Intelligent planning and scheduling method for complex cross-operation vehicles
By using intelligent planning and scheduling methods, path conflicts and safety hazards in cross-operation of vehicles under complex working conditions have been resolved, automated collaborative operation has been achieved, production efficiency and safety have been improved, and operating costs have been reduced.
Patent Information
- Application Number
- CN202511291496.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-10
- Publication Date
- 2025-12-26
AI Technical Summary
In modern steel smelting processes, cross-operation of vehicles under complex conditions presents path conflicts and safety hazards. Manual scheduling is inefficient, making it difficult to achieve zero-fault-tolerance operation in high-temperature and high-risk environments, and lacks system-level optimization.
A method for intelligent planning and scheduling of vehicles engaged in complex cross-operations is adopted. By acquiring equipment status information, determining the working mode, and determining the optimal working path based on the mode, the automated collaborative operation of the coke quenching car and the hoist is realized.
Eliminate the risks of cross-operation between personnel and vehicles, achieve unmanned operation in high-risk areas, shorten the turnover cycle of coke cans, optimize production efficiency, and reduce operating costs.
Smart Images
Figure CN121212950A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of metallurgical coking, and relates to an intelligent planning and scheduling method for a complex cross-operation vehicle, which is applied to a coke quenching vehicle and a hoist of a coke oven. BACKGROUND
[0002] In a modern steel smelting process, a dry quenching (CDQ) system is a core link for improving coke quality and recycling waste heat resources. The process flow involves high-frequency and high-precision collaborative operation of a coke tank crane, a track-type transport vehicle (such as a coke tank trolley and a coke quenching vehicle), and a dry quenching oven.
[0003] With the expansion of production scale and the improvement of automation level, there are operation conflicts and safety hazards in complex working conditions: multi-device dynamic cross-operation: the complex cross-operation conditions of multiple cross-mobile operation vehicles, coke tank cranes, dry quenching ovens and other equipment in the field currently rely on real-time experience judgment for manual scheduling, and response lag can easily lead to path conflicts.
[0004] High-temperature and high-risk environment restrictions: the hot coke tank transfer process at nearly 1000 DEG C requires zero fault tolerance in the operation process, and manual operation has safety risks and operation failure risks.
[0005] Efficiency bottleneck of the existing scheduling mode:
[0006] On-site personnel are required to command vehicle travel and crane avoidance, and the decision-making is highly subjective and difficult to quantify and optimize; manual coordination increases the waiting time of the equipment, limits the coke tank turnover efficiency, and discontinues the dry quenching oven loading rhythm, thereby restricting the overall system capacity release; decentralized instruction scheduling lacks system-level optimization of multi-machine collaborative path and operation timing.
[0007] Urgent needs of industry intelligent upgrading:
[0008] The industrial 4.0 strategy requires "fewer people" and "unmanned" production, which needs to replace high-risk and high-intensity manual posts through autonomous decision-making technology, while achieving a leap in energy efficiency and capacity. SUMMARY
[0009] To solve the above problems, the technical scheme adopted by the application is: an intelligent planning and scheduling method for a complex cross-operation vehicle, comprising the following steps:
[0010] Obtain the state information, position information and interference object situation of the hoist, the working mode, position information of the coke quenching vehicle and the state of the coke tank, and the material level state of the dry quenching oven;
[0011] Based on the state information of the hoist or the material level state of the dry quenching oven, determine the working mode of the hoist, the coke quenching vehicle or the dry quenching oven: normal production mode, catch-up mode or independent mode;
[0012] Determine the optimal working path planning of the quenching car and the elevator and give the operation task determination of the quenching car and the elevator according to the working mode of the elevator, the quenching car or the dry quenching coke oven.
[0013] Further, the method is applicable to three parallelly arranged elevators: 1# elevator, 2# elevator and 3# elevator, two parallelly arranged coke oven groups: 1# coke oven group and 2# coke oven group, two quenching cars or one coke oven group, one quenching car.
[0014] The 1# elevator, the 2# elevator and the 3# elevator are arranged between the 1# coke oven group and the 2# coke oven group.
[0015] The 1# coke oven group includes the 1# coke oven and the 2# coke oven arranged in parallel; and the 2# coke oven group includes the 3# coke oven and the 4# coke oven arranged in parallel.
[0016] Further, when the elevator fails or is unavailable for maintenance during the optimal working path planning, the quenching car cannot select the elevator as the target.
[0017] When there is interference within a certain range near the elevator, the elevator cannot be selected as the target by the quenching car.
[0018] When the elevator has been selected as the target by another quenching car, the quenching car cannot select the elevator as the target.
[0019] Further, when the quenching car works in the 1# coke oven group and is set to the single-lifting mode during the optimal working path planning, only the 1# elevator can be selected as the target.
[0020] When the quenching car works in the 1# coke oven group and is set to the double-lifting mode, only the 1# elevator and the 2# elevator can be selected as the targets.
[0021] When the quenching car works in the 2# coke oven group and is set to the single-lifting mode, only the 3# elevator can be selected as the target.
[0022] When the quenching car works in the 2# coke oven group and is set to the double-lifting mode, only the 2# elevator and the 3# elevator can be selected as the targets.
[0023] Further, the basic principle of the automatic selection of the quenching car during the optimal working path planning is to select the empty coke can when receiving the coke, select the coke can with red coke when sending the coke, and select the trolley without the coke can when receiving the coke can.
[0024] Further: the hoist, quenching car or dry quenching coke oven in normal production mode, the optimal working path planning of quenching car and hoist is determined and the process of coke feeding, coke feeding or tank feeding operation task determination of quenching car and hoist is given as follows:
[0025] In speed mode, the shortest time of red coke entering dry quenching coke oven is taken as the principle to plan the motion path of quenching car and hoist;
[0026] Under normal production condition, when a quenching car finishes coke feeding, the quenching car executes according to the following conditions;
[0027] 1) When the quenching car finishes coke feeding, the quenching car selects the fastest reasonable and effective path to pull and feed red coke;
[0028] After feeding red coke, if there is empty tank on the quenching car, the quenching car directly goes to the oven area to feed coke;
[0029] If there is no empty tank on the quenching car after feeding red coke, the quenching car selects the shortest preparation time to pull to feed empty tank; after feeding empty tank, the quenching car goes to the oven area to feed coke;
[0030] 2) When the quenching car finishes coke feeding,
[0031] When there is no fastest reasonable and effective path to directly feed red coke, but there is the fastest effective path to feed red coke after feeding empty tank: the quenching car reaches the pulling position according to the fastest reasonable and effective path and feeds empty tank; after feeding empty tank, the quenching car switches tank and feeds coke, and after feeding coke, the quenching car directly goes to the oven area to feed coke;
[0032] When the quenching car finishes coke feeding, there is no fastest reasonable and effective path to directly feed red coke, but there is the fastest effective path to feed red coke with the shortest waiting time: the quenching car reaches the corresponding pulling position according to the fastest reasonable and effective path to wait and feed coke; after feeding red coke, if there is empty tank on the quenching car, the quenching car directly goes to the oven area to feed coke;
[0033] When the quenching car finishes coke feeding, there is no fastest reasonable and effective path to directly feed red coke, but there is the fastest effective path to feed red coke with the shortest waiting time: the quenching car reaches the corresponding pulling position according to the fastest reasonable and effective path to wait and feed coke; if there is no empty tank on the quenching car after feeding red coke, the hoist with the shortest preparation time is selected to feed empty tank; after feeding empty tank, the quenching car goes to the oven area to feed coke;
[0034] 3) When the coke car finishes receiving coke, there is no fastest reasonable and effective path to directly send red coke, but there is a fastest effective path to wait for the shortest time to receive empty cans first and then send red coke: the coke car reaches the corresponding traction position according to the fastest reasonable and effective path to wait for the can receiving action, and then switches the coke can and performs the coke sending action. After sending the coke, the coke car directly goes to the furnace area to receive coke.
[0035] Further: the elevator, coke car or dry quenching coke oven in the material chasing mode, the coke car and the elevator are planned according to the principle of the shortest time for red coke to enter the low material level dry quenching coke oven first, which also includes:
[0036] When in the material chasing mode, the coke car serving the 1# coke oven area group selects the 1# elevator when pulling;
[0037] When in the material chasing mode, the coke car serving the 2# coke oven area group selects the 3# elevator when pulling;
[0038] When the coke car serving the 1# coke oven area group selects the 2# elevator, the following conditions need to be met:
[0039] The 1# elevator is not available, the 2# elevator is in idle state and has no interference from other coke cars;
[0040] When the coke car serving the 2# coke oven area group selects the 2# elevator, the following conditions need to be met:
[0041] The 3# elevator is not available, the 2# elevator is in idle state and has no interference from other coke cars.
[0042] Further: the elevator, coke car or dry quenching coke oven in the independent operation mode, the optimal working path planning of the coke car and the elevator is determined and the process of determining the coke receiving, coke sending or can receiving operation task of the coke car and the elevator is as follows:
[0043] When the coke car finishes receiving coke, there is an idle elevator:
[0044] The coke car selects the idle elevator to send red coke first, and if there are empty cans on the coke car after sending the red coke, the coke car directly goes to the furnace area to receive coke;
[0045] The coke car selects the idle elevator to send red coke first, and if there are empty cans on the coke car after sending the red coke, the coke car directly goes to the furnace area to receive coke;
[0046] When the coke car finishes receiving coke, there is no idle elevator to choose to send red coke, then the coke can state on the coke car is determined;
[0047] If there is an empty coke tank on the coke quenching car, the coke quenching car waits for an idle hoist to appear, selects the hoist after the idle hoist appears, and sends away the red coke, and then the coke quenching car goes to the furnace area to receive coke again after the red coke is sent;
[0048] If the coke quenching car is to receive an empty coke tank, it is determined whether there is a hoist ready to receive the empty coke tank. If there is, the hoist is preferentially selected to receive the empty coke tank, and then the coke quenching car goes to send red coke after the empty coke tank is received, and then the coke quenching car goes to the furnace area to receive coke again after the red coke is sent.
[0049] When the coke quenching car finishes receiving coke, there is no idle hoist and hoist ready to receive an empty coke tank for selection, a hoist with the shortest preparation time is selected to prepare an empty coke tank, and then the coke quenching car receives the empty coke tank, and then the coke quenching car goes to send red coke, and then the coke quenching car goes to the furnace area to receive coke again after the red coke is sent.
[0050] The complex cross-operation vehicle intelligent planning and scheduling method provided by the application is designed for the cooperative operation of the coke quenching car, the coke tank and the hoist after the coke oven machinery is operated without people. The method needs to collect relevant information of the coke quenching car system, the CDQ system and the coke oven body system in the basic automation system, automatically determine the optimal working path of the coke quenching car and the hoist, and give the operation work guidance of the coke quenching car and the hoist. The method changes the manual operation mode of the existing mobile vehicle and the hoist system by using the intelligent planning and scheduling method of the optimal path, the shortest time and the expert emergency rule library, realizes the maximization of production efficiency, completes the autonomous decision scheduling between regional production equipment, cancels the on-site operation post, and realizes the autonomous decision operation of regional operation. The advantages and effects of the method are as follows:
[0051] The application eliminates the risk of cross-operation of people and vehicles, realizes "unattended" in the high-risk area, shortens the coke tank turnover cycle, breaks down the barriers of the hoist system and the coke quenching car system, and provides a standardized paradigm for the full autonomous mobilization of the complex logistics system for the steel industry.
[0052] The on-site scheduling post is reduced, the dependence on manual work and the loss caused by accidents are reduced, and the operation cost is optimized. DETAILED DESCRIPTION
[0053] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.
[0054] Figure 1 It is the equipment layout of the application;
[0055] Figure 2 is a basic selection flowchart of the hoist;
[0056] Figure 3 is a mode setting diagram of the quenching car;
[0057] Figure 4 is a flowchart of intelligent scheduling of the coke pot;
[0058] Figure 5 is a flowchart of intelligent scheduling of the cross operation in normal work. DETAILED DESCRIPTION
[0059] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the present application will be described in detail below with reference to the drawings and in combination with the embodiments.
[0060] To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.
[0061] A complex cross operation vehicle intelligent planning and scheduling method comprises the following steps:
[0062] S1: obtaining the state information, position information of the hoist and the interference situation near the hoist, the working mode, position information of the quenching car and the state of the coke pot, and the material level state of the dry quenching coke oven;
[0063] The state information of the hoist includes the fault state or the unavailability of maintenance, and the availability state;
[0064] The working mode of the quenching car includes the single hoist mode and the double hoist mode;
[0065] The state of the coke pot includes no coke pot, empty coke pot and red coke pot;
[0066] The material level state of the dry quenching coke oven includes that the material is in the normal material level range, and the material level is lower than the normal material level range (the hoist system will provide the material level data);
[0067] S2: judging the working mode of the hoist, the quenching car or the dry quenching coke oven based on the state information of the hoist or the material level state of the dry quenching coke oven: normal production mode, material chasing mode or independent mode;
[0068] Normal production mode: The material levels of all three dry quenching ovens are within the normal range; Normal operation: In this state, the speed mode is selected, and the large target of the quenching car (such as the oven number or the selected elevator) and the operation task to go to the target location (receiving coke, delivering coke or receiving can) are automatically given.
[0069] The material rushing mode: when the material level of any of the three dry quenching coke ovens is lower than the normal material level range; material rushing mode: automatically gives the large target of the coke quenching car (such as the furnace number or the selected elevator) and the operation task to go to the target location (receiving coke, delivering coke or receiving can).
[0070] Independent mode is also known as fault mode: the elevator is in a fault, under maintenance or under specific conditions; Independent mode: this mode manually gives the coke quenching car the main target (such as furnace number or selected elevator) and the operation task to the target location (receiving coke, delivering coke or receiving coke can).
[0071] S3: Based on the working mode of the elevator, coke quenching car or dry quenching oven, determine the optimal working path planning for the coke quenching car and elevator, and give the operation tasks of receiving coke, delivering coke or receiving coke cans for the coke quenching car and elevator.
[0072] This method is applicable to: three hoists arranged in parallel: hoist #1, hoist #2 and hoist #3; two coke oven zones arranged in parallel: coke oven zone group #1 and coke oven zone group #2; and three quenching cars (one quenching car is on standby); or one coke oven zone and two quenching cars (one is on standby).
[0073] Elevator No. 1, Elevator No. 2 and Elevator No. 3 are located between Coke Oven Group No. 1 and Coke Oven Group No. 2;
[0074] The No. 1 coke oven group includes No. 1 coke oven and No. 2 coke oven arranged side by side; the No. 2 coke oven group includes No. 3 coke oven and No. 4 coke oven arranged side by side.
[0075] A layout diagram of an intelligent planning and scheduling technology for vehicles engaged in complex cross-operations is shown below. Figure 1 As shown: This includes three quenching cars 1, six coke jars 2, and three elevators 3. Among them, two quenching cars are in use and one is on standby (one standby quenching car and two standby coke jars are not shown in the picture). The two quenching cars serve one of the two groups of coke ovens respectively. Coke ovens No. 1 and No. 2 are the first group (coke oven No. 1 group); coke ovens No. 3 and No. 4 are the second group (coke oven No. 2 group). Elevator No. 1 serves coke ovens No. 1 and No. 2, elevator No. 3 serves coke ovens No. 3 and No. 4, and elevator No. 2 can serve coke ovens No. 1 and No. 2, and coke ovens No. 3 and No. 4. Each elevator corresponds to one dry quenching coke oven.
[0076] The optimal path, shortest time, expert emergency rule base intelligent planning and scheduling method is adopted to determine the optimal working path planning of the quenching car and the hoist and to give the operation task determination of the quenching car and the hoist.
[0077] The rules of the expert emergency rule base include hoist selection rules, quenching car mode rule setting and coke tank selection principles.
[0078] Hoist selection rules:
[0079] When the path planning calculation is performed, the hoist can be selected in the following restrictions (see attached Figure 2 ) :
[0080] ① When a hoist is out of order or unavailable due to maintenance, the quenching car cannot select the hoist as a target;
[0081] ② When there is an interference (other quenching car) within a certain range near a hoist, the hoist cannot be selected by the quenching car as a target;
[0082] ③ If a hoist has been selected by other quenching cars as a target position in their paths, the quenching car cannot select the hoist as a target.
[0083] The quenching car mode rule setting is as follows:
[0084] When the quenching car works in the 1# coke oven zone group (1, 2 coke ovens) and is set to single hoist mode, only the 1# hoist is selected as a target;
[0085] When the quenching car works in the 1# coke oven zone group (1, 2 coke ovens) and is set to double hoist mode, only the 1# hoist and the 2# hoist are selected as targets;
[0086] When the quenching car works in the 2# coke oven zone group (3, 4 coke ovens) and is set to single hoist mode, only the 3# hoist is selected as a target;
[0087] When the quenching car works in the 2# coke oven zone group (3, 4 coke ovens) and is set to double hoist mode, only the 2# hoist and the 3# hoist are selected as targets.
[0088] In the path planning process of the quenching car, the coke tank selection item must be considered as one of the constraint conditions, see Figure 4 The basic principle of automatic coke tank selection is to select an empty coke tank when receiving coke, to select a coke tank with red coke when sending coke, and to select a trolley without a coke tank when receiving a coke tank.
[0089] The conditions for automatically selecting the 1# tank are:
[0090] When focusing operation, 1# tank is allowed to use and empty, while 2# tank is not allowed to use or 2# tank is not or 2# tank is not empty, or 1# 2# tank is allowed to use and empty but 1# tank is closer to the traction;
[0091] When sending coke operation, 1# tank is full;
[0092] When receiving tank operation, 1# tank is allowed to use and 1# tank is empty while 2# tank is not allowed to use or 2# tank is full, or 1# 2# tank is allowed to use and empty but 1# tank is closer to the traction;
[0093] The conditions for automatically selecting 2# tank are:
[0094] When focusing operation, 2# tank is allowed to use and empty while 1# tank is not allowed to use or 1# tank is not or 1# tank is not empty, or 1# 2# tank is allowed to use and empty but 2# tank is closer to the traction;
[0095] When sending coke operation, 2# tank is full;
[0096] When receiving tank operation, 2# tank is allowed to use and 2# tank is empty while 1# tank is not allowed to use or 1# tank is full, or 1# 2# tank is allowed to use and empty but 2# tank is closer to the traction.
[0097] The automatic tank selection function is deployed in the PLC system on the car, which can be used to verify the operation guidance given by the model.
[0098] Further, the elevator, the coke quenching car or the dry quenching coke oven determines the optimal working path planning of the coke quenching car and the elevator in the normal production mode, and gives the process of determining the operation task of the coke quenching car and the elevator.
[0099] Normal production mode: the material level of the 3-seat dry quenching coke oven is in the normal material level range. At this time, the speed mode is adopted.
[0100] In the speed mode, the shortest time for red coke to enter the dry quenching coke oven is used as the principle to plan the movement path of the coke quenching car and the elevator; the time for red coke to enter the dry quenching coke oven includes the time for the coke quenching car to move from the oven area to the elevator, the time for the elevator to send red coke into the dry quenching coke oven and some necessary waiting time. The path of the coke quenching car from the oven area to the traction is 6 (see attached Figure 5 )。
[0101] Under normal production conditions, when a coke quenching car finishes focusing, the coke quenching car executes according to the following conditions;
[0102] 1) When the coke extinguishing car finishes receiving coke, there is the fastest reasonable and effective path that can directly send red coke, and the coke extinguishing car selects the traction according to the fastest reasonable and effective path and sends red coke; the fastest reasonable and effective path refers to the nearest available hoist to the coke extinguishing car, and the distance between the coke extinguishing car and the hoist is the smallest, that is, the nearest;
[0103] ① When the coke extinguishing car finishes sending red coke, if there is an empty tank on the coke extinguishing car, the coke extinguishing car directly goes to the furnace area to receive coke;
[0104] ② If the coke extinguishing car finishes sending red coke, if there is no empty tank on the coke extinguishing car, the coke extinguishing car selects the traction with the shortest preparation time to receive an empty tank; after receiving the empty tank, the coke extinguishing car goes to the furnace area to receive coke; the traction with the shortest preparation time refers to the nearest available idle hoist;
[0105] 2) When the coke extinguishing car finishes receiving coke,
[0106] ① When there is no fastest reasonable and effective path that can directly send red coke, but there is the fastest effective path of receiving an empty tank first and then sending red coke: the coke extinguishing car selects the traction according to the fastest reasonable and effective path and performs the action of receiving an empty tank; after receiving the empty tank, the coke extinguishing car switches the coke tank and performs the action of sending coke, and after sending the coke, the coke extinguishing car directly goes to the furnace area to receive coke; the fastest reasonable and effective path that has no direct sending of red coke refers to the nearest available hoist to the coke extinguishing car;
[0107] ② When the coke extinguishing car finishes receiving coke, there is no fastest reasonable and effective path that can directly send red coke, but there is the fastest effective path of sending red coke first with the shortest waiting time: the coke extinguishing car reaches the corresponding traction position according to the fastest reasonable and effective path to wait and then sends coke; after sending the red coke, if there is an empty tank on the coke extinguishing car, the coke extinguishing car directly goes to the furnace area to receive coke;
[0108] ③ When the coke extinguishing car finishes receiving coke, there is no fastest reasonable and effective path that can directly send red coke, but there is the fastest effective path of sending red coke first with the shortest waiting time: the coke extinguishing car reaches the corresponding traction position according to the fastest reasonable and effective path to wait and then sends coke; if the coke extinguishing car finishes sending red coke, if there is no empty tank on the coke extinguishing car, the coke extinguishing car selects the traction with the shortest preparation time to receive an empty tank; after receiving the empty tank, the coke extinguishing car goes to the furnace area to receive coke;
[0109] 3) When the coke extinguishing car finishes receiving coke, there is no fastest reasonable and effective path that can directly send red coke, but there is the fastest effective path of receiving an empty tank first and then sending red coke with the shortest waiting time: the coke extinguishing car reaches the corresponding traction position according to the fastest reasonable and effective path to wait and then completes the action of receiving a tank, after receiving the tank, the coke extinguishing car switches the coke tank and performs the action of sending coke, and after sending the coke, the coke extinguishing car directly goes to the furnace area to receive coke.
[0110] Further, the elevator, quenching vehicle or dry quenching coke oven determines the optimal working path planning of the quenching vehicle and the elevator in the material chasing mode and gives the process of determining the operation task of the coke receiving, coke feeding or tank receiving of the quenching vehicle and the elevator as follows:
[0111] When the material level of any one of the three dry quenching coke ovens is lower than the normal material level range, the operator can select the system operation mode to the material chasing mode. In the material chasing mode, the system plans the path of the quenching vehicle and the elevator according to the principle that the red coke enters the dry quenching coke oven with the shortest time.
[0112] The time of red coke entering the dry quenching coke oven includes the time of the quenching vehicle from the oven area to the elevator, the time of the elevator feeding the red coke into the dry quenching coke oven and some necessary waiting time. The number of quenching vehicle paths when the red coke enters the dry quenching coke oven with low material level will be subject to different dry quenching oven numbers, and the possible path number is 6.
[0113] In addition to the above normal working mode rules, the reasonable and effective aspects of the path also need to comply with the following restrictions when calculating the path planning of each quenching vehicle in the material chasing mode, see Figure 3 :
[0114] When the dry quenching coke oven needs to chase material, the quenching vehicle serving the 1# coke oven area group (1, 2 coke ovens) selects the 1# elevator when pulling;
[0115] When the dry quenching coke oven needs to chase material, the quenching vehicle serving the 2# coke oven area group (3, 4 coke ovens) selects the 3# elevator when pulling;
[0116] The quenching vehicle serving the 1# coke oven area group (1, 2 coke ovens) selects the 2# elevator, which needs to meet the following conditions:
[0117] The 1# elevator is not available, the 2# elevator is in an idle state and has no interference from other quenching vehicles;
[0118] The quenching vehicle serving the 2# coke oven area group (3, 4 coke ovens) selects the 2# elevator, which needs to meet the following conditions:
[0119] The 3# elevator is not available, the 2# elevator is in an idle state and has no interference from other quenching vehicles.
[0120] The elevator, quenching vehicle or dry quenching coke oven determines the optimal working path planning of the quenching vehicle and the elevator in the independent operation mode and gives the process of determining the operation task of the coke receiving, coke feeding or tank receiving of the quenching vehicle and the elevator as follows:
[0121] In the independent operation mode, after the quenching vehicle finishes receiving coke, the automatic operation of the quenching vehicle can be executed according to the following situations:
[0122] When the coke quenching car finishes receiving coke, there is an idle elevator:
[0123] The coke quenching car preferentially selects the idle elevator to send red coke, and when the red coke is sent, if there is an empty tank on the coke quenching car, the coke quenching car directly goes to the furnace area to receive coke;
[0124] The coke quenching car preferentially selects the idle elevator to send red coke, and when the red coke is sent, if there is an empty tank on the coke quenching car, the coke quenching car directly goes to the furnace area to receive coke;
[0125] When the coke quenching car finishes receiving coke, there is no idle elevator to select to send red coke, and the state of the coke tank on the coke quenching car is determined;
[0126] If there is an empty coke tank on the coke quenching car, the coke quenching car waits for an idle elevator to appear, and when the idle elevator appears, the elevator is selected and the red coke is sent, and after the red coke is sent, the coke quenching car goes to the furnace area to receive coke;
[0127] If the coke quenching car goes to receive an empty coke tank, it is determined whether there is an elevator ready to receive an empty tank, and if so, the elevator is preferentially selected to receive an empty tank, and after the empty tank is received, the red coke is sent, and after the red coke is sent, the coke quenching car goes to the furnace area to receive coke;
[0128] When the coke quenching car finishes receiving coke, there is no idle elevator and no elevator ready to receive an empty tank, and the elevator with the shortest preparation time is selected to prepare an empty tank, and after the elevator is ready to receive an empty tank, the coke quenching car receives the empty tank, and then sends the red coke, and after the red coke is sent, the coke quenching car goes to the furnace area to receive coke.
[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for part or all of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A complex intersection operating vehicle intelligent planning and scheduling method, characterized in that: The method comprises the following steps: acquiring state information of the hoist, position information, and interference object conditions near the hoist, working mode of the quenching car, position information, and state of the coke pot, and material level state of the dry quenching coke oven; judging the working mode to which the hoist, the quenching car, or the dry quenching coke oven belongs based on the state information of the hoist or the material level state of the dry quenching coke oven: normal production mode, material catching mode, or independent mode; determining the optimal working path planning of the quenching car and the hoist and giving the operation task determination of the quenching car and the hoist based on the working mode to which the hoist, the quenching car, or the dry quenching coke oven belongs.
2. The intelligent planning and scheduling method for complex intersection operation vehicles according to claim 1, characterized in that: The method is suitable for three parallel hoists: 1# hoist, 2# hoist, and 3# hoist, two parallel coke oven groups: 1# coke oven group and 2# coke oven group, two quenching cars or one coke oven group, and one quenching car. The 1# hoist, the 2# hoist, and the 3# hoist are arranged between the 1# coke oven group and the 2# coke oven group. The 1# coke oven group comprises the 1# coke oven and the 2# coke oven arranged in parallel, and the 2# coke oven group comprises the 3# coke oven and the 4# coke oven arranged in parallel.
3. The intelligent planning and scheduling method for complex intersection operation vehicles according to claim 1, characterized in that: When the hoist fails or is unavailable for maintenance during the optimal working path planning, the quenching car cannot select the hoist as a target. When there is interference within a certain range near the hoist, the hoist cannot be selected as a target by the quenching car. When the hoist has been selected as a path target position by another quenching car, the hoist cannot be selected as a target by the quenching car.
4. The intelligent planning and scheduling method for complex intersection operation vehicles according to claim 1, characterized in that: When the quenching car works in the 1# coke oven group and is set to the single hoist mode during the optimal working path planning, only the 1# hoist can be selected as a target. When the quenching car works in the 1# coke oven group and is set to the double hoist mode, only the 1# hoist and the 2# hoist can be selected as targets. When the quenching car works in the 2# coke oven group and is set to the single hoist mode, only the 3# hoist can be selected as a target. When the quenching car works in the 2# coke oven group and is set to the double hoist mode, only the 2# hoist and the 3# hoist can be selected as targets.
5. The intelligent planning and scheduling method of a complex intersection operation vehicle according to claim 1, characterized in that: During the optimal working path planning, the basic principle for the automatic selection of the coke pot of the quenching car is as follows: an empty coke pot is selected when the quenching car is to receive coke, a coke pot with red coke is selected when the quenching car is to send coke, and a trolley without a coke pot is selected when the quenching car is to receive a coke pot.
6. The intelligent planning and scheduling method of complex intersection operation vehicles according to claim 1, characterized in that: When the hoist, the quenching car, or the dry quenching coke oven is in the normal production mode, the optimal working path planning of the quenching car and the hoist is determined, and the operation task determination of the quenching car and the hoist is given as follows: In the speed mode, the shortest time for red coke to enter the dry quenching coke oven is taken as the principle to plan the movement path of the quenching car and the hoist. Under normal production conditions, when a quenching car finishes receiving coke, the quenching car executes as follows: 1) After the quenching car finishes receiving coke, the quenching car selects the fastest reasonable and effective path to pull and send red coke. After the red coke is sent, if there is an empty pot on the quenching car, the quenching car directly goes to the oven area to receive coke. If there is no empty pot on the quenching car after the red coke is sent, the quenching car selects the puller with the shortest preparation time to receive an empty pot. After receiving the empty pot, the quenching car goes to the oven area to receive coke. 2) When the coke car finishes receiving coke, When there is no fastest reasonable and effective path for direct red coke delivery, but there is a fastest effective path for receiving empty cans first and then delivering red coke: the coke car reaches the traction position according to the fastest reasonable and effective path and performs the empty can receiving action; After receiving the empty can, the coke car switches the coke can and performs the coke delivery action, and after delivering the coke, the coke car directly goes to the furnace area to receive coke; When the coke car finishes receiving coke, there is no fastest reasonable and effective path for direct red coke delivery, but there is a fastest effective path for waiting for the shortest time for red coke delivery first: the coke car reaches the corresponding traction position according to the fastest reasonable and effective path and waits for coke delivery, and after delivering the red coke, if there is an empty can on the coke car, the coke car directly goes to the furnace area to receive coke; When the coke car finishes receiving coke, there is no fastest reasonable and effective path for direct red coke delivery, but there is a fastest effective path for waiting for the shortest time for red coke delivery first: the coke car reaches the corresponding traction position according to the fastest reasonable and effective path and waits for coke delivery; If there is no empty can on the coke car after delivering the red coke, select the shortest preparation time of the hoist to receive the empty can; After receiving the empty can, the coke car goes to the furnace area to receive coke; 3) When the coke car finishes receiving coke, there is no fastest reasonable and effective path for direct red coke delivery, but there is a fastest effective path for waiting for the shortest time for red coke delivery first: the coke car reaches the corresponding traction position according to the fastest reasonable and effective path and waits for coke delivery, and after delivering the red coke, if there is an empty can on the coke car, the coke car directly goes to the furnace area to receive coke.
7. The intelligent planning and scheduling method of complex intersection operation vehicles according to claim 1, characterized in that: The hoist, coke car or dry quenching coke oven plans the path of the coke car and hoist in the catch-up mode, with the principle of the shortest time for red coke to enter the low material level dry quenching coke oven first, and also includes: When the coke car serving the 1# coke oven area group selects traction, it prioritizes the 1# hoist; When the coke car serving the 2# coke oven area group selects traction, it prioritizes the 3# hoist; The following conditions need to be met when the coke car serving the 1# coke oven area group selects the 2# hoist: The 1# hoist is occupied, the 2# hoist is in idle state and there is no interference from other coke cars; The following conditions need to be met when the coke car serving the 2# coke oven area group selects the 2# hoist: The 3# hoist is occupied, the 2# hoist is in idle state and there is no interference from other coke cars.
8. The intelligent planning and scheduling method of complex intersection operation vehicles according to claim 1, characterized in that: The process of determining the optimal working path planning of the coke car and hoist and giving the coke receiving, coke delivery or can receiving operation task determination of the coke car and hoist in the independent operation mode is as follows: When the coke car finishes receiving coke, there is an idle hoist: The coke car prioritizes the idle hoist for red coke delivery, and after delivering the red coke, if there is an empty can on the coke car, the coke car directly goes to the furnace area to receive coke; The coke car prioritizes the idle hoist for red coke delivery, and if there is no empty can on the coke car after delivering the red coke, select the shortest preparation time of the hoist to receive the empty can; After receiving the empty can, the coke car goes to the furnace area to receive coke; When the coke car finishes receiving coke, there is no idle hoist available for red coke delivery, then determine the status of the coke can on the coke car; If there is an empty coke can on the coke quenching car, the coke quenching car waits for an idle elevator to appear, and after the idle elevator appears, the elevator is selected and the red coke is sent away, and after the red coke is sent, the coke quenching car goes to the furnace area to receive coke again; If the coke quenching car is to go to receive an empty coke can, it is determined whether there is an elevator ready to receive the empty can. If so, the elevator is preferentially selected to receive the empty can, and after the empty can is received, the red coke is sent, and after the red coke is sent, the coke quenching car goes to the furnace area to receive coke again; When the coke quenching car finishes receiving coke, there is no idle elevator and no elevator ready to receive the empty can, so the elevator with the shortest preparation time is selected to prepare the empty can, and after the elevator is ready to receive the empty can, the coke quenching car receives the empty can, and then sends the red coke, and after the red coke is sent, the coke quenching car goes to the furnace area to receive coke again.