Crown block system, crown block transportation control method and system and electronic equipment

Abstract

The invention discloses a crown block system, a crown block transportation control method, a crown block transportation control system and electronic equipment, the control system of the crown block system no longer directly executes a normal avoidance strategy when receiving an avoidance request, but judges whether a temporary reversing avoidance strategy can be executed, and when the temporary reversing avoidance strategy is executed, after a blocking crown block finishes avoidance, the control system of the crown block system stops the normal avoidance strategy. And the task crown block is reversely moved back to the initial position, the passing efficiency of the task crown block is guaranteed, the avoiding crown block can be reset in time so that the reserved carrying task can be executed in time and stably, and compatibility of avoiding and timely resetting is effectively achieved. Meanwhile, when the faulty crown block exists, the preset area on the upstream of the faulty crown block is blocked, and other lines capable of avoiding the second line section where the faulty crown block is located exist in the preset area, so that normal crown blocks in the preset area can avoid the faulty crown block, and the working efficiency of the crown blocks in the preset area can be effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of automatic material handling systems, in particular to an overhead crane system, an overhead crane transportation control method, a system and electronic equipment. Background Art

[0002] Overhead Hoist Transport (OHT) is an important equipment in the automatic material handling system. It moves on suspended tracks to transfer materials between different locations.

[0003] In a typical overhead crane system, as shown in patent document with application publication number CN116161549A, the overhead crane travels in one direction on a track to avoid unnecessary collisions, thereby ensuring the safety of transportation.

[0004] However, in actual operation, there is a problem that an overhead crane that is parked at a certain location and waiting for loading, or an overhead crane waiting for loading, etc., will hinder the normal passage of the overhead crane that is performing a handling task at the rear. In this case, for the overhead crane on standby, a normal avoidance strategy is usually implemented, that is, the overhead crane on standby is controlled to continue moving forward to a track intersection area with multiple lines to make way for the moving route of the overhead crane that is performing the handling task at the rear. For the overhead crane waiting for loading, a strategy of making the overhead crane wait in place or a normal avoidance strategy is usually implemented. The strategy of insisting on waiting in place will cause the overhead crane that is performing the handling task at the rear to wait for a long time, which not only increases the risk of local congestion, but also easily causes the handling tasks of the overhead cranes of other tasks to be delayed. After adopting the normal avoidance strategy to avoid, if the overhead crane waiting for loading needs to return to the initial parking position, it usually needs to go around a longer distance and spend more time, which will cause the scheduled handling task to not be completed in time.

[0005] In addition, there may be a situation where the overhead crane fails and cannot continue to move. At this time, since it is a one-way travel, other overhead cranes located behind the faulty overhead crane and between the faulty overhead crane and the cross-track area with the diversion point will have to wait for the faulty overhead crane to recover after manual intervention before they can resume normal transportation, which greatly affects the transportation efficiency. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and to provide an overhead crane system, an overhead crane transportation control method, a system and an electronic device.

[0007] The purpose of the present invention is achieved through the following technical solutions: The overhead crane system includes the overhead crane running on the track and the control system that controls the operation of the overhead crane. The control system determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy when receiving an avoidance request from a blocking crane that stops moving in front of a moving route of a task crane and determining that the blocking crane can avoid; When determining to execute the temporary reversing avoidance strategy, the control system controls a first exit of an upstream track crossing area closest to the task crane to close, and instructs the blocking crane to move to a predetermined track crossing area downstream of the first route segment to avoid the task crane and other cranes between the task crane and an entrance of the upstream track crossing area, and then reversely move back to an initial stop position, the predetermined track crossing area having a diverging point for diverging cranes on a route segment connecting the second track crossing area and the first track crossing area to two routes; And / or, when determining that there is a failure crane, the control system controls a second exit of a second track crossing area upstream of the failure crane to close, the first track crossing area being located between the failure crane and the second track crossing area and having a diverging point for diverging cranes on a route segment connecting the second track crossing area and the first track crossing area to two routes, the second track crossing area being the upstream track crossing area closest to the first track crossing area, the second exit being an exit of the second track crossing area to the first track crossing area, and the control system instructs the cranes between the failure crane and an entrance of the second track crossing area to pass through the first track crossing area in sequence from an exit of the first track crossing area that does not lead to a second route segment where the failure crane is located.

[0008] Preferably, the control system determines whether to execute the temporary reversing avoidance strategy or the normal avoidance strategy according to whether there are cranes queuing for passing through the upstream track crossing area; When determining that there are no cranes queuing for passing through the upstream track crossing area, it is determined to execute the temporary reversing avoidance strategy; When determining that there are cranes queuing for passing through the upstream track crossing area, it is determined to execute the normal avoidance strategy.

[0009] Preferably, the control system determines whether to execute the temporary reversing avoidance strategy or the normal avoidance strategy according to whether a track crossing area closest to the blocking crane downstream is the predetermined track crossing area; When determining that the track crossing area closest to the blocking crane downstream is the predetermined track crossing area and there are no cranes queuing for passing through the upstream track crossing area, it is determined to execute the temporary reversing avoidance strategy; When it is determined that the nearest track cross region downstream of the blocking crane is not the predetermined track cross region and / or when it is determined that there is a crane queuing for passing at the upstream track cross region, it is determined to execute a normal avoidance strategy.

[0010] Preferably, the control system determines whether to execute a temporary reversal avoidance strategy or a normal avoidance strategy according to whether the moving routes of other cranes and the task crane between the entrance of the upstream track cross region and the task crane are consistent and whether the moving routes of other cranes and the task crane at the downstream track cross region are consistent. When it is determined that the moving routes of other cranes and the task crane at the downstream track cross region are consistent and there is no crane queuing for passing at the upstream track cross region, it is determined to execute the temporary reversal avoidance strategy. When it is determined that the moving routes of other cranes and the task crane at the downstream track cross region are inconsistent and / or there is a crane queuing for passing at the upstream track cross region, it is determined to execute the normal avoidance strategy.

[0011] Preferably, the control system determines whether to execute a temporary reversal avoidance strategy or a normal avoidance strategy according to whether there is a crane queuing for passing at the upstream track cross region and the passing route of the crane queuing for passing. When it is determined that there is no crane queuing for passing at the upstream track cross region, it is determined to execute the temporary reversal avoidance strategy. When it is determined that there is a crane queuing for passing at the upstream track cross region and all the cranes queuing for passing do not move to the first route section, it is determined to execute the temporary reversal avoidance strategy. When it is determined that there is a crane queuing for passing at the upstream track cross region and at least one of the cranes queuing for passing moves to the first route section, it is determined to execute the normal avoidance strategy.

[0012] Preferably, if it is determined to control the blocking crane to avoid according to the normal avoidance strategy and it is determined that the blocking crane is executing a reserved carrying task, the control system re-determines a crane to execute the reserved carrying task of the blocking crane.

[0013] Preferably, when it is determined that there is a fault crane, the control system determines the cranes that have not moved to the second track cross region among all the cranes that need to pass the second route section where the fault crane is located and re-plans moving routes of the cranes that do not contain the second route section.

[0014] Preferably, the control system first instructs the reversing tramcar located between the entrance of the first track intersection region and the malfunctioning tramcar to move reversely and pass through the first track intersection region from another exit of the first track intersection region; and then instructs the forward tramcar located between the entrance of the second track intersection region and the first entrance of the first track intersection region to pass through the first track intersection region from another exit of the first track intersection region.

[0015] A tramcar transportation control method, comprising the steps of: receiving information fed back from each tramcar and determining whether a request for avoidance is received from a task tramcar to control a blocking tramcar to stop moving in front of the task tramcar to avoid; when it is determined that a request for avoidance is received and it is determined that the blocking tramcar can avoid, determining whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy; when it is determined to execute the temporary reversing avoidance strategy, sending information to a control system of an upstream region of the upstream track intersection region to which the task tramcar is closest upstream, at least to close a No. 1 exit in the upstream track intersection region leading to a first line section where the task tramcar is located, and instructing the blocking tramcar to move to a predetermined track intersection region downstream of the first line section to avoid the task tramcar and other tramcars located between the task tramcar and the entrance of the upstream track intersection region, and then reversely move back to an initial stop position.

[0016] A tramcar transportation control method, comprising the steps of: communicating with each tramcar to determine whether there is a malfunctioning tramcar; when it is determined that there is a malfunctioning tramcar, sending information to a control system of a second region of a second track intersection region upstream of the malfunctioning tramcar to at least control a second exit of the second track intersection region leading to a first track intersection region to close, the first track intersection region is located between the malfunctioning tramcar and the second track intersection region and has a split point for splitting tramcars on a line section connecting the second track intersection region and the first track intersection region to two lines, the second track intersection region is the closest track intersection region upstream of the first track intersection region, and the second exit is an exit in the second track intersection region leading to the first track intersection region; and instructing tramcars located between the malfunctioning tramcar and the entrance of the second track intersection region to pass through the first track intersection region from an exit of the first track intersection region not leading to a second line section where the malfunctioning tramcar is located.

[0017] A tramcar transportation control system, comprising: The avoidance passing control module is configured to receive information fed back by each crane and determine whether an avoidance request for avoiding a blocking crane that stops moving in front of a moving route of a task crane is received; when it is determined that an avoidance request is received and the blocking crane can be avoided, it is determined whether a temporary reversing avoidance strategy or a normal avoidance strategy is executed; when it is determined that the temporary reversing avoidance strategy is executed, information for at least closing a No. 1 exit in an upstream track crossover region of the task crane leading to a first route section where the task crane is located is sent to an upstream area control system that controls the upstream track crossover region, and after the blocking crane moves to a predetermined track crossover region downstream of the first route section to avoid the task crane and other cranes between the task crane and an entrance of the upstream track crossover region and the normal avoidance strategy is executed, the blocking crane reverses back to an initial stop position. And / or, the crane fault passing processing module is configured to communicate with each crane to determine whether a fault crane exists; when it is determined that a fault crane exists, information for at least controlling a second exit in a second track crossover region upstream of the fault crane leading to a first track crossover region to be closed is sent to a second area control system that controls the second track crossover region, the first track crossover region is located between the fault crane and the second track crossover region and has a split point for splitting cranes on a route section connecting the second track crossover region and the first track crossover region to two route sections, the second track crossover region is the nearest track crossover region upstream of the first track crossover region, and the second exit is an exit in the second track crossover region leading to the first track crossover region; and cranes between the fault crane and an entrance of the second track crossover region are instructed to pass through the first track crossover region in sequence from an exit of the first track crossover region that does not lead to a second route section where the fault crane is located.

[0018] The crane operation control device comprises a memory and a processor, the memory stores a program executable by the processor, and the program is executed to implement the method described in any one of the above.

[0019] The advantages of the technical scheme of the present application mainly include: The control system of the application, when receiving an avoidance request, no longer directly executes a normal avoidance strategy, but judges whether a temporary reversal avoidance strategy can be executed, and when the temporary reversal avoidance strategy can be executed, the blocking cage is avoided and then reversely moved back to the initial position, which not only ensures the passing efficiency of the task cage, but also enables the avoided cage to be reset in time to enable the scheduled handling task to be executed in time and stably, effectively realizing the compatibility of avoidance and timely reset. At the same time, at least the exit in the upstream track intersection area of the first line section of the task cage leading to the first line section is blocked, which can effectively prevent other task cages from continuing to enter the first line section, saving the process of subsequent avoidance again, being conducive to reducing the control difficulty and improving the operation efficiency of the entire system. At the same time, when there is a fault cage, by blocking a predetermined area upstream of the fault cage and enabling other lines in the predetermined area to avoid the second line section where the fault cage is located, the normal cages in the predetermined area can avoid the fault cage and continue to handle, which can effectively ensure the working efficiency of the normal cages in the predetermined area, and can avoid the problem of waiting for other cages to enter the predetermined area again. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the merging area of the application; Figure 2 is a schematic diagram of the diverging area of the application; Figure 3 is a schematic diagram of the diverging and merging area of the application; Figure 4 is a schematic diagram of the application in which the blocking cage needs to avoid the task cage; Figure 5 is a flowchart of the avoidance control of the control system in the application; Figure 6 is a schematic diagram of the application in which there is a fault cage and the cages upstream of the fault cage need to be bypassed; Figure 7 is a flowchart of the bypass control of the control system in the application. DETAILED DESCRIPTION

[0021] The purposes, advantages and characteristics of the application will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are only typical examples of the application of the technical solutions of the application, and any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of the application.

[0022] In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0023] Embodiment 1 The overhead crane system disclosed in the present application is described below in conjunction with the drawings, which includes a track, an overhead crane running on the track, and a control system for controlling the operation of the overhead crane.

[0024] The track is connected below the ceiling or the roof of the plant house by a connecting piece, and its specific layout form can be reasonably planned according to the equipment layout, which is not limited here.

[0025] Generally, the track includes a plurality of track intersection areas, as shown in Figure 1 As shown in FIG. 1, a track intersection area can be a confluence area where two lines converge into one line, which includes a confluence point and a 0001 inlet at the upstream of the two lines, a 0002 inlet, and a 0003 outlet downstream of the confluence point. Alternatively, as shown in FIG. 2, a track intersection area is a split area where one line splits into two lines, which includes a split point and a 0004 inlet upstream of the split point and a 0005 outlet and a 0006 outlet downstream of the two lines. Of course, as shown in FIG. 3, a track intersection area can also be a split and confluence area where two parallel lines are connected by at least one connecting section. For a split and confluence area with only one connecting section, it has a split point and a confluence point, and a 0007 inlet upstream of the split point and a 0008 outlet downstream of the split point are provided on one line, and a 0009 inlet upstream of the confluence point and a 0010 outlet downstream of the confluence point are provided on the other line. Of course, the track intersection area can also be other feasible structures, which are not limited here. Figure 2 Figure 3 The specific structure of the overhead crane is known technology and is not the innovation of the present application, which is not described here.

[0026] The specific structure of the overhead crane is known technology and is not the innovation of the present application, which is not described here.

[0027] ​The control system comprises a crane operation control device (TCS) for coordinating the operation of the crane and a plurality of ZCU control systems (Zone Control Unit) in communication with the TCS. The TCS and the ZCU control systems can be computers or other electronic devices with processors and memories.

[0028] The TCS selects a crane to perform a transport task according to the transport task sent by the upper computer, plans a corresponding movement route for the selected crane, and instructs the crane to perform the corresponding transport task according to the planned movement route. Meanwhile, the TCS communicates with each ZCU control system to inform the ZCU control system whether to open or close the track crossing area or part of the outlet and / or inlet of the track crossing area managed by the ZCU control system.

[0029] Each track crossing area is provided with a ZCU control system, which controls the opening and closing of the track crossing area or part of the outlet and / or inlet managed by the ZCU control system according to the instructions of the TCS, and feeds back the operation state of the track crossing area managed by the TCS to the TCS. The ZCU control system also communicates with the crane that needs to pass through the track crossing area controlled by the ZCU control system and controls the crane to pass through the corresponding track crossing area in sequence according to the set traffic rules, and controls the traffic state of the corresponding track crossing area. The corresponding control technology is known technology, which is not described here. Of course, in another embodiment, a plurality of ZCU control systems can also use a ZCU software instead of a hardware ZCU control system, and the ZCU software can be integrated in the TCS. The specific control method of the ZCU software can refer to the method disclosed in the patent document with the application publication number CN119644857A, which is not described here.

[0030] In actual operation of the crane system, the following situations may exist, as shown in FIG. 1, where V02 is waiting at Station-01 (initial stop position) for a new movement or transport instruction or waiting for a ride on MTL (Maintenance Lift) or executing a reserved transport instruction (since the machine loading port has not been completed, the crane V02 waits for a pick-up instruction at this position). Figure 4

[0031] When V03, the crane behind V02, is a task crane and needs to pass through the current position of V02, the control system needs to control V02 to give way to the line that V03 needs to pass through. Specifically: ​Each trolley is provided with a detection sensor to detect whether there is an obstacle in front of its moving line, which is not limited to a visual sensor, a distance sensor or a proximity sensor, etc.

[0032] When a task trolley moving in the process of carrying out a carrying task or a scheduling task detects that there is a blocking trolley in front of its moving line, the task trolley stops, and sends an avoidance request to the control system to control the blocking trolley to avoid, the avoidance request sent by the task trolley including the number, the current location and the line to be moved of the task trolley, etc.

[0033] When the control system receives the avoidance request sent by the task trolley to control the blocking trolley to avoid, it can determine the number and state of the blocking trolley stopped in front of the task trolley according to the position of the task trolley, and further determine whether the blocking trolley can avoid, for example, when it is determined that the blocking trolley is an idle trolley or a trolley that is executing a reserved carrying task, it is determined that the blocking trolley can avoid. When it is determined that the blocking trolley is loading or unloading materials, it is determined that the blocking trolley cannot avoid, at this time, the control system feeds back information to the task trolley that the blocking trolley cannot avoid, and the task trolley slows down and stops after receiving the information that the blocking trolley cannot avoid.

[0034] When it is determined that the blocking trolley can avoid, the control system determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy; of course, if it is determined that the blocking trolley is an idle trolley, it can also not determine the avoidance strategy, but directly execute the normal avoidance strategy.

[0035] When it is determined to execute a temporary reversing avoidance strategy or a normal avoidance strategy, it can be determined according to different conditions.

[0036] In one embodiment, the control system determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy according to whether there is a trolley queuing for passing through at the nearest upstream track intersection area upstream of the task trolley; When it is determined that there is no trolley queuing for passing through at the upstream track intersection area, it is determined to execute a temporary reversing avoidance strategy; When it is determined that there is a trolley queuing for passing through at the upstream track intersection area, it is determined to execute a normal avoidance strategy.

[0037] For example, as shown in FIG. 1, the trolley 1 is moving in the process of carrying out a carrying task, and detects that there is a blocking trolley 2 in front of its moving line, so it stops and sends an avoidance request to the control system to control the blocking trolley 2 to avoid. Figure 4As shown, V02 is a blocking crane, V03 is a task crane, and the track crossing area ZCU-01 is the nearest upstream track crossing area of V03, and it is determined whether there is a crane waiting to pass at the track crossing area ZCU-01, if it is determined that there is, i.e. there is at least one crane waiting to pass the track crossing area ZCU-01 at the entrance of the track crossing area ZCU-01 and upstream of the entrance, it is determined to execute the normal avoidance strategy, if it is determined that there is not, it is determined to execute the temporary reverse avoidance strategy.

[0038] In another embodiment, the control system determines whether to execute the temporary reverse avoidance strategy or the normal avoidance strategy according to whether the nearest track crossing area downstream of the blocking crane is the predetermined track crossing area; When it is determined that the nearest track crossing area downstream of the blocking crane is the predetermined track crossing area, and there is no crane waiting to pass at the upstream track crossing area, it is determined to execute the temporary reverse avoidance strategy; When it is determined that the nearest track crossing area downstream of the blocking crane is not the predetermined track crossing area and / or when it is determined that there is a crane waiting to pass at the upstream track crossing area, it is determined to execute the normal avoidance strategy.

[0039] For example, as shown in FIG. 1, the V02 crane (blocking crane) is located at the track crossing area ZCU-01, and the V03 crane (task crane) is located at the track crossing area ZCU-02, and the track crossing area ZCU-01 is the nearest upstream track crossing area of the V03 crane, and it is determined whether there is a crane waiting to pass at the track crossing area ZCU-01, if it is determined that there is, i.e. there is at least one crane waiting to pass the track crossing area ZCU-01 at the entrance of the track crossing area ZCU-01 and upstream of the entrance, it is determined to execute the normal avoidance strategy, if it is determined that there is not, it is determined to execute the temporary reverse avoidance strategy. Figure 4 As shown, the nearest track crossing area ZCU-02 downstream of the V02 crane (blocking crane) includes a split point that splits the line section 1002→1011 (first line section) where the V03 crane is located into two lines, and the track crossing area ZCU-02 is the predetermined track crossing area, at this time, if there is no crane waiting to pass at the track crossing area ZCU-01, it is determined to execute the temporary reverse avoidance strategy. If the track crossing area ZCU-02 is not a split area, but a merging area or other track crossing area that does not have the above-mentioned split point, even if it is determined that there is no crane waiting to pass at the track crossing area ZCU-01, the temporary reverse avoidance strategy cannot be executed.

[0040] In this way, the problem that the blocking crane needs to travel a long distance to avoid and needs to move reversely for a long distance to reset can be effectively avoided.

[0041] In another embodiment, the control system determines whether to execute the temporary reverse avoidance strategy or the normal avoidance strategy according to whether the moving line of other cranes between the task crane and the entrance of the upstream track crossing area and the moving line of the task crane at the downstream track crossing area are consistent; When it is determined that the moving line of other cranes between the task crane and the entrance of the upstream track crossing area and the moving line of the task crane at the downstream track crossing area are consistent and there is no crane waiting to pass at the upstream track crossing area, it is determined to execute the temporary reverse avoidance strategy; When it is determined that the movement routes of other overhead cranes and the task overhead crane in the downstream track intersection area are inconsistent and / or there are overhead cranes waiting in line to pass through the upstream track intersection area, it is determined to execute the normal avoidance strategy.

[0042] For example, as shown in the attached Figure 4 As shown, assuming there is another overhead crane between the V03 overhead crane and the entrance 1001 of the track intersection area ZCU-01, if both the overhead crane and the V03 overhead crane need to move from the entrance 1011 of the track intersection area ZCU-02 to the exit 1012, then if it is determined that there is no overhead crane waiting in line in the track intersection area ZCU-01, the temporary reversal avoidance strategy will be implemented. If the overhead crane needs to move from the entrance 1011 of the track intersection area ZCU-02 to the exit 1012, and the V03 overhead crane needs to move from the entrance 1011 of the track intersection area ZCU-02 to the exit 1013, then even if it is determined that there is no overhead crane waiting in line in the track intersection area ZCU-01, the normal avoidance strategy will be implemented.

[0043] This can effectively avoid blocking the overhead crane (Crown Crane No. V02) from frequently switching between the two lines in the track intersection area ZCU-02, which would require a long avoidance time and affect traffic efficiency.

[0044] In another embodiment, the control system determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy based on whether there is an overhead crane waiting to pass through the upstream track intersection area and the route of the overhead crane waiting to pass through. When it is determined that there is no overhead travelling vehicle waiting to pass through the upstream track intersection area, a temporary reversing avoidance strategy is executed; When it is determined that there are overhead cranes waiting to pass through the upstream track intersection area, and all the overhead cranes waiting to pass through do not move toward the first line segment, determining to execute the temporary reversing avoidance strategy; When it is determined that there are overhead cranes waiting to pass through the upstream track intersection area, and at least one of the overhead cranes waiting to pass through is about to move toward the first line segment, it is determined to execute the normal avoidance strategy.

[0045] For example, as shown in the attached Figure 4 As shown, there are multiple overhead cranes waiting in line upstream of the track intersection area ZCU-01 waiting to pass. At this time, if none of the overhead cranes waiting in line need to move from entrance 1001 to exit 1002, the temporary reversing avoidance strategy is determined to be executed. On the contrary, if at least one of the overhead cranes waiting in line needs to move from entrance 1001 to exit 1002, the normal avoidance strategy is determined to be executed.

[0046] If the normal avoidance policy is determined to be in effect, the control system plans a movement path for the blocking overhead crane to move it to a position that is not in the movement path of the task overhead crane to achieve avoidance. The specific avoidance method is well-known and will not be described in detail here. Furthermore, if it is determined that the blocking overhead crane is performing a scheduled transport task, the control system re-determines which overhead crane will perform the scheduled transport task that the blocking overhead crane is supposed to perform. This effectively ensures that the scheduled transport task is performed by the nearest available overhead crane, thereby preventing the blocking overhead crane from returning to its initial stop position.

[0047] When it is determined to execute the temporary reversal avoidance strategy, the control system controls the closure of Exit No. 1 of the upstream track intersection area nearest to the upstream of the task overhead crane leading to the first line segment where the task overhead crane is located, and instructs the blocking overhead crane to move to a predetermined track intersection area downstream of the first line segment to avoid the task overhead crane and other overhead cranes located between the task overhead crane and the entrance of the upstream track intersection area, and then moves back to its initial stop position. The predetermined track intersection area has a diversion point that diverts the overhead cranes of the first line segment to two lines.

[0048] For example, as shown in the attached Figure 4 As shown, the control system controls the closure of Exit 1002 (Exit 1) of the track intersection area ZCU-01 (upstream track intersection area). This means that overhead cranes located at and upstream of Entrance 1001 of the track intersection area ZCU-01 are not permitted to move toward Exit 1002 of the track intersection area ZCU-01. Consequently, when planning movement routes for other overhead cranes, the control system no longer selects movement routes that include movement from Entrance 1001 to Exit 1002. Of course, in other embodiments, the entire track intersection area ZCU-01 can be closed. Simultaneously, the control system can determine which overhead cranes, whose planned movement routes require them to pass through Entrance 1002 and have not yet moved to the track intersection area ZCU-01, and replan movement routes for these overhead cranes that avoid Entrance 1002.

[0049] At this time, if the V03 overhead crane needs to move toward Line 2 via the track intersection area ZCU-02 (downstream track intersection area), that is, the V03 overhead crane needs to move from entrance 1011 to exit 1012, the control system instructs the V02 overhead crane to move toward Line 1 from entrance 1011 of the track intersection area ZCU-02 to exit 1013, and then the control system instructs the V03 overhead crane to move from exit 1012 through the track intersection area ZCU-02; if there is no other overhead crane between the V03 overhead crane and the entrance of the track intersection area ZCU-01 (entrance 1001), the V02 overhead crane moves in the opposite direction and moves back to its initial stop position Station-01 via the entrance of the track intersection area ZCU-02 to stop. If there are other overhead cranes between the V03 overhead crane and the entrance to the track intersection area ZCU-01, and the other overhead cranes also want to move toward Line 2, then after the other overhead cranes pass through the track intersection area ZCU-02, the V02 overhead crane will move in the opposite direction and return to its initial stop position Station-01 through the entrance to the track intersection area ZCU-02 to stop.

[0050] When the V02 overhead crane loads materials at the initial stop position Station-01 and continues to move, the control system opens Exit 1 (Exit 1002) of the upstream track intersection area, that is, restores the passage from Entrance 1001 to Exit 1002 of the track intersection area ZCU-02.

[0051] In the overhead crane system, there are also the following situations, such as Figure 6 As shown, the V01 overhead crane stopped on the track due to a communication failure or hardware failure. At this time, the overhead crane located between the V01 overhead crane (the faulty overhead crane) and Exit 1012 of the track intersection area ZCU-02 was blocked by the V01 overhead crane for a long time and could not continue to move.

[0052] To avoid this problem, the attached Figure 7 As shown, the control system can communicate with each overhead crane in real time to determine whether each overhead crane has a fault. For example, the control system determines whether each overhead crane has a fault through periodic communication status reports or connection interruption / timeout with each overhead crane.

[0053] When a faulty overhead crane is determined to exist, the control system controls at least the closure of a second exit leading to a first track intersection area in a second track intersection area upstream of the faulty overhead crane. Closing the second exit means stopping the entrance to the second track intersection area and the overhead crane upstream of the entrance from moving toward the second exit. The first track intersection area is located between the faulty overhead crane and the second track intersection area and has a diversion point that diverts overhead cranes on a line segment connecting the second track intersection area and the first track intersection area into two lines. The second track intersection area is the track intersection area closest to the upstream of the first track intersection area. The second exit is the exit from the second track intersection area leading to the first track intersection area. The second line segment currently located by the faulty overhead crane is connected to an exit of the first track intersection area. Furthermore, the control system instructs overhead cranes located between the entrances to the faulty overhead crane and the second track intersection area to sequentially pass through the first track intersection area via exits of the first track intersection area that do not lead to the second line segment where the faulty overhead crane is located. During specific control, the control system first instructs the reversing overhead crane located between the faulty overhead crane and the entrance to the first track intersection area to move in the opposite direction and pass through the first track intersection area via the other exit of the first track intersection area; and then instructs the forward-traveling overhead crane located between the entrance to the second track intersection area and the first entrance to the first track intersection area to pass through the other exit of the first track intersection area. Furthermore, the order in which the reversing overhead crane and the forward-traveling overhead crane pass through the second track intersection area can be determined based on the priority of the transport tasks.

[0054] For example, as shown in the attached Figure 6 As shown, overhead crane V01 is a faulty overhead crane, track intersection area ZCU-02 is the first track intersection area upstream of overhead crane V01, track intersection area ZCU-01 is the second track intersection area closest to upstream of the track intersection area ZCU-02, and Exit 1002 (second exit) of the track intersection area ZCU-01 leads to the track intersection area ZCU-01. At this time, the control system controls Exit 1002 of the track intersection area ZCU-01 to be closed. Of course, in other embodiments, the entire track intersection area ZCU-01 can also be closed, that is, the overhead crane is prohibited from passing through the track intersection area ZCU-01.

[0055] Meanwhile, the control system controls the cranes between the 1011th entrance of the track crossing area ZCU-02 and the V01th crane to pass through the track crossing area ZCU-02 one by one. For example, the control system can first re-plan the paths of the 2 cranes (cranes that need to reverse) between the 1011th entrance of the track crossing area ZCU-02 and the V01th crane, and instruct them to move reversely one by one to the 1011th entrance (the first entrance) of the track crossing area ZCU-02, and then move one by one to the 1013th entrance (the other entrance of the first track crossing area) of the track crossing area ZCU-02, so as to pass through the track crossing area ZCU-02 to avoid the track section where the V01th crane is located and continue to move downstream. After the 2 cranes between the 1011th entrance and the V01th crane pass through the track crossing area ZCU-02, the control system instructs the cranes between the 1011th entrance and the 1001th entrance of the track crossing area ZCU-01 to pass through the 1013th entrance of the track crossing area ZCU-02 one by one. Of course, if the cranes between the 1001th entrance of the track crossing area ZCU-01 and the 1011th entrance of the track crossing area ZCU-02 are closer to the 1011th entrance, as shown in FIG. 10B, the V02th crane has been located beside the 1011th entrance, the control system can first make the V02th crane pass through the 1013th entrance of the track crossing area ZCU-02, and then make the cranes between the 1011th entrance and the V01th crane pass through the 1013th entrance of the track crossing area ZCU-02. Figure 6

[0056] When the cranes between the 1011th entrance and the V01th crane all move away from the track crossing area ZCU-02 from the 1013th entrance, the control system can open the 1002th entrance of the track crossing area ZCU-01, and close the 1012th entrance. When it is determined that the fault crane is restored to normal by manual intervention, the control system opens the 1012th entrance, that is, the traffic to the 1012th entrance is restored.

[0057] Further, when it is determined that there is a fault crane, the control system determines the cranes that have not moved to the second track crossing area among all the cranes that need to pass through the second track section where the fault crane is located, and re-plans the moving routes of the cranes without the second track section.

[0058] ​And, when determining that there is a fault car, the control system can also determine whether the nearest track intersection region upstream of the fault car has a shunting point, and one of the routes after shunting of the shunting point leads to the second route section where the fault car is located, and the other route leads to another route section; if yes, only the second exit of the second track intersection region needs to be closed, and if no, the track intersection region between the fault car and the first track intersection region or the exit thereof leading to the second route section where the fault car is located also needs to be closed.

[0059] Embodiment 2 The embodiment discloses a car transportation control method, which is different from the above-mentioned embodiments in that the embodiment focuses on the control process of the car transportation control device in avoidance control, which cooperates with the car and the regional control system at each position to realize corresponding avoidance control, and specifically includes the following steps: receiving information fed back by each car and determining whether an avoidance request for avoiding a blocking car stopping moving in front of a task car is received; when determining that the avoidance request is received and that the blocking car can be avoided, determining whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy; when determining to execute the temporary reversing avoidance strategy, sending information of at least closing a No. 1 exit of a nearest upstream track intersection region upstream of the task car to a upstream regional control system controlling the upstream track intersection region; the upstream regional control system closes the No. 1 exit after receiving the information.

[0060] and instructing the blocking car to move to a predetermined track intersection region downstream of the first route section to avoid the task car and other cars between the task car and the entrance of the upstream track intersection region, and then reversely moving back to the initial stop position, the predetermined track intersection region having a shunting point for shunting the car in the first route section to two routes. The specific process of instructing the blocking car, the task car and the other cars to move by the car transportation control device can refer to the specific process of controlling the blocking car, the task car and the other cars to move by the control system in Embodiment 1, which is not described herein.

[0061] Embodiment 3 The embodiment discloses a car transportation control method, which is different from the above-mentioned embodiments in that the embodiment focuses on the control process of the car transportation control device in avoidance control, which cooperates with the car and the regional control system at each position to realize corresponding avoidance control, and specifically includes the following steps: communicating with each car to determine whether there is a fault car; When it is determined that there is a malfunctioning car, at least one of the following is sent to a second area control system that controls a second track crossover region upstream of the malfunctioning car: information that controls a second exit of the second track crossover region to a first track crossover region to close, the first track crossover region being located between the malfunctioning car and the second track crossover region and having a diverging point that causes cars on a line segment connecting the second track crossover region and the first track crossover region to diverge onto two lines, the second track crossover region being the closest track crossover region upstream of the first track crossover region, the second exit being an exit of the second track crossover region to the first track crossover region; and information that indicates cars between the malfunctioning car and an entrance of the second track crossover region to pass through the first track crossover region in sequence via an exit of the first track crossover region that does not lead to a second line segment on which the malfunctioning car is located. The second area control system controls the second exit to close upon receiving the information from the car transportation control device.

[0062] and indicates cars between the malfunctioning car and an entrance of the second track crossover region to pass through the first track crossover region in sequence via an exit of the first track crossover region that does not lead to a second line segment on which the malfunctioning car is located. The car transportation control device indicates cars between the malfunctioning car and an entrance of the second track crossover region to pass through the first track crossover region in sequence via an exit of the first track crossover region that does not lead to a second line segment on which the malfunctioning car is located in detail by referring to the corresponding process by which the control system controls in Embodiment 1 above, which will not be described here.

[0063] Embodiment 4 The present embodiment discloses a car transportation control system, comprising: The avoidance passing control module is configured to receive information fed back by each car and determine whether an avoidance request to control a blocking car that stops moving in front of a moving line of a task car to avoid is received from the task car. When it is determined that an avoidance request is received and that the blocking car can avoid, it is determined whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy. When it is determined that the temporary reversing avoidance strategy is executed, at least one of the following is sent to an upstream area control system that controls an upstream track crossover region upstream of the task car: information that controls a first exit of the upstream track crossover region to a first line segment on which the task car is located to close, and information that indicates the blocking car to move to a predetermined track crossover region downstream of the first line segment to avoid the task car and other cars between the task car and an entrance of the upstream track crossover region, and then reversely move back to an initial stop position. And / or, the overhead crane fault passage processing module is used for communicating with each overhead crane to determine whether there is a fault overhead crane; when it is determined that there is a fault overhead crane, sending information at least controlling a second exit of a second track crossing area upstream of the fault overhead crane to close to a second area control system of the second track crossing area, the first track crossing area is located between the fault overhead crane and the second track crossing area and has a shunt point for shunting the overhead crane on the line segment connecting the second track crossing area and the first track crossing area to two lines, the second track crossing area is the nearest track crossing area upstream of the first track crossing area, and the second exit is an exit in the second track crossing area leading to the first track crossing area; and indicating the overhead crane located between the entrance of the fault overhead crane and the second track crossing area to pass through the first track crossing area in turn from the exit of the first track crossing area not leading to the second line segment where the fault overhead crane is located.

[0064] Embodiment 5 The embodiment discloses an electronic device, comprising a memory and a processor, the memory stores a program executable by the processor, and the program is executed to implement the method as any one of the above.

[0065] The present application has various embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present application.

Claims

1. An overhead crane system, comprising an overhead crane operating on a track and a control system for controlling the operation of the overhead crane, characterized in that: The control system determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy when receiving an avoidance request from the task overhead crane to stop the blocking overhead crane ahead of the task overhead crane and determining that the blocking overhead crane can avoid the task overhead crane; When it is determined to execute the temporary reversal avoidance strategy, the control system controls the closure of the first exit of the upstream track intersection area upstream of the task overhead car, leading to the first line segment where the task overhead car is located, and instructs the blocking overhead car to move to a predetermined track intersection area downstream of the first line segment to avoid the task overhead car and other overhead cars located between the task overhead car and the entrance of the upstream track intersection area, and then moves back to its initial stop position in the reverse direction, wherein the predetermined track intersection area has a diversion point that diverts the overhead cars of the first line segment onto two lines; And / or, when determining that there is a faulty overhead crane, the control system at least controls the closure of the second exit leading to the first track intersection area in the second track intersection area upstream of the faulty overhead crane, the first track intersection area being located between the faulty overhead crane and the second track intersection area and having a diversion point that diverts overhead cranes on the line segment connecting the second track intersection area and the first track intersection area into two lines, the second track intersection area being the track intersection area closest to the upstream of the first track intersection area, the second exit being the exit in the second track intersection area leading to the first track intersection area, and the control system instructs overhead cranes located between the entrances of the faulty overhead crane and the second track intersection area to pass through the first track intersection area in sequence from the exit of the first track intersection area that does not lead to the second line segment where the faulty overhead crane is located.

2. The overhead crane system according to claim 1, characterized in that: The control system determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy according to whether there is an overhead crane waiting to pass through the upstream track intersection area; When it is determined that there is no overhead travelling vehicle waiting to pass through the upstream track intersection area, a temporary reversing avoidance strategy is executed; When it is determined that there is an overhead travelling vehicle waiting to pass through the upstream track intersection area, it is determined to execute a normal avoidance strategy.

3. The overhead crane system according to claim 2, characterized in that: The control system also determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy according to whether the nearest track crossing area downstream of the blocking overhead crane is the predetermined track crossing area; When it is determined that the nearest track intersection area downstream of the blocking overhead crane is the predetermined track intersection area, and there is no overhead crane waiting in line to pass through the upstream track intersection area, determining to execute a temporary reversing avoidance strategy; When it is determined that the nearest track intersection area downstream of the blocking overhead crane is not the predetermined track intersection area and / or when it is determined that there is an overhead crane waiting in line to pass through the upstream track intersection area, it is determined to execute the normal avoidance strategy.

4. The overhead crane system according to claim 2, wherein: The control system also determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy based on whether the movement routes of other overhead cranes between the task overhead crane and the entrance of the upstream track intersection area and the task overhead crane in the downstream track intersection area are consistent; When it is determined that the movement routes of other overhead cranes and the task overhead crane are consistent in the downstream track intersection area and there is no overhead crane waiting in line to pass through the upstream track intersection area, determining to execute the temporary reversing avoidance strategy; When it is determined that the movement routes of other overhead cranes and the task overhead crane in the downstream track intersection area are inconsistent and / or there are overhead cranes waiting in line to pass through the upstream track intersection area, it is determined to execute the normal avoidance strategy.

5. The overhead crane system according to claim 1, characterized in that: The control system determines whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy according to whether there is an overhead crane waiting to pass through the upstream track intersection area and the route of the overhead crane waiting to pass through; When it is determined that there is no overhead travelling vehicle waiting to pass through the upstream track intersection area, a temporary reversing avoidance strategy is executed; When it is determined that there are overhead cranes waiting to pass through the upstream track intersection area, and all the overhead cranes waiting to pass through do not move toward the first line segment, determining to execute the temporary reversing avoidance strategy; When it is determined that there are overhead cranes waiting to pass through the upstream track intersection area, and at least one of the overhead cranes waiting to pass through is about to move toward the first line segment, it is determined to execute the normal avoidance strategy.

6. The overhead crane system according to claim 1, characterized in that: If it is determined that the blocking overhead crane is controlled to avoid according to the normal avoidance strategy, and it is determined that the blocking overhead crane is performing the scheduled transportation task, the control system re-determines that an overhead crane performs the scheduled transportation task to be performed by the blocking overhead crane.

7. The overhead crane system according to claim 1, wherein: When it is determined that there is a faulty overhead crane, the control system determines the overhead cranes that need to pass through the second line section where the faulty overhead crane is located and have not yet moved to the second track crossing area, and replans movement routes for them that do not include the second line section.

8. The overhead crane system according to any one of claims 1 to 7, characterized in that: The control system first instructs the reversing overhead crane located between the faulty overhead crane and the entrance to the first track intersection area to move in the opposite direction and pass through the first track intersection area from the other exit of the first track intersection area; and then instructs the forward-traveling overhead crane located between the entrance to the second track intersection area and the first entrance to the first track intersection area to pass through the first track intersection area from the other exit of the first track intersection area.

9. A method for controlling overhead crane transportation, characterized in that: The steps include: receiving information fed back by each overhead crane and determining whether a request for avoiding a blocking overhead crane to stop moving ahead of the task overhead crane in its moving path has been received; When it is determined that an avoidance request is received and it is determined that the blocking overhead crane can avoid the obstacle, determining whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy; When it is determined to execute the temporary reversal avoidance strategy, information is sent to the upstream area control system that controls the upstream track intersection area closest to the upstream of the task overhead crane to close at least the No. 1 exit in the upstream track intersection area leading to the first line segment where the task overhead crane is located, and the blocking overhead crane is instructed to move to a predetermined track intersection area downstream of the first line segment to avoid the task overhead crane and other overhead cranes located between the task overhead crane and the entrance of the upstream track intersection area, and then move back to its initial stop position. The predetermined track intersection area has a diversion point that diverts the overhead cranes of the first line segment to two lines.

10. A method for controlling overhead crane transportation, characterized in that: The steps include: Communicate with each overhead crane to determine whether there is a faulty overhead crane; When it is determined that there is a faulty overhead crane, information is sent to a second area control system controlling a second track intersection area upstream of the faulty overhead crane to control at least closing a second exit from the second track intersection area leading to the first track intersection area, the first track intersection area being located between the faulty overhead crane and the second track intersection area and having a diversion point that diverts overhead cranes on a line segment connecting the second track intersection area and the first track intersection area onto two lines, the second track intersection area being the track intersection area closest to the upstream of the first track intersection area, and the second exit being the exit from the second track intersection area leading to the first track intersection area; And instruct the overhead travelling vehicles located between the faulty overhead travelling vehicle and the entrance to the second track intersection area to sequentially pass through the first track intersection area from the exit of the first track intersection area that does not lead to the second line section where the faulty overhead travelling vehicle is located.

11. Overhead crane transport control system, characterized in that: include: The avoidance passage control module is configured to receive information fed back by each overhead crane and determine whether an avoidance request has been received from a task overhead crane to stop the blocking overhead crane ahead of the task overhead crane in its moving path and to avoid the blocking overhead crane; when it is determined that an avoidance request has been received and it is determined that the blocking overhead crane can avoid the blocking overhead crane, determine whether to execute a temporary reversing avoidance strategy or a normal avoidance strategy; When it is determined to execute the temporary reversal avoidance strategy, information is sent to the upstream area control system controlling the upstream track intersection area closest to the upstream of the task overhead car to close at least the first exit of the upstream track intersection area leading to the first line segment where the task overhead car is located, and the blocking overhead car is instructed to move to a predetermined track intersection area downstream of the first line segment to avoid the task overhead car and other overhead cars located between the task overhead car and the entrance of the upstream track intersection area, and then move back to its initial stop position in the reverse direction, wherein the predetermined track intersection area has a diversion point that diverts the overhead cars of the first line segment onto two lines; and / or, an overhead crane fault passage processing module for communicating with each overhead crane to determine whether there is a faulty overhead crane; when it is determined that there is a faulty overhead crane, sending information to a second area control system that controls a second track intersection area upstream of the faulty overhead crane to control at least closing a second exit of the second track intersection area leading to the first track intersection area, the first track intersection area being located between the faulty overhead crane and the second track intersection area and having a diversion point that diverts overhead cranes on a line segment connecting the second track intersection area and the first track intersection area into two lines, the second track intersection area being the track intersection area closest to the upstream of the first track intersection area, and the second exit being the exit in the second track intersection area leading to the first track intersection area; and instructing overhead cranes located between the entrances of the faulty overhead crane and the second track intersection area to pass through the first track intersection area in sequence via the exit of the first track intersection area that does not lead to the second line segment where the faulty overhead crane is located.

12. An electronic device comprising a memory and a processor, wherein the memory stores a program executable by the processor, wherein: When the program is executed, the method according to any one of claims 1 to 10 is implemented.

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