A dual-vehicle cooperative scheduling method
By acquiring the task and location information of the overhead cranes and performing scheduling control based on priorities, the collision risk caused by the intersection of overhead crane paths in the carbon roasting plant was resolved, and the automation and safety improvement of the collaborative scheduling of overhead cranes were achieved.
Patent Information
- Application Number
- CN202610494767.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-15
- Publication Date
- 2026-07-10
AI Technical Summary
In the charcoal storage area of a carbon roasting plant, when two stacking cranes are running on the same track, their paths may overlap or cross, leading to a risk of collision. The existing scheduling mechanism cannot effectively coordinate the order of task execution, resulting in frequent emergency stops and low operating efficiency.
By acquiring the task and location information of two overhead cranes, determining whether the distance between them is less than a preset threshold, prioritizing the target to execute and avoid the overhead crane based on task priority, generating control commands to achieve the avoidance operation, and resuming the task after the avoidance is completed, and combining personnel intrusion detection for automated control.
It effectively avoids the risk of crane collisions, improves operational efficiency and system automation, ensures that high-priority tasks are executed first, reduces manual intervention, and improves system safety.
Smart Images
Figure CN122363343A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of industrial automation control technology, specifically to a dual-vehicle collaborative scheduling method. Background Technology
[0002] In the charcoal storage area of a carbon roasting plant, multiple bays are typically set up, with two stacker cranes in each bay for charcoal retrieval, unloading, and loading / unloading operations. With the advancement of unmanned and intelligent factories, more and more stacker crane systems are achieving remote control from a central control room or even fully automated, driverless operation. In actual operation, the two cranes run along the same track within the same bay, each performing independent tasks. When two cranes operate simultaneously, overlapping operations frequently occur, meaning their running paths on the track overlap or intersect, causing the distance between them to continuously decrease. Without an effective scheduling mechanism, the two cranes may collide, causing equipment damage or even safety accidents.
[0003] In existing technologies, some overhead crane systems rely on the collision avoidance devices of a single crane (such as mechanical collision avoidance, laser rangefinders, etc.) for passive avoidance. However, this method only triggers emergency braking when the distance is too close and cannot actively coordinate the task execution sequence of the two cranes, which can easily lead to problems such as frequent emergency stops and low work efficiency. Some systems also use fixed priority scheduling, but fail to combine it with real-time position dynamic judgment, resulting in inaccurate scheduling timing or unreasonable avoidance actions. Summary of the Invention
[0004] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.
[0005] This invention proposes a dual-vehicle cooperative scheduling method to solve one or more of the technical problems mentioned in the background section above.
[0006] This invention provides a dual-vehicle cooperative scheduling method, including: acquiring task information and location information of the first-day vehicle and the second-day vehicle, wherein the task information includes task type and task priority; Based on location information, determine whether the distance between the two cranes is less than or equal to a preset distance threshold; if the distance between the two cranes is less than or equal to the preset distance threshold, determine the target crane to execute first and the target crane to avoid according to task priority, and generate control commands. Send control commands to the target avoidance crane to control the target avoidance crane to suspend the current task and perform an avoidance operation; After the target avoidance crane completes the avoidance operation, a recovery task command is generated and sent to the target avoidance crane to control the target avoidance crane to continue to execute the original task.
[0007] Optionally, obtain the mission information and location information of the vehicles on the first and second days, including: The location information of the first and second day trains was obtained using the Gray bus positioning system.
[0008] Optionally, the task type includes at least one of material picking task, material unloading task, or loading and unloading task.
[0009] Optionally, perform avoidance operations, including: Control the target to avoid the overhead crane and move it to the preset avoidance position or away from the target, and prioritize moving the overhead crane in the direction of the target.
[0010] Optionally, the dual-vehicle cooperative scheduling method of the present invention further includes: When intrusion is detected, a pause command is generated and sent to the first and second vehicles to keep them in a paused state; when the intrusion is detected and ends, a resume operation command is generated and sent to the first and second vehicles to resume operation.
[0011] Optionally, the preset avoidance positions are the parking positions at both ends of the storage area.
[0012] Optionally, the dual-vehicle cooperative scheduling method of the present invention further includes: Set task priorities based on task type or urgency.
[0013] Optionally, continue with the original task, including: Resume execution of unfinished tasks from where they were paused.
[0014] This invention offers the following advantages: By acquiring the position information of two overhead cranes and calculating the distance between them, a scheduling mechanism is triggered when the distance is less than or equal to a preset distance threshold. This allows for crane control before potential operational conflicts occur, avoiding collision risks. By setting task priorities and comparing the task priorities of the two overhead cranes when scheduling conditions are triggered, the system determines which crane should prioritize execution and which should avoid the target crane, ensuring high-priority tasks are executed first and improving overall operational efficiency. By recording the task execution position when the target crane pauses its task to avoid the target crane and generating a resumption command after the avoidance is completed, the crane can resume unfinished tasks from the paused position, avoiding task duplication or manual intervention and improving system automation. By structurally constructing and transmitting pause, move, and resumption commands, the scheduling process forms a complete closed loop, ensuring task continuity during interruption and recovery. By detecting personnel intrusion and simultaneously issuing pause commands to both overhead cranes, operation resumes after personnel leave, thus avoiding safety risks associated with human-machine cross-operation and improving system security. The central control system uniformly acquires task information and location information, executes scheduling judgments and issues instructions, thereby realizing automated control of dual-vehicle collaborative scheduling and reducing manual intervention. Attached Figure Description
[0015] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.
[0016] Figure 1 This is a flowchart of a dual-vehicle collaborative scheduling method according to the present invention; Figure 2 This is a schematic diagram of the interface in the simple mobile mode of the present invention. Detailed Implementation
[0017] The invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustrative purposes only and are not intended to limit the scope of protection of the invention.
[0018] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described herein can be combined with each other.
[0019] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.
[0020] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0021] The names of messages or information exchanged between the various devices of this invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.
[0022] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0023] like Figure 1 The diagram shows a flowchart of a dual-vehicle cooperative scheduling method according to the present invention, which specifically includes the following steps: Step 101: Obtain the task information and location information of the vehicle on the first day and the vehicle on the second day. The task information includes the task type and task priority. This includes obtaining the task information and location information of the vehicles on the first and second days, including: The location information of the first and second day trains was obtained using the Gray bus positioning system.
[0024] The task types include at least one of material picking tasks, material unloading tasks, or loading and unloading tasks.
[0025] In some embodiments, the first and second overhead cranes refer to two stacking crane devices located in the same storage area and running along the same track. Each crane has an independent drive system, control system, and communication module, and can perform its own tasks. Based on this, a signal acquisition module connected to the Gray busbar positioning system is installed on each crane. When the crane is running, the signal acquisition module reads the coded signal output by the Gray busbar in real time. The signal processing unit decodes the coded signal, mapping the corresponding coded value to coordinate values along the track direction, and sends the position signal value to the central control system via the communication module. The central control system receives the position signal values from the first and second cranes and stores them as the first and second crane position information, respectively. The acquisition period for position information can be set to a fixed time interval (e.g., once every 100ms) to ensure the real-time nature of the position data. The position information can be represented as a one-dimensional coordinate value along the track direction, with the coordinate value increasing along the track direction from one end of the storage area. Simultaneously, a task record list is established in the central control system to store the task information of all cranes in the current storage area. When the central control system generates a task, it writes the task to the task record list and records the corresponding task type and priority. When the crane starts executing a task, it marks the task as the currently executing task. The central control system retrieves the task records for the first and second cranes by querying the task record list. It extracts the task type and priority from the task records, using them as the task information for the first and second cranes, respectively. Task information refers to the data set representing the crane's currently executing or pending tasks. Task information includes task type and priority, and is stored in the system's task record list, maintained and updated by the central control system. Task type refers to the specific operation category performed by the crane, representing the task's content. Task types include at least one of the following: material handling tasks, where the crane grabs and lifts charcoal blocks from a designated location in the storage area; material unloading tasks, where the crane places the grabbed charcoal blocks to a designated target location; and loading / unloading tasks, where the crane loads charcoal blocks onto or unloads them from a transport vehicle. For example, when the system detects a demand for charcoal blocks on the conveyor belt, a material handling task can be generated; when a transport vehicle arrives, a loading / unloading task can be generated. Task priority refers to a parameter used to characterize the execution order of different tasks. Task priority is used to sort multiple tasks, ensuring that tasks with higher priority are executed first. The Gray line busbar positioning system is a positioning device laid along the overhead crane's running track to obtain the real-time position of the overhead crane on the track. The Gray line busbar positioning system includes a Gray line busbar, a reading device installed on the overhead crane, and a signal processing unit. The Gray line busbar is a linear coded conductor structure laid along the overhead crane's running track, used to provide position coded signals. The reading device reads the position coded signals, and the signal processing unit parses the position coded signals to obtain position information.The task information is updated when the task is generated or the status changes to ensure the accuracy of scheduling judgment. The central control system refers to the control unit used for unified management, task scheduling, and issuing control instructions for multiple overhead cranes in the warehouse area. The central control system can be implemented by an industrial control computer, including a data processing module, a communication module, and a storage module.< >
[0026] Step 102: Based on the position information, determine whether the distance between two overhead cranes is less than or equal to a preset distance threshold. If the distance between the two overhead cranes is less than or equal to the preset distance threshold, determine the target overhead crane to be preferentially executed and the target overhead crane to be avoided according to the task priority, and generate a control instruction.< > In some embodiments, the preset distance threshold refers to the minimum safe spacing value used to determine whether two overhead cranes need to perform scheduling operations. The preset distance threshold is a preset fixed value and is stored in the storage module of the central control system. For example, the preset distance threshold can be set to 10 meters or 15 meters. When the distance between two overhead cranes is less than or equal to this value, it is considered that there is a risk of operation conflict and scheduling control needs to be performed. On this basis, the central control system reads the position information X1 of the first overhead crane from the storage module, reads the position information X2 of the second overhead crane from the storage module, then inputs the two coordinate values into the data processing module, so that the data processing module performs a subtraction operation, calculates X1 - X2, then performs an absolute value operation on the calculation result to obtain the distance value d = |X1 - X2|, and finally stores the distance value d as the current distance between the two overhead cranes. The distance refers to the position difference between the first overhead crane and the second overhead crane in the same track direction. The position information of the first overhead crane is represented as the coordinate value X1, the position information of the second overhead crane is represented as the coordinate value X2, and the distance is defined as the absolute value of the difference between the two coordinate values, that is, |X1 - X2|. Subsequently, the central control system reads the preset distance threshold d0 from the storage module, and then inputs the calculated distance value d and the preset distance threshold d0 into the data processing module, so that the data processing module performs a comparison operation: if d ≤ d0, output "meeting the scheduling conditions"; if d > d0, output "not meeting the scheduling conditions". When the judgment result is "meeting the scheduling conditions", the central control system reads the task priority p1 of the first overhead crane from the storage module, reads the task priority p2 of the second overhead crane from the storage module, and then inputs p1 and p2 into the data processing module, so that the data processing module performs a comparison operation: if p1 > p2, mark the first overhead crane as the target overhead crane to be preferentially executed and the second overhead crane as the target overhead crane to be avoided; if p1 < p2, mark the second overhead crane as the target overhead crane to be preferentially executed and the first overhead crane as the target overhead crane to be avoided; if p1 = p2, determine the target overhead crane to be preferentially executed according to the preset rules, for example: default the first overhead crane to be executed first; or the overhead crane that receives the task first is executed first.< >
[0027] In some embodiments, after determining the target priority crane and the target avoidance crane, the central control system constructs a pause command to control the target avoidance crane to stop its current task. It also constructs a move command to control the target avoidance crane to perform an avoidance operation. The process of constructing the pause command is as follows: The device identifier of the target avoidance crane is read from the scheduling results and written to the target device identifier field; then, "PAUSE" is written to the command type field; next, the parameter field is set to a default value (e.g., all zeros or a null value) to indicate pausing the current task; then, the command type field, target device identifier field, and parameter field are validated, and the calculation result is written to the validation field; finally, the fields are combined according to a preset data structure order to obtain a complete pause command data packet. The process of constructing the move command is as follows: First, the device identifier of the target avoidance crane is read from the scheduling results and written to the target device identifier field; second, "MOVE" is written to the command type field; then, the coordinate value of the preset avoidance position is read from the storage module and written to the parameter field; next, all fields are validated, and the result is written to the validation field; finally, the fields are combined according to the data structure to obtain a complete move command data packet. Based on this, the pause command and the move command are combined into a control command data packet. The device identifier of the target avoidance crane is then written into the control command data packet, which is stored in the communication module's transmission queue, awaiting transmission. A target-priority crane refers to the crane that continues its current task without performing a avoidance operation among two cranes. A target-avoidance crane refers to the crane that needs to pause its current task and perform an avoidance operation among two cranes. Control commands are the set of operation commands generated by the central control system and sent to the crane control system; control commands include pause commands and move commands.
[0028] Step 103: Send a control command to the target avoidance crane to control the target avoidance crane to pause the current task and perform an avoidance operation; The avoidance operation includes: Control the target to avoid the overhead crane and move it to the preset avoidance position or away from the target, and prioritize moving the overhead crane in the direction of the target.
[0029] The preset avoidance positions are the parking positions at both ends of the storage area.
[0030] In some embodiments, the preset avoidance positions are fixed locations pre-defined within the storage area for temporary parking of the overhead crane. In this embodiment, the preset avoidance positions are the parking positions at both ends of the storage area, each parking position corresponding to a fixed coordinate value. For example, the starting coordinate of the storage area is 0, corresponding to one parking position; the ending coordinate of the storage area is L, corresponding to another parking position. The parking positions are safe locations set at both ends of the track for the overhead crane to stop running and wait for scheduling. The parking positions do not participate in the execution of work tasks, but are only used for avoidance or standby. Based on this, the communication module of the central control system sends control command data packets to the target avoidance overhead crane through a communication link (wireless or wired). After receiving the control command data packets, the communication module of the target avoidance overhead crane verifies the control command data packets to verify data integrity, reads the command type from the command type field, and transmits the command type and parameter fields to the execution module of the overhead crane control system. When a pause command is parsed, the overhead crane control system of the target avoidance overhead crane sends a stop motion control signal to the drive system to control the trolley running mechanism to stop moving, control the hoisting mechanism to stop lifting and lowering, and control the gripping mechanism to maintain its current state. The current task execution status is marked as "paused"; the current task execution position (i.e., current position coordinates) is recorded for later task resumption. Subsequently, when a movement command is parsed, the target coordinate value corresponding to the preset avoidance position is read from the control command data packet to obtain the current position information (current coordinate value). The current coordinate value and the target coordinate value are input to the crane control system to calculate the movement direction: if the current coordinate value is less than the target coordinate value, it is set to move in the positive direction; if the current coordinate value is greater than the target coordinate value, it is set to move in the negative direction; the drive system is controlled to run along the direction at a set speed; during the movement, real-time position information is continuously obtained through the Gray bus positioning system; when the real-time position information is equal to or close to the target coordinate value (error less than the preset error range), the drive system is controlled to stop running; the crane status is marked as "Avoidance position reached". Alternatively, the target avoidance crane obtains the position information of the target priority execution crane through the central control system and its own position information through the Gray bus positioning system. Then, the two coordinate values are compared: if the target avoidance crane coordinates are less than the target priority execution crane coordinates, the movement direction is set to negative; if the target avoidance crane coordinates are greater than the target priority execution crane coordinates, the movement direction is set to positive; the control drive system starts running along the direction. Position information is continuously acquired during the movement; when the distance between the two cranes exceeds a preset distance threshold, the control drive system stops running; finally, the crane status is marked as "avoidance completed". In this embodiment, the sending and execution of control commands can be performed sequentially, i.e., the pause command is executed first, followed by the movement command. Position information is continuously updated during the movement to ensure the accuracy of movement control. The preset error range can be set to a small range value, such as 0.1 meters, to avoid frequent starts and stops. The avoidance operation refers to the process of controlling the target avoidance crane to change its current position so that it forms a safe distance from the target priority execution crane. The avoidance operation includes one of the following two methods: moving to a preset avoidance position (i.e., simple movement mode) or moving in a direction away from the target-priority overhead crane. For example... Figure 2 The diagram shows a schematic representation of the interface in the simple movement mode of the present invention.
[0031] Step 104: After the target avoidance crane completes the avoidance operation, a recovery task instruction is generated and sent to the target avoidance crane to control the target avoidance crane to continue to execute the original task.
[0032] Continuing to perform the original tasks includes: Resume execution of unfinished tasks from where they were paused.
[0033] In some embodiments, the central control system receives the current position information uploaded by the target avoidance crane through the communication module. If a preset avoidance position method is used: the coordinate value of the preset avoidance position is read from the storage module, and the current position information is compared with the coordinate value of the preset avoidance position. When the two are equal or the error is less than a preset error range, the avoidance is determined to be complete. If a distance movement method is used: the position information of the target priority execution crane is read, the distance between the two cranes is calculated, and when the distance is greater than a preset distance threshold, the avoidance is determined to be complete. Here, avoidance completion means that the target avoidance crane meets any of the following conditions: it has reached the preset avoidance position; or after performing distance movement, the distance between it and the target priority execution crane is greater than a preset distance threshold. When one of the above conditions is met, the crane status is marked as "avoidance complete". Based on this, the central control system reads the device identifier of the target avoidance crane from the storage module and writes "RESUME" into the instruction type field. Then, it reads the original task information corresponding to the target avoidance crane from the task record list and extracts the task type and task execution progress information from the original task information. Subsequently, the task type and task execution progress information are written into the parameter field. Next, verification calculations are performed on the instruction type field, target device identifier field, and parameter field to generate a verification field. Finally, the fields are combined according to a preset data structure to form a recovery task instruction data packet. Based on the above, the central control system writes the recovery task instruction data packet into the transmission buffer of the communication module and sends the recovery task instruction to the target avoidance crane through the communication module. The communication module of the target avoidance crane reads the recovery task instruction data packet, verifies it, then parses the instruction type field to confirm that the instruction type is "RESUME", and finally reads the task type and task execution progress information from the parameter field. Among them, the recovery task instruction is a control instruction constructed by the central control system and sent to the target avoidance crane to trigger the crane to resume the original task. The recovery task instruction is a type of control instruction, and its data structure is consistent with the control instruction in step 102, including an instruction type field (identified as "RESUME"), a target device identifier field, a parameter field, and a verification field.
[0034] Based on this, the target avoidance overhead crane continues to execute the original task by performing the following steps: First, the original task status is changed from "paused" to "in execution," and the original task is reloaded into the task execution module of the crane control system. Second, the recorded task execution position (the position coordinates at the time of pause) is read and used as the starting position for the current task execution. Then, the corresponding operation is executed according to the task type: For example, for a material picking task, the crane is controlled to move to the material picking target position (if not reached), the gripping mechanism is controlled to perform a gripping action, and the crane is controlled to move to the target placement position. For an unloading task, the crane is controlled to move to the unloading target position, and the gripping mechanism is controlled to perform a release action. For a loading and unloading task, the crane is controlled to move to the transport vehicle position and perform loading or unloading operations. When all tasks are completed, the task status is updated to "completed," and the task is removed or marked from the task record list. The original task refers to the operation task that the target avoidance overhead crane was performing and had not yet completed before the pause operation. The task execution position refers to the track position coordinates of the target avoidance overhead crane at the time of the pause operation. An incomplete task refers to the portion of the original task that has not yet been completed. For example, in a material handling task, the material may not have been picked up or moved to the target location; in an unloading task, the placement operation may not have been completed. In this embodiment, task execution progress information can be recorded by recording the number of completed steps or the current position coordinates. During the resumption of execution, the position information is continuously updated through the Gray bus positioning system. If the scheduling condition is triggered again during the resumption process, the scheduling can be re-executed.
[0035] The present invention provides a dual-vehicle cooperative scheduling method, which further includes: When intrusion is detected, a pause command is generated and sent to the first and second vehicles to keep them in a paused state; when the intrusion is detected and ends, a resume operation command is generated and sent to the first and second vehicles to resume operation.
[0036] In some embodiments, video surveillance cameras are installed in the storage area to continuously acquire images of the overhead crane's operating area and transmit the acquired video images to the central control system. The central control system calls an image recognition program to process the images, detecting human contour features (e.g., head and limb contours) in the images. When a human target is detected, the current status is marked as "personnel intrusion detected." The storage area refers to the operating area used to store materials and for the overhead crane to perform material handling, unloading, and loading / unloading operations. Based on this, the central control system reads the equipment identifiers of the first and second overhead cranes respectively, and then constructs a pause instruction data packet for the first overhead crane: the instruction type field is written with "PAUSE"; the target equipment identifier field is written with the first overhead crane identifier; and the parameter fields are set to default values. Similarly, a pause instruction data packet is constructed for the second overhead crane: the instruction type field is written with "PAUSE"; the target equipment identifier field is written with the second overhead crane identifier; and the parameter fields are set to default values; a verification field is generated for each data packet. Then, the central control system writes the pause instruction for the first overhead crane into the communication module's sending queue and the pause instruction for the second overhead crane into the communication module's sending queue; these are then sent to the first and second overhead cranes respectively through the communication module. Upon receiving the pause command, the first and second overhead cranes parse the command and control the drive system to stop the crane's operating mechanism, stop the lifting mechanism, and maintain the current state of the grabbing mechanism, marking the crane status as "paused." While paused, they continuously monitor for a resumption command. Until a resumption command is received, they remain stopped and do not perform any movement or operation. Simultaneously, if the image recognition program does not detect a human target in multiple consecutive frames, it marks the status as "personnel intrusion ended." At this point, the central control system reads the device identifiers of the first and second overhead cranes and constructs a resumption command data packet: the command type field is written as "RESUME_RUN"; the target device identifier field is written as the corresponding crane identifier; the parameter fields are set to default values; and a verification field is generated. Finally, the resumption command is written to the communication module's sending queue and sent to the first and second overhead cranes via the communication module. Upon receiving the resumption command, the first and second overhead cranes parse the command and change the crane status from "paused" to "running." If there are unfinished tasks, they continue executing the original tasks; otherwise, they enter standby mode. Personnel intrusion refers to the act of personnel entering the crane's operating area within the storage area. Personnel intrusion detection refers to the real-time monitoring of the overhead crane's operating area using detection devices to determine whether personnel have entered the area. These detection devices are equipment installed within the storage area to identify personnel, including infrared beam detectors, video surveillance cameras, or laser scanning devices. The resumption command is a control instruction sent from the central control system to the overhead crane control system, used to control the overhead crane to resume operation from a suspended state. The command type field of this resumption command is identified as "RESUME_RUN".Maintaining a paused state refers to the state where the overhead crane remains stopped and does not perform any movement or operation when personnel are continuously detected. In this embodiment, personnel intrusion detection can be continuously executed and runs in parallel with steps 101-104. When a personnel intrusion state is detected, scheduling step 102 is paused. After operation resumes, the scheduling process can be re-entered.
[0037] The present invention provides a dual-vehicle cooperative scheduling method, which further includes: Set task priorities based on task type or urgency.
[0038] In some embodiments, task priorities are represented by integers, with larger values indicating higher priorities; for example, priority 3 > priority 2 > priority 1. Task execution urgency is a parameter used to characterize the degree to which a task needs to be executed with priority. In this embodiment, task execution urgency is determined by one of the following methods: task waiting time length, task triggering source. Task waiting time refers to the time interval from task generation to the current moment. Task triggering source refers to the source type of task generation, such as automatically generated tasks (e.g., production demand triggered); external instruction tasks (e.g., manual scheduling instructions). The implementation process of setting task priorities based on task type is as follows: The central control system establishes a correspondence table between task types and priorities in the storage module, and pre-writes the correspondence between task types and priority values in the correspondence table; for example, material retrieval tasks correspond to priority 2; unloading tasks correspond to priority 2; loading and unloading tasks correspond to priority 3. When a task is generated, the task type of the task is read from the task record. The priority value corresponding to the task type is searched in the correspondence table. The found priority value is written into the task record list as the task priority. The process of setting task priorities based on the urgency of task execution is as follows: When a task is generated, the central control system records the task generation timestamp, reads the system time at the current moment, calculates the task waiting time (current time minus task generation time), and compares the task waiting time with a preset time threshold. For example, if the waiting time is ≥ the first time threshold, the priority is set to 3; if the waiting time is ≥ the second time threshold and less than the first time threshold, the priority is set to 2; if the waiting time is < the second time threshold, the priority is set to 1. Finally, the calculated priority is written to the task record list. Alternatively, the central control system records the task trigger source when the task is generated and establishes a correspondence between the task trigger source and the priority in the storage module. For example, external instruction tasks correspond to priority 3; automatically generated tasks correspond to priority 2. The task trigger source is read, the priority is looked up in the correspondence table, and the priority is written to the task record list. In this embodiment, the central control system periodically reads the task waiting time while the task is not completed. When the waiting time exceeds the preset time threshold, the priority is recalculated, and the new priority overwrites the original priority. Task type priority and urgency priority can be used alone or in combination. For example, final priority = type priority + urgency weight value.
[0039] In these embodiments, by acquiring the position information of two overhead cranes and calculating the distance between them, a scheduling mechanism is triggered when the distance is less than or equal to a preset distance threshold. This allows for control of the cranes before potential operational conflicts occur, avoiding collision risks. By setting task priorities and comparing the task priorities of the two cranes when scheduling conditions are triggered, the cranes that prioritize execution and those that need to avoid are determined, ensuring that high-priority tasks are executed first and improving overall operational efficiency. By recording the task execution position when the crane that is avoiding the task pauses, and generating a resumption command after the avoidance is completed, the crane can continue executing unfinished tasks from the paused position, avoiding task duplication or manual intervention and improving the system's automation level. By structurally constructing and transmitting pause commands, movement commands, and resumption commands, the scheduling process forms a complete closed loop, ensuring the continuity of tasks during interruption and recovery. By detecting personnel intrusion and simultaneously issuing pause commands to both cranes, operation is resumed only after the personnel leave, thus avoiding safety risks caused by human-machine cross-operation and improving system security. The central control system uniformly acquires task information and location information, executes scheduling judgments and issues instructions, thereby realizing automated control of dual-vehicle collaborative scheduling and reducing manual intervention.
[0040] The above description is merely a selection of preferred embodiments of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to specific combinations of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.
Claims
1. A dual-vehicle cooperative scheduling method, characterized in that, include: Obtain the task information and location information of the first day vehicle and the second day vehicle, wherein the task information includes task type and task priority; Based on the location information, determine whether the distance between the two overhead cranes is less than or equal to a preset distance threshold. If the distance between the two overhead cranes is less than or equal to a preset distance threshold, the crane that prioritizes the target and the crane that avoids the target will be determined according to the task priority, and control commands will be generated. Send the control command to the target avoidance crane to control the target avoidance crane to pause its current task and perform an avoidance operation; After the target avoidance crane completes the avoidance operation, a recovery task instruction is generated and sent to the target avoidance crane to control the target avoidance crane to continue to execute the original task.
2. The dual-vehicle cooperative scheduling method according to claim 1, characterized in that, The acquisition of task information and location information for the first and second day vehicles includes: The location information of the first and second day vehicles is obtained through the Gray bus positioning system.
3. The dual-vehicle cooperative scheduling method according to claim 1, characterized in that, The task type includes at least one of material picking task, material unloading task, or loading and unloading task.
4. The dual-vehicle cooperative scheduling method according to claim 1, characterized in that, The execution of the avoidance operation includes: Control the target avoidance crane to move to a preset avoidance position or away from the target, and prioritize moving the crane in the direction of the target avoidance.
5. The dual-vehicle cooperative scheduling method according to claim 1, characterized in that, Also includes: When intrusion is detected, a pause command is generated and sent to the first and second day vehicles to keep them in a paused state. Once the intrusion is detected and resolved, a recovery command is generated and sent to the first and second day trains to enable them to resume operation.
6. The dual-vehicle cooperative scheduling method according to claim 4, characterized in that, The preset avoidance positions are the parking positions at both ends of the storage area.
7. The dual-vehicle cooperative scheduling method according to claim 1, characterized in that, Also includes: Set task priorities based on task type or urgency.
8. The dual-vehicle cooperative scheduling method according to claim 1, characterized in that, The continuation of the original task includes: Resume execution of unfinished tasks from where they were paused.