steel coil across a span comprises the following steps: Obtaining the warehousing information of the silicon steel coil, wherein the warehousing information includes the production line number and the warehousing sequence; Determine the transfer vehicle based on the incoming information and generate the corresponding task path; Whenever a new task path is generated, it is determined whether there is a path conflict between the task paths of adjacent vehicles. If there is a conflict, the priority of the car is determined according to the preset priority judgment method, and the car with lower priority will avoid the car with higher priority. If there is no conflict, the car will run normally according to the task path.
[0007] Further, the step of determining the transfer vehicle according to the warehousing information includes the following steps: Determine whether there is a preset special storage location in the storage sequence. If it exists, the corresponding trolley is determined according to the preset correspondence between the characteristic storage location and the trolley, and the determined trolley is used as the transfer trolley; If it does not exist, the corresponding trolley is matched according to the preset correspondence between the production line number and the trolley, and the matched trolley is used as the transfer trolley.
[0008] Further, the trolley includes two storage locations, each storage location is used to store silicon steel coils of the same batch produced by the production line; The priority determination method comprises the following steps: Determine whether the two storage positions of the trolley are loaded with silicon steel coils. If only one trolley has two storage locations loaded with silicon steel coils, the trolley has a higher priority.
[0009] Furthermore, the priority determination method comprises the following steps: Determine whether the incoming information corresponding to any cart contains urgent order information. If the incoming information corresponding to any cart contains urgent order information, the cart corresponding to the incoming information is defined to have a higher priority; If neither contains urgent order information or both contain urgent order information, the task path lengths of the two vehicles are compared, and the vehicle with the longer task path has a higher priority.
[0010] Furthermore, the task path is formed by arranging a number of process library sites and feed library sites; When the car arrives at the process storage location according to the task path, the car continues to move to the next storage location; When the trolley arrives at the feed storage location according to the task path, the trolley waits for the loaded silicon steel coil corresponding to the storage location to be delivered to the storage location before moving to the next storage location until the task path is completed.
[0011] Furthermore, generating the corresponding task path includes the following steps: Determine whether the car has a previously executed task path. If it exists, obtain the material storage locations that have not been passed in the previous task path and merge them with the current storage order to form a new storage order, and then generate the task path according to the new storage order; If it does not exist, the task path will be directly generated according to the current storage order.
[0012] Furthermore, the merging into a new storage order includes the following steps: Generate a previous order based on the unvisited storage locations in the previous task path, and define the current storage order as the subsequent order; According to the production line number corresponding to the latter sequence, the distances to the first feed warehouse location in the former sequence and the latter sequence are calculated respectively, and recorded as the first distance and the second distance; Determine whether the first distance is greater than the second distance, If it is greater, the storage order is generated according to the condition of "first satisfy the earlier order and second satisfy the later order"; If it is not greater, the storage order is generated according to the condition of "first satisfying the later order and then satisfying the earlier order".
[0013] Furthermore, the low-priority vehicle performs path avoidance on the high-priority vehicle, comprising the following steps: Determine whether the task path corresponding to the car with high priority is a one-way path or a two-way path. If it is a one-way path, a floating avoidance area is generated according to the task path, and the floating avoidance area is dynamically adjusted according to the real-time position of the high-priority vehicle; If it is a two-way path, a fixed avoidance area is generated according to the task path; The low priority car is operating outside the floating avoidance area or the fixed avoidance area.
[0014] Compared with the prior art, the beneficial technical effects of the present invention are as follows: in the event of a task path conflict, avoidance is arranged according to the current priority of the transfer vehicle to avoid collisions between transfer vehicles, and high-priority tasks can be completed as soon as possible. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 A flow chart of an automatic cross-span transfer method for silicon steel coils provided in an embodiment of the present invention is shown.
[0016] Figure 2 A schematic structural diagram of an automatic cross-span transfer system provided by an embodiment of the present invention is shown.
[0017] Figure 3 A schematic structural diagram of a transfer trolley with two storage locations provided in an embodiment of the present invention is shown. DETAILED DESCRIPTION
[0018] A method for automatic cross-span transfer of silicon steel coils is used in an automatic cross-span transfer system. Figure 1 As shown, the system includes multiple longitudinal cutting production lines, multiple material storage locations and a transfer rail. Among them, multiple longitudinal cutting production lines are arranged in sequence along the length direction of the transfer rail and are all on one side of the transfer rail, and multiple material storage locations are arranged in sequence along the length direction of the transfer rail and are on the other side of the transfer rail. Multiple trolleys are placed on the transfer rail. The transfer rail is provided with a rotating position at the exit of each longitudinal cutting production line and the entrance of each material storage location, so that the trolley can receive materials from the longitudinal cutting production line or feed materials into the material storage location.
[0019] According to the automatic cross-span transfer method of silicon steel coils, the trolleys on the transfer rails can be reasonably dispatched to meet the transfer needs of silicon steel coils from the longitudinal shearing production line to the storage location, and avoid path conflicts and collisions between adjacent trolleys.
[0020] In order to balance efficiency and safety, in the above system, a dual-cart mode is used to handle the transfer work between the slitting production line and the storage location in one area, and the trolleys between adjacent areas will not interfere with each other. The number of slitting production lines in one area is between 2-3; the number of storage locations is between 2-4.
[0021] In this example, refer to Figure 1 There are three longitudinal cutting production lines, namely longitudinal cutting line 1, longitudinal cutting line 2, and longitudinal cutting line 3; there are four storage warehouses, namely warehouse A, warehouse B, warehouse C, and warehouse D. The trolley close to the longitudinal cutting line A is defined as car No. 1, and the trolley close to the longitudinal cutting line C is defined as car No. 2.
[0022] A method for automatic cross-span transfer of silicon steel coils, see Figure 2 , including the following steps: S100. Obtain the storage information of silicon steel coils.
[0023] The warehousing information includes the production line number and warehousing sequence.
[0024] The production line number is the number of the longitudinal cutting production line. Different longitudinal cutting production lines correspond to different production line numbers. For example, the production line number of longitudinal cutting line 1 is M, the production line number of longitudinal cutting line 2 is N, and the production line number of longitudinal cutting line 3 is L.
[0025] The storage order refers to the location of the storage locations where the silicon steel coils of the same batch produced by the slitting production line are to be stored separately. And because the trolley stores silicon steel coils in a first-in-last-out or last-in-first-out mode, the trolley must strictly feed the materials in the storage order. For example, the storage order is BBBCA, indicating that the number of silicon steel coils of the same batch produced by the corresponding slitting production line is 5 coils, and they need to be stored in B warehouse, B warehouse, B warehouse, C warehouse and A warehouse in the order from first to last.
[0026] S200. Determine the transfer vehicle according to the warehousing information and generate the corresponding task path.
[0027] The task path is composed of several process storage locations and feed storage locations. The feed storage locations are determined according to the order of storage, while the process storage locations are the locations that need to be passed from the slitting production line to each feed storage location.
[0028] For example, if the slitting production line is slitting line 1 and the storage order is BBBCA, then the material storage locations are B storage, C storage, and A storage, and combined with the attached Figure 1It can be seen that the transfer vehicle first goes to warehouse B to store three silicon steel coils, then goes to warehouse C to store one silicon steel coil, and then passes through warehouse B to warehouse A to store the last silicon steel coil. Its task path is BCBA, among which the second B is the process warehouse site, and the rest are feeding warehouse sites.
[0029] S300. Whenever a new task path is generated, determine whether there is a path conflict between the task paths of adjacent vehicles.
[0030] If there is no conflict, the car will run normally according to the task path.
[0031] When the vehicle arrives at the process storage location according to the task path, the vehicle does not need to stop and continues to move to the next storage location.
[0032] When the trolley arrives at the feeding warehouse location according to the task path, the trolley waits for the silicon steel coil corresponding to the warehouse location to be delivered to the warehouse location. When the transfer trolley receives the warehousing completion instruction, it moves to the next warehouse location.
[0033] S400: If there is a conflict, the priority of the vehicles is determined according to a preset priority judgment method, and the vehicle with a lower priority avoids the vehicle with a higher priority.
[0034] In one embodiment, determining a transfer vehicle according to the warehousing information includes the following steps: S210: Determine whether there is a preset special storage location in the storage sequence.
[0035] S220. If it exists, determine the corresponding trolley according to the preset corresponding relationship between the characteristic storage location and the trolley, and use the determined trolley as the transfer trolley.
[0036] S230: If it does not exist, a corresponding trolley is matched according to the correspondence between the preset production line number and the trolley, and the matched trolley is used as the transfer trolley.
[0037] Considering that some storage locations are located in the corners of the area, they are more suitable for transfer by nearby carts. If a cart at a farther location is selected, it is easy to cause another cart to be completely unable to work. Therefore, specific storage locations are preset and the carts corresponding to the specific storage locations are specified. For example, Figure 1 As shown in the figure, Warehouse A belongs to one of the specific warehouse locations, and Warehouse A corresponds to Car No. 1. When Warehouse A appears in the warehousing sequence, Car No. 1 is designated as the transfer car.
[0038] Correspondingly, there is also a distance relationship between the longitudinal cutting production line and the trolley. Therefore, the correspondence between the production line number and the trolley is also preset to facilitate the rapid allocation of the warehousing information to the corresponding trolley.
[0039] It should be noted that in order to ensure that each warehousing information can be assigned to a trolley, each longitudinal cutting production line has a corresponding trolley, that is, the trolley is either determined by a specific storage location or by the production line number.
[0040] In one embodiment, the priority determination method includes the following steps: S410: Determine whether the warehousing information corresponding to any cart contains emergency order information.
[0041] S420. If the warehousing information corresponding to any trolley contains urgent order information, the trolley corresponding to the warehousing information is defined as having a high priority.
[0042] S430: If neither of the two vehicles contains emergency order information or both contain emergency order information, the task path lengths of the two vehicles are compared, and the vehicle with the longer task path has a higher priority.
[0043] When the longitudinal shearing output material is reported, the silicon steel coil currently being produced will be given the information of "urgent order" or "normal order" according to the order situation. The cart loaded with silicon steel coils of "normal order" must give way to the cart loaded with silicon steel coils of "urgent order".
[0044] When both carts are loaded with silicon steel coils of "normal order", the cart with the longer path gives way to the cart with the shorter path according to the task path.
[0045] In one embodiment, in order to improve the transfer efficiency, the loading mode of the trolley can be improved to increase the loading capacity of the trolley. Figure 3 As shown, the improved trolley is equipped with two suspension arms, which are arranged opposite to each other, and each suspension arm can be used to store a group of silicon steel coils produced at the same batch of the slitting production line. The storage space on a suspension arm is defined as a storage position, and each trolley has two storage positions.
[0046] Due to the changes in the car structure, the priority judgment method has also changed accordingly.
[0047] Based on the improved car, the priority determination method includes the following steps: D410. Determine whether the warehousing information corresponding to any cart contains emergency order information.
[0048] D420. If the incoming warehouse information corresponding to any trolley contains urgent order information, the trolley corresponding to the incoming warehouse information is defined as having a high priority.
[0049] D430: If neither contains emergency order information or both contain emergency order information, it is determined whether both storage locations of the trolley are loaded with silicon steel coils.
[0050] D440. If only one trolley has two storage locations loaded with silicon steel coils, the trolley has a higher priority.
[0051] D450: If both carts are loaded or not loaded, compare the task path lengths of the two carts.
[0052] It can be seen that the priority is still the cart with the "urgent order" silicon steel coil, followed by the cart with full storage space, and then the cart with a long task path.
[0053] In one embodiment, for a trolley that can only handle one batch of silicon steel coils, the trolley must first complete the current warehousing task before starting to execute the newly received warehousing task, so the newly received warehousing task will be queued according to the time of receipt.
[0054] For the improved trolley, due to the increase in storage space, there will be a situation where only one suspension arm of the trolley is loaded with silicon steel coils while the other suspension arm is empty. At this time, when the trolley is performing the warehousing task of the silicon steel coils on one suspension arm, it is assigned new warehousing information. The trolley will prioritize loading the corresponding silicon steel coils onto the other suspension arm according to the newly received warehousing information. But then it is necessary to consider how to make the trolley complete the two warehousing tasks more efficiently. Of course, when both arms of the trolley are loaded with silicon steel coils and new warehousing information is received, the new warehousing information is temporarily empty. After the trolley has stored all the silicon steel coils on one arm, it will execute the earliest received warehousing information according to the receiving time.
[0055] Based on the improved car, generating the corresponding task path includes the following steps: D210, determine whether the car has a previously executed task path.
[0056] D220, if it exists, obtain the material storage locations that have not been passed in the previous task path and merge them with the current storage sequence into a new storage sequence, and then generate the task path according to the new storage sequence.
[0057] D230: If it does not exist, the task path will be directly generated according to the current storage order.
[0058] When the trolley is transporting silicon steel coils, it uses the nearest storage method to store the silicon steel coils. That is, when the trolley reaches a certain storage location, the silicon steel coil on the outermost side of any suspension arm of the trolley should be stored in that storage location, and the trolley needs to stop to store the silicon steel coils. Therefore, the new storage order needs to be combined with the silicon steel sheet sorting on the two suspension arms to re-plan the storage location.
[0059] In one embodiment, merging into a new storage order includes the following steps: D221. Generate a prior sequence based on the incoming warehouse locations that have not been passed in the previous task path, and define the current incoming warehouse sequence as the subsequent sequence.
[0060] D222. Calculate the distances to the first feed warehouse location in the previous sequence and the next sequence according to the production line number corresponding to the next sequence, and record them as the first distance and the second distance.
[0061] D223. Determine whether the first distance is greater than the second distance.
[0062] D224, if it is greater, the storage order is generated according to the condition of "first satisfying the earlier order and then satisfying the later order".
[0063] D225. If it is not greater than, the storage order is generated according to the condition of "first satisfying the later order and then satisfying the earlier order".
[0064] Before calculating the first distance and the second distance, it is first determined whether any of the previous sequence and the next sequence corresponds to an urgent task. If there is a sequence that corresponds to an urgent task, then this sequence is given priority. Only when neither of the two sequences corresponds to an urgent task or both correspond to an urgent task, then it is determined whether the first distance is greater than the second distance.
[0065] In one embodiment, a low-priority vehicle performs path avoidance on a high-priority vehicle, including the following steps: S440, determining whether the task path corresponding to the car with a high priority is a one-way path or a two-way path.
[0066] S450: If it is a one-way path, a floating avoidance area is generated according to the task path, and the floating avoidance area is dynamically adjusted according to the real-time position of the high-priority vehicle.
[0067] S460: If it is a two-way path, generate a fixed avoidance area according to the task path.
[0068] S470, a low priority vehicle is operating outside the floating avoidance area or the fixed avoidance area.
[0069] The floating avoidance area means that after a high-priority trolley moves to a storage location or a longitudinal shearing production line, the floating avoidance area will be reduced accordingly, so that low-priority trolleys have a larger activity area. The fixed avoidance area will not be cancelled until the high-priority trolley completes all the task paths. Before the fixed avoidance area is cancelled, the low-priority trolley cannot enter the fixed avoidance area.
[0070] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0071] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. A method for automatic cross-span transfer of silicon steel coils, characterized in that: The following steps are involved: Obtaining the warehousing information of the silicon steel coil, wherein the warehousing information includes the production line number and the warehousing sequence; Determine the transfer vehicle based on the incoming information and generate the corresponding task path; Whenever a new task path is generated, it is determined whether there is a path conflict between the task paths of adjacent vehicles. If there is a conflict, the priority of the car is determined according to the preset priority judgment method, and the car with lower priority will avoid the car with higher priority. If there is no conflict, the car will run normally according to the task path.
2. The method for automatic cross-span transfer of silicon steel coils according to claim 1, characterized in that: Determining the transfer vehicle according to the warehousing information includes the following steps: Determine whether there is a preset special storage location in the storage sequence. If it exists, the corresponding trolley is determined according to the preset correspondence between the characteristic storage location and the trolley, and the determined trolley is used as the transfer trolley; If it does not exist, the corresponding trolley is matched according to the preset correspondence between the production line number and the trolley, and the matched trolley is used as the transfer trolley.
3. The method for automatic cross-span transfer of silicon steel coils according to claim 1, characterized in that: The trolley includes two storage locations, each storage location is used to store silicon steel coils of the same batch produced by the production line; The priority determination method comprises the following steps: Determine whether the two storage positions of the trolley are loaded with silicon steel coils. If only one trolley has two storage locations loaded with silicon steel coils, the trolley has a higher priority.
4. The method for automatic cross-span transfer of silicon steel coils according to claim 1, characterized in that: The priority determination method comprises the following steps: Determine whether the incoming information corresponding to any cart contains urgent order information. If the incoming information corresponding to any cart contains urgent order information, the cart corresponding to the incoming information is defined to have a higher priority; If neither contains urgent order information or both contain urgent order information, the task path lengths of the two vehicles are compared, and the vehicle with the longer task path has a higher priority.
5. The method for automatic cross-span transfer of silicon steel coils according to claim 1, characterized in that : The task path is composed of a number of process storage locations and feed storage locations; When the car arrives at the process storage location according to the task path, the car continues to move to the next storage location; When the trolley arrives at the feed storage location according to the task path, the trolley waits for the loaded silicon steel coil corresponding to the storage location to be delivered to the storage location before moving to the next storage location until the task path is completed.
6. The method for automatic cross-span transfer of silicon steel coils according to claim 5, characterized in that: Generating the corresponding task path includes the following steps: Determine whether the car has a previously executed task path. If it exists, obtain the material storage locations that have not been passed in the previous task path and merge them with the current storage order to form a new storage order, and then generate the task path according to the new storage order; If it does not exist, the task path will be directly generated according to the current storage order.
7. The method for automatic cross-span transfer of silicon steel coils as claimed in claim 6, characterized in that: The step of merging into a new storage order includes the following steps: Generate a previous order based on the unvisited storage locations in the previous task path, and define the current storage order as the subsequent order; According to the production line number corresponding to the latter sequence, the distances to the first feed warehouse location in the former sequence and the latter sequence are calculated respectively, and recorded as the first distance and the second distance; Determine whether the first distance is greater than the second distance, If it is greater, the storage order is generated according to the condition of "first satisfy the earlier order and second satisfy the later order"; If not, the storage order is generated according to the condition of "satisfying the later order first and the earlier order second".
8. The method for automatic cross-span transfer of silicon steel coils according to claim 1, characterized in that: The low-priority vehicle performs path avoidance on the high-priority vehicle, comprising the following steps: Determine whether the task path corresponding to the car with high priority is a one-way path or a two-way path. If it is a one-way path, a floating avoidance area is generated according to the task path, and the floating avoidance area is dynamically adjusted according to the real-time position of the high-priority vehicle; If it is a two-way path, a fixed avoidance area is generated according to the task path; The low priority car is operating outside the floating avoidance area or the fixed avoidance area.