Annular three-dimensional storage control method for maintenance tools of hydropower station

Abstract

The invention discloses an annular three-dimensional storage control method for maintenance tools of a hydropower station, and relates to the field of three-dimensional storage. Then, according to the sequence, the material state of the initial outlet storage location single body warehouse, the material state of the outlet storage location adjacent single body warehouse, the material state of the outlet storage location diagonal single body warehouse and the material state of the outlet storage location symmetrical side single body warehouse are judged to plan the discharging process; and then the multiple single body libraries are controlled to circularly move clockwise or anticlockwise on the annular guide rail according to a discharging planning algorithm, finally, discharging positioning is achieved by dynamically adjusting the multiple single body libraries, and feeding control is completed. According to the scheme, the hydropower station maintenance tool conveying efficiency can be improved, and the hydropower station economic benefits are improved.

Description

Technical Field

[0001] This invention belongs to the field of three-dimensional warehousing, and specifically relates to a method for controlling the ring-shaped three-dimensional warehousing of hydropower station maintenance tools. Background Technology

[0002] The efficiency of hydropower station maintenance operations directly impacts economic benefits. Improving efficiency can be addressed from multiple perspectives, with rapid delivery of necessary tools being a significant method. Currently, hydropower station maintenance operations typically utilize a large number and variety of tools. Conventional warehouse storage leads to significant time spent searching for tools due to users' varying memory levels, and can cause management chaos when multiple users are involved, making it difficult to accurately and effectively locate the tools needed for individual maintenance tasks. Conventional automated storage and retrieval systems cannot meet the need for on-site storage and efficient delivery of tools required for hydropower station maintenance operations within limited space. Therefore, a solution is urgently needed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a circular three-dimensional storage control method for hydropower station maintenance tools, so as to solve the problem of low transportation efficiency of hydropower station maintenance tools.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A method for controlling the circular three-dimensional storage of maintenance tools for hydropower stations, comprising the following steps:

[0006] S1: Based on the discharge data, determine whether there is any material waiting to be discharged in the initial outlet warehouse. If there is material waiting to be discharged, transport the materials one by one to the outlet until there is no material to be transported in that warehouse.

[0007] S2: Based on the discharge data, determine whether there is material waiting to be discharged in the two individual warehouses adjacent to the exit warehouse location. If only one individual warehouse has material waiting to be discharged, move that individual warehouse to the exit warehouse location. If both individual warehouses have material waiting to be discharged, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse location. Transport the materials in the individual warehouses located at the exit warehouse location to the exit one by one until there are no materials to be transported in that individual warehouse. Repeat S2 until there is no material waiting to be discharged in the two individual warehouses adjacent to the exit warehouse location.

[0008] S3: Based on the discharge data, determine whether there is material to be discharged in the two individual warehouses diagonally opposite the exit warehouse position. If both individual warehouses have material to be discharged, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse position. If only one individual warehouse has material to be discharged, further determine whether there is material to be discharged in the individual warehouse on the symmetrical side of the exit warehouse position. If so, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse position. Otherwise, move the individual warehouse to the exit warehouse position. Transport the material in the individual warehouses located at the exit warehouse position to the exit one by one until there is no material to be transported in that individual warehouse.

[0009] S4: Repeat S2 and S3 until all individual libraries have no materials that need to be shipped.

[0010] Preferably, the material discharge planning algorithm uses a time-optimal method for planning, and the process is as follows:

[0011] S2.1: Define storage locations and paths: Define the fixed storage locations that can be docked in a single storage unit as P1, P2, P3, ...; define the paths between storage locations as S1, S2, ... in sequence;

[0012] S2.2: Define Monolithic Libraries: Monolithic libraries are defined by number as B1, B2, B3, B4, ..., B i When individual storage units move together, tools can only be transported at point P1, and minor adjustments are required upon arrival at P1. Other individual storage units do not require minor adjustments when moving to other storage locations. i The fine-tuning time is defined as

[0013] S2.3: Define B i The tool retrieval time at P1 is t. βi | 9et ;

[0014] S2.4: Calculate the shortest material retrieval time for the individual unit at the exit location; this time needs to take into account the movement time of the individual unit from the current location to P1, the fine-tuning time, and the time to retrieve all target tools after the fine-tuning.

[0015] S2.5: Determine if a single library has a target tool: Determine if B is moved in the j-th round by using the identifier. i If the target tool is present, the value is 1; otherwise, it is 0. By iterating through the corresponding rounds, all tools can be retrieved.

[0016] S2.6: Record movement information: using L j This indicates the direction of the last movement and the distance from the storage location;

[0017] S2.7: Restricting Individual Library Numbering Cycles: A function is used to restrict the individual library numbering to B1 to B... i It cycles within the range;

[0018] S2.8: Processing logical values: Invert the maximum value of the relevant identifier, i.e., 0 or 1, for logical judgment;

[0019] S2.9: Clarify the method for calculating travel time: B i The movement time from the current storage location to P1 varies depending on the different path combinations.

[0020] S2.10: Optimization time judgment criteria: During actual operation, data collection B... i The average time of running path S n times is used instead of the time of a single run for determining the optimal time.

[0021] S2.11: Determine the final selection: Calculate the shortest time for transporting the target vehicle in the circular automated warehouse, and select the corresponding single warehouse to move to the exit location accordingly.

[0022] Preferably, in S2.3, the single-unit library B i When selecting target tool a at export location P1, the shortest time is as follows:

[0023] in:

[0024] T(i,a) represents when the single-unit library B i When at export location P1, the minimum time required to retrieve all target tools a from the single-unit library is required.

[0025] This indicates that during the j-th round of movement, the single-unit library B... i If the target tool 'a' is present, set it to 1 if present and 0 if absent. The minimum number of iterations is 1 and the maximum number of iterations is 5 to retrieve all tools 'a' from the single-unit library.

[0026] Each individual warehouse can only transport tools at warehouse location P1, and minor adjustments are required when the individual warehouse reaches the exit warehouse location P1. Individual warehouse B i Fine-tuning time is No fine-tuning is required when a single library arrives at another storage location; Single Library B i The time for retrieving the tool at export storage location P1 is t. Bi|get .

[0027] Preferably, The expression is as follows:

[0028]

[0029] Preferably, in S2.6, L j The expression representing the direction of the last movement and the distance from the storage location is as follows:

[0030]

[0031] Preferably, the function f(x) is used to restrict the individual warehouse numbers of the circular storage device to cycle between B1 and B6, and its expression is as follows:

[0032]

[0033] for and Invert the maximum value in the value.

[0034] Similarly, the value of K can only be 0 or 1.

[0035] Indicates single-unit library B i Start timing from the time after fine-tuning, and record the time required to retrieve tool a;

[0036] Indicates single-unit library B i The time required for path S to travel from the current storage location to the exit storage location P1. Indicates single-unit library B i The time required to move from storage location P2 to exit storage location P1 via path S1. Indicates single-unit library B i The time required to move from storage location P3 to exit storage location P1 via paths S2 and S1. Indicates single-unit library B i The time required to move from storage location P4 to exit storage location P1 via paths S3, S2, and S1.

[0037] Preferably, The expression is as follows:

[0038]

[0039] in For single-unit library B i Acceleration time when following path S; For single-unit library B i Deceleration time when traveling along path S For single-unit library B i The time taken to maintain a constant speed while traveling along path S. For single-unit library B i Fine-tune the timing.

[0040] Preferably, in S2.11, during actual runtime, the single-unit library B is collected. i Average time when running path S n times and replace To determine the optimal time. The expression is as follows:

[0041] This is the value of the nth sample.

[0042] The shortest time for transporting the target vehicle to the final circular automated warehouse is calculated as follows:

[0043]

[0044] A circular three-dimensional storage and control system for hydropower station maintenance tools includes: a circular guide rail, individual storage units, an outlet docking device, a logic controller, a drive system, and a sensor group. The individual storage units are evenly distributed along the circular track.

[0045] The logic controller, drive system, and sensor group are deployed within each individual unit library.

[0046] The drive system includes a servo driver and a matching servo motor, and a frequency converter and a matching variable frequency motor.

[0047] The logic controller is communicatively connected to the drive system.

[0048] The logic controller is connected to the sensor group I / O.

[0049] The logic controller parses the instruction stream data and generates output data to control the unit library to operate according to the following steps:

[0050] S1: The logic controller controls the drive system to transport all materials initially located in the single-unit warehouse at the outlet warehouse position and included in the discharge data to the outlet docking device.

[0051] S2: The logic controller determines whether there is material waiting to be discharged in the two adjacent individual storage units at the exit storage location. If only one individual storage unit has material waiting to be discharged, the controller moves that individual storage unit to the exit storage location. If both individual storage units have material waiting to be discharged, the controller determines the time required for discharge and moves the individual storage unit with the shorter time to the exit storage location. The logic controller then controls the drive system to transport all materials in the individual storage unit located at the exit storage location and included in the discharge data to the exit docking device. S2 is repeated until there is no material waiting to be discharged in the two adjacent individual storage units at the exit storage location.

[0052] S3: The logic controller determines whether there is material to be discharged from the two individual storage bins diagonally opposite the exit storage location. If both individual storage bins have material to be discharged, it determines the time required for discharge and controls the drive system to move the individual storage bin with the shorter discharge time to the exit storage location. If only one individual storage bin has material to be discharged, it further determines whether there is material to be discharged from the individual storage bin on the symmetrical side of the exit storage location. If so, it determines the time required for discharge and controls the drive system to move the individual storage bin with the shorter discharge time to the exit storage location. Otherwise, it controls the drive system to move the individual storage bin to the exit storage location. The logic controller controls the drive system to transport all materials in the individual storage bin located at the exit storage location and included in the discharge data to the exit docking device.

[0053] S4: Repeat S2 and S3 until all individual libraries have no materials that need to be shipped.

[0054] The servo drive and its matching servo motor are used to transport materials to the outlet docking device, the frequency converter and its matching frequency converter motor are used to drive the six individual storage units to move on the circular guide rail, and the sensor group is used to detect the position status of the six individual storage units.

[0055] When the six individual libraries move clockwise or counterclockwise in a circular track, the logic controller adjusts the running speed of each individual library in real time to keep the distance between the six individual libraries outside the threshold.

[0056] The present invention can achieve the following beneficial effects:

[0057] The present invention provides a solution for on-site storage of tools required for hydropower station maintenance operations within a limited space. It utilizes a material discharge planning algorithm to rationally plan the shortest path or least time-consuming discharge sequence for each individual storage unit, avoiding repetitive, multiple, and back-and-forth movements, thus improving the efficiency of tool material transport. Furthermore, by dynamically adjusting the movement of each individual storage unit, equipment safety is effectively ensured. Ultimately, this enhances the economic benefits of the hydropower station. Other features and advantages of the present invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0058] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0059] Figure 1 This is a schematic diagram of the ring-shaped three-dimensional storage control system for hydropower station maintenance tools of the present invention;

[0060] Figure 2 This is a control network architecture diagram of the ring-shaped three-dimensional storage control system for hydropower station maintenance tools of the present invention;

[0061] Figure 3This is a flowchart illustrating the feeding process of the circular three-dimensional storage control method for hydropower station maintenance tools according to the present invention.

[0062] Figure 4 This is a flowchart illustrating the dynamic adjustment process of the single-unit library in this invention.

[0063] 1 - Circular guide rail; 21 - Unit 1 storage bin; 22 - Unit 2 storage bin; 23 - Unit 3 storage bin; 24 - Unit 4 storage bin; 25 - Unit 5 storage bin; 26 - Unit 6 storage bin; 3 - Outlet docking device. Detailed Implementation

[0064] Preferred solutions include Figures 1 to 4 As shown, a method for controlling a circular three-dimensional storage system for hydropower station maintenance tools first parses a series of instruction streams containing material coordinates sent by a host computer to generate discharge data. Then, based on the discharge data, it sequentially determines the material status of the initial outlet storage unit, the adjacent storage units, the diagonal storage units, and the symmetrical storage units, and plans the discharge process. Next, it controls multiple storage units to circulate clockwise or counterclockwise on a circular guide rail according to the discharge planning algorithm. Finally, it achieves material positioning by dynamically adjusting multiple storage units, thus completing the material feeding control.

[0065] The instruction stream is sent by the host computer via Ethernet and contains coordinate data of a specific material in a random quantity and random order, located in a single unit warehouse, and its internal position within that unit warehouse. This information is parsed and processed according to protocol rules to generate discharge data. The outlet warehouse is the docking point for materials transported from the unit warehouse. A single unit warehouse is a three-dimensional storage device for storing tools and other materials. Adjacent, diagonal, and symmetrical represent the positional relationship of a single unit warehouse relative to the outlet. The circular guide rail is the supporting device for the cyclical movement of multiple single intelligent warehouses.

[0066] Preferably, the cyclical motion is not limited by the direction or number of times it occurs.

[0067] Specifically, such as Figure 3 As shown, the feeding process is carried out in the following steps:

[0068] S1: Based on the discharge data, determine whether there is any material waiting to be discharged in the initial outlet warehouse. If there is material waiting to be discharged, transport the materials one by one to the outlet until there is no material to be transported in that warehouse.

[0069] S2: Based on the discharge data, determine whether there is material waiting to be discharged in the two adjacent individual warehouses at the exit warehouse location. If only one individual warehouse has material waiting to be discharged, move that individual warehouse to the exit warehouse location. If both individual warehouses have material waiting to be discharged, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse location. Transport the materials in the individual warehouses located at the exit warehouse location to the exit one by one until there are no materials to be transported in that individual warehouse. Repeat S2 until there is no material waiting to be discharged in the two adjacent individual warehouses at the exit warehouse location.

[0070] S3: Based on the discharge data, determine whether there is material to be discharged in the two individual warehouses diagonally opposite the exit warehouse position. If both individual warehouses have material to be discharged, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse position. If only one individual warehouse has material to be discharged, further determine whether there is material to be discharged in the individual warehouse on the symmetrical side of the exit warehouse position. If so, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse position. Otherwise, move the individual warehouse to the exit warehouse position. Transport the material in the individual warehouses located at the exit warehouse position to the exit one by one until there is no material to be transported in that individual warehouse.

[0071] S4: Repeat S2 and S3 until all individual libraries have no materials that need to be shipped.

[0072] Furthermore, the material discharge planning employs a time-optimal method, including: defining the six fixed locations where a single silo can dock as P1, P2, P3, P4, P5, and P6; defining the path between locations P1 and P2 as path S1, between P2 and P3 as path S2, and so on up to path S6, where the path lengths are not equal; defining the single silos by number as B1, B2, B3, B4, B5, and B6; the six single silos can move together as a whole by n silo spacings; each single silo can only transport tools at location P1, and fine-tuning is required when the single silo reaches the exit location P1, with the fine-tuning time varying for each single silo; single silo B... i Fine-tuning time is The same principle applies to other individual storage units; no fine-tuning is required when an individual storage unit reaches another storage location. Individual storage units with the same storage location interval have different drive motor parameters, resulting in varying arrival times and different times for retrieving the target tool. Individual storage unit B... i The time for retrieving the tool at export storage location P1 is t. Bi|get .

[0073] Preferably, the single-unit library B i When selecting target tool a at export location P1, the shortest time is as follows:

[0074]

[0075] in:

[0076] T(i,a) represents when the single-unit library B i When at export location P1, the minimum time required to retrieve all target tools a from the single-unit library is required.

[0077] This indicates that during the j-th round of movement, the single-unit library B... i If the target tool 'a' exists in the library, set it to 1 if it does, and 0 if it doesn't. The library can be retrieved by iterating through the library at least once and at most five times. The expression is as follows:

[0078]

[0079] L j The expression representing the direction of the last movement and the distance from the storage location is as follows:

[0080]

[0081] The function f(x) is used to restrict the individual warehouse numbers of the circular storage unit to cycle between B1 and B6. The expression is as follows:

[0082]

[0083] for and The maximum value in K (defined as only 0 and 1) is inverted. Similarly.

[0084] Indicates single-unit library B i Start timing from the time after fine-tuning, and record the time required to extract tool a.

[0085] Furthermore, Indicates single-unit library B i The time required for path S to travel from the current storage location to the exit storage location P1. Indicates single-unit library B i The time required to move from storage location P2 to exit storage location P1 via path S1. Indicates single-unit library B i The time required to move from storage location P3 to exit storage location P1 via paths S2 and S1. Indicates single-unit library B i The time required to move from storage location P4 to exit storage location P1 via paths S3, S2, and S1.

[0086] The expression is as follows:

[0087]

[0088] in For single-unit library B i Acceleration time when following path S; For single-unit library B i Deceleration time when traveling along path S For single-unit library B i The time taken to maintain a constant speed while traveling along path S. For single-unit library B i Fine-tune the timing.

[0089] Preferably, during actual operation, the single-entity library B is collected. i Average time when running path S n times and replace To determine the optimal time. The expression is as follows:

[0090] This is the value of the nth sample.

[0091] Furthermore, the shortest time for transporting the target vehicle to the final circular automated warehouse is calculated as follows:

[0092]

[0093] Further, the selected individual warehouse is moved to the export warehouse location to perform the tool delivery task.

[0094] A circular three-dimensional storage control system for hydropower station maintenance tools includes: a circular guide rail, individual storage units, an outlet docking device, a logic controller, a drive system, and a sensor group. There are six individual storage units, evenly distributed on the circular track. The logic controller, drive system, and sensor group are deployed inside each individual storage unit. The logic controller is communicatively connected to the drive system and is also I / O connected to the sensor group. The drive system includes a servo driver and its associated servo motor, a frequency converter and its associated variable frequency motor. The servo driver and its associated servo motor are used to transport materials to the outlet docking device. The frequency converter and its associated variable frequency motor are used to drive the six individual storage units to move on the circular guide rail. The sensor group is used to detect the position status of the six individual storage units.

[0095] Multiple individual storage units can circulate clockwise or counterclockwise on a circular guide rail without being limited by the number of cycles or having an absolute beginning-end relationship. This makes it easier for individual storage units to select the shortest transport path for material feeding, thus improving the efficiency of automated storage and warehousing. The distributed architecture and modular deployment of the equipment can solve the problem of storing tools in limited space during the maintenance of hydropower units. The use of sensor detection methods can improve the material discharge accuracy and operational safety of the automated storage and warehousing system.

[0096] like Figure 1As shown, the operating basis of the automated storage and retrieval system is a circular guide rail, on which six independent individual storage units are installed. The walking motor at the bottom of each individual storage unit controls the movement of the individual storage unit clockwise or counterclockwise on the circular guide rail. The material handling motor inside each individual storage unit controls the material handling device to transport the tools from the storage location of the automated storage and retrieval system to the exit docking device. The exit docking device buffers the transported tools.

[0097] like Figure 2 As shown, the system employs a drive system with encoders combined with sensors to further assist in positioning, effectively improving the accuracy and safety of individual warehouse movement and feeding. The bottom walking motor of each individual warehouse uses a variable frequency motor, combined with various types of sensors, such as external encoders, distance sensors, and photoelectric switches, to provide feedback on the relative position of each individual warehouse on the guide rail. The material picking motor inside each individual warehouse uses a servo motor, and the encoder at the motor end can provide feedback on the specific position of the picking device inside the individual warehouse. The logic controller collects encoder information from each drive system and feedback information from each sensor through the Ethernet bus and IO bus, and dynamically sends the adjusted speed signal to the drive system to achieve closed-loop control of the movement and feeding of the automated warehouse.

[0098] To improve transport efficiency, all individual storage units can reciprocate simultaneously clockwise or counterclockwise on a circular guide rail, based on the shortest path or minimum travel time. When a series of tools need to be retrieved from the storage unit, the system first parses the instruction stream to obtain the material retrieval data, and then executes the transport task through a material retrieval planning algorithm.

[0099] In the initial state, any single unit may be in the position of the outlet docking device. This implementation scheme is based on... Figure 1 The relative positional relationship shown is the initial state. Unit 5 is in the position of the outlet docking device. Query the discharge data. If there is material waiting to be discharged from Unit 5, then after issuing the discharge command to Unit 5, the discharge of material from Unit 5 is completed.

[0100] When there is material waiting to be shipped from the adjacent location of warehouse No. 5, if Figure 3 and Figure 4As shown, when querying the discharge data, if only unit silo #6 has material to be discharged, a counter-clockwise rotation command is simultaneously issued to all unit silos until unit 6 moves to the outlet docking device position. Then, a discharge command is issued to unit 6, and unit 6 discharges its material. If only unit silo #4 has material to be discharged, a clockwise rotation command is simultaneously issued to all unit silos until unit 4 moves to the outlet docking device position. Then, a discharge command is issued to unit 4, and unit 4 discharges its material. If both unit silos #6 and unit silos #4 have material to be discharged, the material retrieval priority is queried. The unit silo with the higher discharge priority is given a discharge command following the process where, with unit silo #5 as the initial state, only one adjacent unit silo has material to be discharged, thus completing the discharge. At this time, either unit silo 6 or unit silo 4 is in the outlet docking device position. When unit silo 6 is in the outlet docking device position, the discharge data is queried. If unit silo 1 has material to be discharged, a counterclockwise rotation command is issued to all unit silos simultaneously until unit silo 1 moves to the outlet docking device position. After that, a discharge command is issued to unit silo 1, and the discharge of unit silo 1 is completed. When unit silo 4 is in the outlet docking device position, the discharge data is queried. If unit silo 3 has material to be discharged, a clockwise rotation command is issued to all unit silos simultaneously until unit silo 3 moves to the outlet docking device position. After that, a discharge command is issued to unit silo 3, and the discharge of unit silo 3 is completed. At this time, either Unit 1 or Unit 3 is in the outlet docking device position. When Unit 1 is in the outlet docking device position, the discharge data is queried. If Unit 2 has material to be discharged, a counterclockwise rotation command is issued to all Unit 1 units simultaneously until Unit 2 moves to the outlet docking device position. After that, a discharge command is issued to Unit 2, and Unit 2 completes discharge. When Unit 3 is in the outlet docking device position, the discharge data is queried. If Unit 2 has material to be discharged, a clockwise rotation command is issued to all Unit 1 units simultaneously until Unit 2 moves to the outlet docking device position. After that, a discharge command is issued to Unit 2, and Unit 2 completes discharge.

[0101] If there is no material waiting to be shipped from the adjacent position of unit 5, but there is material waiting to be shipped from the diagonal position, then... Figure 3 and Figure 4As shown, when querying the discharge data, if only unit bin #1 has material to be discharged, a counter-clockwise rotation command is simultaneously issued to all unit bins until unit bin #1 moves to the outlet docking device position. After that, a discharge command is issued to unit bin #1, and unit bin #1 discharges material. If only unit bin #3 has material to be discharged, a clockwise rotation command is simultaneously issued to all unit bins until unit bin #3 moves to the outlet docking device position. After that, a discharge command is issued to unit bin #3, and unit bin #3 discharges material. If both unit bins #1 and #3 have material to be discharged, the material retrieval priority is queried. The unit bin with the higher discharge priority is given a discharge command, following the process where unit bin #5 is the initial state and only one unit bin at the diagonal position has material to be discharged. This completes the discharge. Then, unit bin #2 is controlled to complete the discharge according to the adjacent position. Before all individual warehouses confirm that materials are ready to be shipped, if any individual warehouse at the outlet docking device has no materials ready to be shipped from its adjacent position but has materials ready to be shipped from its diagonal position, the same instruction mentioned above will be issued to control the individual warehouse at the opposite position to complete the shipping.

[0102] When performing clockwise or counterclockwise cyclical movements, such as Figure 1 and Figure 4 As shown, all individual storage bins will simultaneously receive the same-direction movement command and query the sensor feedback signal. When moving counterclockwise, bin #6 will issue an increase or decrease speed command to bin #6 based on the spacing threshold of bin #5 to ensure the distance threshold is valid. Bin #1 will issue an increase or decrease speed command to bin #1 based on the spacing threshold of bin #6 to ensure the distance threshold is valid. The movement of the remaining individual storage bins is similar. When moving clockwise, bin #4 will issue an increase or decrease speed command to bin #4 based on the spacing threshold of bin #5 to ensure the distance threshold is valid. Bin #3 will issue an increase or decrease speed command to bin #3 based on the spacing threshold of bin #4 to ensure the distance threshold is valid. The movement of the remaining individual storage bins is similar. When the discharge bin moves to the vicinity of the outlet docking device, the sensor status is queried, and a stop command is issued to all individual storage bins except the one in question, causing the remaining individual storage bins to stop. A position compensation command is issued to the discharge bin, and the sensor status is queried simultaneously, until the bin is positioned at the outlet docking device, at which point the storage bin movement ends. This system solution can solve the safety problems of automated storage and retrieval systems, avoid equipment collisions and interference, effectively improve equipment safety, and at the same time, through precise positioning compensation, it can also effectively improve transportation accuracy.

[0103] This invention provides a method for controlling the circular three-dimensional storage of maintenance tools for hydropower stations, as described below:

[0104] The instruction stream is parsed to generate discharge data. The material status of the initial discharge silo, the adjacent silos, the diagonal silos, and the symmetrical silos are determined sequentially, and the discharge process is planned. Then, the discharge planning algorithm controls multiple silos to move clockwise or counterclockwise on the circular guide rail. Finally, the discharge positioning is achieved by dynamically adjusting multiple silos, thus completing the feeding control.

[0105] Advantages of this solution:

[0106] By utilizing the circular three-dimensional warehouse's end-to-end loop operation route and material discharge planning algorithm, the shortest path or the shortest time material discharge sequence for each individual warehouse is rationally planned, avoiding repetitive, multiple, and back-and-forth movements, thereby improving tool transportation efficiency.

[0107] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for controlling the circular three-dimensional storage of maintenance tools for hydropower stations, characterized in that... Includes the following steps: S1: Based on the discharge data, determine whether there is any material waiting to be discharged in the initial outlet warehouse. If there is material waiting to be discharged, transport the materials one by one to the outlet until there is no material to be transported in that warehouse. S2: Based on the discharge data, determine whether there is material waiting to be discharged in the two individual warehouses adjacent to the exit warehouse location. If only one individual warehouse has material waiting to be discharged, move that individual warehouse to the exit warehouse location. If both individual warehouses have material waiting to be discharged, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse location. Transport the materials in the individual warehouses located at the exit warehouse location to the exit one by one until there are no materials to be transported in that individual warehouse. Repeat S2 until there is no material waiting to be discharged in the two individual warehouses adjacent to the exit warehouse location. S3: Based on the discharge data, determine whether there is material to be discharged in the two individual warehouses diagonally opposite the exit warehouse position. If both individual warehouses have material to be discharged, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse position. If only one individual warehouse has material to be discharged, further determine whether there is material to be discharged in the individual warehouse on the symmetrical side of the exit warehouse position. If so, call the discharge planning algorithm to determine the time required for discharge and move the individual warehouse with the shorter time to the exit warehouse position. Otherwise, move the individual warehouse to the exit warehouse position. Transport the material in the individual warehouses located at the exit warehouse position to the exit one by one until there is no material to be transported in that individual warehouse. S4: Repeat S2 and S3 until all individual libraries have no materials that need to be shipped.

2. The method for controlling the circular three-dimensional storage of hydropower station maintenance tools according to claim 1, characterized in that: The material output planning algorithm uses a time-optimal method for planning, and the process is as follows: S2.1: Define storage locations and paths: Define the fixed storage locations that can be docked in a single storage unit as P1, P2, P3, ...; define the paths between storage locations as S1, S2, ... in sequence; S2.2: Define Monolithic Libraries: Monolithic libraries are defined by number as B1, B2, B3, B4, ..., B i When individual storage units move together, tools can only be transported at point P1, and minor adjustments are required upon arrival at P1. Other individual storage units do not require minor adjustments when moving to other storage locations. i The fine-tuning time is defined as S2.3: Define B i The tool retrieval time at P1 is t. βi | get ; S2.4: Calculate the shortest material retrieval time for the individual unit at the exit location; this time needs to take into account the movement time of the individual unit from the current location to P1, the fine-tuning time, and the time to retrieve all target tools after the fine-tuning. S2.5: Determine if a single library has a target tool: Determine if B is moved in the j-th round by using the identifier. i If the target tool is present, the value is 1; otherwise, it is 0. By iterating through the corresponding rounds, all tools can be retrieved. S2.6: Record movement information: using L j This indicates the direction of the last movement and the distance from the storage location; S2.7: Restricting Individual Library Numbering Cycles: A function is used to restrict the individual library numbering to B1 to B... i It cycles within the range; S2.8: Processing logical values: Invert the maximum value of the relevant identifier, i.e., 0 or 1, for logical judgment; S2.9: Clarify the method for calculating travel time: B i The movement time from the current storage location to P1 varies depending on the different path combinations. S2.10: Optimization time judgment criteria: During actual operation, data collection B... i The average time of running path S n times is used instead of the time of a single run for determining the optimal time. S2.11: Determine the final selection: Calculate the shortest time for transporting the target vehicle in the circular automated warehouse, and select the corresponding single warehouse to move to the exit location accordingly.

3. The method for controlling the circular three-dimensional storage of hydropower station maintenance tools according to claim 1, characterized in that: In S2.3, the single-unit library B i When selecting target tool a at export location P1, the shortest time is as follows: in: T(i,a) represents when the single-unit library B i When at export location P1, the minimum time required to retrieve all target tools a from the single-unit library is required. This indicates that during the j-th round of movement, the single-unit library B... i If the target tool 'a' is present, set it to 1 if present and 0 if absent. The minimum number of iterations is 1 and the maximum number of iterations is 5 to retrieve all tools 'a' from the single-unit library. Each individual warehouse can only transport tools at warehouse location P1, and minor adjustments are required when the individual warehouse reaches the exit warehouse location P1. Individual warehouse B i Fine-tuning time is No fine-tuning is required when a single library arrives at another storage location; Single Library B i The time to retrieve the tool at export storage location P1 is t. Bi|get .

4. The method for controlling the circular three-dimensional storage of hydropower station maintenance tools according to claim 3, characterized in that: The expression is as follows:

5. The method for controlling the circular three-dimensional storage of hydropower station maintenance tools according to claim 2, characterized in that: In S2.6, L j The expression representing the direction of the last movement and the distance from the storage location is as follows:

6. The method for controlling the circular three-dimensional storage of hydropower station maintenance tools according to claim 5, characterized in that: The function f(x) is used to restrict the individual warehouse numbers of the circular storage unit to cycle between B1 and B6. The expression is as follows: for and Invert the maximum value in the value. Similarly, the value of K can only be 0 or 1. Indicates single-unit library B i Start timing from the time after fine-tuning, and record the time required to retrieve tool a; Indicates single-unit library B i The time required for path S to travel from the current storage location to the exit storage location P1. Indicates single-unit library B i The time required to move from storage location P2 to exit storage location P1 via path S1. Indicates single-unit library B i The time required to move from storage location P3 to exit storage location P1 via paths S2 and S1. Indicates single-unit library B i The time required to move from storage location P4 to exit storage location P1 via paths S3, S2, and S1.

7. The method for controlling the circular three-dimensional storage of hydropower station maintenance tools according to claim 6, characterized in that: The expression is as follows: in For single-unit library B i Acceleration time when following path S; For single-unit library B i Deceleration time when traveling along path S For single-unit library B i The time taken to maintain a constant speed while traveling along path S. For single-unit library B i Fine-tune the timing.

8. The method for controlling the circular three-dimensional storage of hydropower station maintenance tools according to claim 2, characterized in that: In S2.11, during actual runtime, the single-unit library B is collected. i Average time when running path S n times and replace To determine the optimal time. The expression is as follows: This is the value of the nth sample. The shortest time for transporting the target vehicle to the final circular automated warehouse is calculated as follows:

9. A circular three-dimensional storage and control system for hydropower station maintenance tools, characterized in that: A circular three-dimensional storage control method for hydropower station maintenance tools is adopted according to any one of claims 1-8. The system includes: a circular guide rail, individual storage units, an outlet docking device, a logic controller, a drive system, and a sensor group, wherein the individual storage units are evenly distributed on the circular track. The logic controller, drive system, and sensor group are deployed within each individual unit library. The drive system includes a servo driver and a matching servo motor, a frequency converter and a matching variable frequency motor, and the logic controller is communicatively connected to the drive system. The logic controller is connected to the sensor group I / O.

10. A ring-shaped three-dimensional storage and control system for hydropower station maintenance tools according to claim 9, characterized in that: The logic controller parses the instruction stream data and generates output data to control the unit library to operate according to the following steps: S1: The logic controller controls the drive system to transport all materials initially located in the single-unit warehouse at the outlet warehouse position and included in the discharge data to the outlet docking device. S2: The logic controller determines whether there is material waiting to be discharged in the two adjacent individual storage units at the exit storage location. If only one individual storage unit has material waiting to be discharged, the controller moves that individual storage unit to the exit storage location. If both individual storage units have material waiting to be discharged, the controller determines the time required for discharge and moves the individual storage unit with the shorter time to the exit storage location. The logic controller then controls the drive system to transport all materials in the individual storage unit located at the exit storage location and included in the discharge data to the exit docking device. S2 is repeated until there is no material waiting to be discharged in the two adjacent individual storage units at the exit storage location. S3: The logic controller determines whether there is material waiting to be shipped from the two individual warehouses diagonally opposite the exit warehouse position. If both individual warehouses have material waiting to be shipped, it determines the time required for shipping and controls the drive system to move the individual warehouse with the shorter shipping time to the exit warehouse position. If only one individual warehouse has material waiting to be shipped, it further determines whether there is material waiting to be shipped from the individual warehouse on the symmetrical side of the exit warehouse position. If so, it determines the time required for shipping and controls the drive system to move the individual warehouse with the shorter shipping time to the exit warehouse position. Otherwise, it controls the drive system to move that individual warehouse to the exit warehouse position. The logic controller controls the drive system to transport all materials contained in the discharge data of the individual warehouse located at the outlet warehouse location to the outlet docking device. S4: Repeat S2 and S3 until all individual libraries have no materials that need to be shipped.

11. A ring-shaped three-dimensional storage and control system for hydropower station maintenance tools according to claim 9, characterized in that: The servo drive and its matching servo motor are used to transport materials to the outlet docking device, the frequency converter and its matching frequency converter motor are used to drive the six individual storage units to move on the circular guide rail, and the sensor group is used to detect the position status of the six individual storage units.

12. A ring-shaped three-dimensional storage and control system for hydropower station maintenance tools according to claim 9, characterized in that: When the six individual libraries move clockwise or counterclockwise in a circular track, the logic controller adjusts the running speed of each individual library in real time to keep the distance between the six individual libraries outside the threshold.

Images