Hot-rolled steel coil unmanned vehicle and control method thereof

Abstract

The present application relates to the technical fields of hot-rolled steel coil unmanned vehicle, and discloses a hot-rolled steel coil unmanned vehicle, which comprises a bridge, a trolley frame, a lifting mechanism, a trolley running mechanism, an electrical and control part, a sensing system, an intelligent warehouse area management system, an execution and control system, a safety and monitoring system, wherein the sensing system comprises a sensing component, and the sensing component is installed outside the working mechanism, a transparent protective layer is arranged outside the sensing lens of the unmanned vehicle, and a micro slow motor is matched, so that the motor can work and the protective layer can be replaced after detecting pollution, the cleanliness of the lens is ensured, no additional pollution is caused, corresponding elastic pressure pieces are arranged outside the passive roller shaft, the rotation of the roller shaft is hindered, the tension of the protective layer outside the lens is ensured, the protective layer can always be attached to the outside of the lens, and the clarity of the lens is ensured.

Description

Technical Field

[0001] This invention relates to the field of unmanned crane technology for hot-rolled steel coils, specifically to an unmanned crane for hot-rolled steel coils and its control method. Background Technology

[0002] The overhead crane mainly consists of a bridge frame and a trolley frame. The bridge frame, composed of main beams and end beams, is the "skeleton" of the entire crane. It spans across the workshop and can move longitudinally along the tracks on both sides. It also includes a hoisting mechanism, which is responsible for the up-and-down movement of the hook or lifting device to lift and lower materials. It generally consists of a hoisting motor, reducer, drum, wire rope, and hook. The trolley traveling mechanism drives the entire crane to run along the tracks along the length of the workshop. The trolley traveling mechanism drives the crane trolley to move laterally along the tracks on the main beam of the bridge frame. The crane trolley is mounted on the guide rails of the bridge frame. The electrical and control components mainly include motors that provide power to various mechanisms, as well as PLCs that realize logic control and status monitoring. For unmanned overhead cranes, the hardware composition is similar to that of traditional overhead cranes, but a sensing system (such as 3D cameras and LiDAR) is added. And intelligent decision-making systems are used to replace human eyes and brains to achieve path planning, automatic obstacle avoidance and precise positioning. Its workflow has also been upgraded to a fully automated closed loop that automatically receives tasks, autonomously plans paths, automatically completes hoisting and provides feedback on results.

[0003] In practical use, unmanned overhead cranes for hot-rolled steel coils require ensuring the cleanliness of the sensing system. Regular cleaning of the lenses of sensors such as lidar and cameras is necessary to prevent dust and oil contamination from the hot-rolled steel coil production environment from affecting recognition accuracy. However, these sensors are typically installed on the crane's moving parts, such as the main beam and frame, making manual cleaning cumbersome and posing safety hazards. Currently, while automatic wipers and air curtain dust removal systems exist to address this issue, they still require cleaning via spray systems and physical scraping after contamination is detected. While these methods achieve cleaning, the resulting droplets cannot be handled and can easily cause pollution in the production environment. Furthermore, regular manual replenishment of cleaning fluid is required. Additionally, if particles generated during the hot-rolled steel coil production process adhere to the lenses during physical scraping, they can damage the lenses over time, affecting their lifespan and detection accuracy. Summary of the Invention

[0004] In view of the shortcomings of existing unmanned cranes for hot-rolled steel coils mentioned in the background art, the present invention provides an unmanned crane for hot-rolled steel coils and its control method, which has the advantages of convenient maintenance of the sensing system and high detection accuracy, and solves the technical problems mentioned in the background art.

[0005] This invention provides the following technical solution: an unmanned crane for hot-rolled steel coils, comprising a bridge and a trolley frame, a lifting mechanism, a trolley running mechanism, an electrical and control system, a sensing system, an intelligent warehouse management system, an execution and control system, and a safety and monitoring system. The sensing system includes a sensing component, which is installed outside the aforementioned working mechanism. A mounting slot is provided above the lens on the front side of the sensing component. Two upper and lower left fixed seats are provided on the left side of the front side of the sensing component, and two upper and lower right fixed seats are provided on the right side of the front side of the sensing component. A passive roller and an active roller are respectively installed between the two upper and lower left fixed seats and the right fixed seats. The passive roller is located above the lens, and the active roller is located below the lens. A protective layer is wound around the outside of the passive roller, and the outer end of the protective layer is connected to the active roller. A pressure plate is mounted on the sensing component on one side of the passive roller, and the bottom of the pressure plate is mounted on the sensing component through an elastic telescopic structure. When there is no external force, the pressure plate exerts pressure on the outside of the passive roller. A miniature slow-speed motor is configured outside the left fixed seat connected to the outer end of the active roller, and the miniature slow-speed motor is installed outside the sensing component.

[0006] Furthermore, the left mounting bracket is rotatably connected to the outside of the sensing component via a rotating shaft, and there are two left mounting brackets installed vertically, one above the other. The two left mounting brackets are respectively installed above and below the lens, and the interior of the left mounting bracket is a cross-shaped groove. The outer end of the lower left mounting bracket is connected to the output shaft of a miniature slow-speed motor.

[0007] Furthermore, the right fixed seat is installed in a position symmetrical to the left and right of the sensing component in the middle, and a corresponding "+" shaped groove is opened on the side of the right fixed seat opposite to the left fixed seat. A base plate is rotatably connected to the outside of the right fixed seat, and an insert block is connected to the outside of the base plate. A bracket is connected to the outside of the sensing component at a position corresponding to the right fixed seat. The insert block is movably inserted into the bracket on the outside of the sensing component, and the base plate is connected to the bracket through a spring. The insert block can only move axially relative to the bracket.

[0008] Furthermore, connecting blocks are connected to both ends of the passive roller shaft. The connecting blocks have a cross-shaped structure. The connecting blocks at both ends of the passive roller shaft are movably inserted into the left fixed seat, and the protective layer wrapped around the outside of the passive roller shaft is a transparent PET film.

[0009] Furthermore, connecting blocks are connected to both ends of the drive roller, and the drive roller is movably inserted between the left fixed base via the connecting blocks at both ends. Furthermore, the pressure plate is installed in the mounting groove via a connecting rod. The length of the pressure plate corresponds to the width of the protective layer wound on the passive roller. A groove is provided in the middle of the pressure plate. Both ends of the pressure plate contact the protective layer on the passive roller and generate pressure. A rubber pad is connected at the contact position between the pressure plate and the protective layer. A pressure plate is connected to the rear side of the pressure plate.

[0010] Furthermore, the connecting rod consists of a freely telescopic guide rod and a spring, and the compression distance of the connecting rod by the passive roller shaft and its external protective layer is greater than the thickness of the protective layer wrapped around the outside of the passive roller shaft in the initial state.

[0011] Furthermore, a pressure sensor is installed inside the mounting groove on the outside of the pressure plate, and the pressure sensor is connected to the control system. The force point of the pressure sensor is opposite to the pressure plate, and the pressure sensor is on the moving path of the pressure plate. The distance between the pressure sensor and the pressure plate is equal to the thickness of the protective layer outside the passive roller in the initial state.

[0012] A control method for an unmanned crane for hot-rolled steel coils, implemented using the aforementioned unmanned crane for hot-rolled steel coils, comprises the following steps: S1. Task issuance: The host system sends the production or logistics plan to the intelligent warehouse management system. S2. Intelligent scheduling: The upper-level system automatically selects the optimal driving route and plans the path based on factors such as real-time warehouse location and equipment status. S3. Automatic coil picking: The overhead crane automatically travels to above the target steel coil and accurately locks the position and orientation of the steel coil using technologies such as 3D scanning; the system automatically controls the lowering of the spreader and accurately clamps the steel coil. S4. After clamping the steel coil, the crane travels along the planned path; S5. After reaching the target location, the system once again uses positioning and vision technology to accurately place the steel coil on the designated saddle or transport vehicle. S6. After the operation is completed, the crane will send the results to the intelligent warehouse management system, which will then update the warehouse inventory data to complete the entire closed-loop process.

[0013] Furthermore, the positioning and vision technology, including locking the position and attitude of the steel coil, completes position information acquisition through sensing components. When the system determines that the information collected by the sensing components is blurry or has a deviation, it controls the micro slow-speed motor to work. The micro slow-speed motor drives the active roller to wind up the protective layer, and the passive roller also rotates and releases a new protective layer. After the front lens of the sensing component becomes clear, the micro slow-speed motor stops working. At the same time, the passive roller is fixed in position under the pressure of the pressure plate. When the outer protective layer of the passive roller is exhausted, the connecting rod extends, and the pressure plate exerts pressure on the pressure sensor. When the system receives the signal from the pressure sensor, it reminds the operator to replace the protective layer. During replacement, the right fixed seat is moved outward and away from the connecting block on the passive roller and the active roller. Then, the passive roller and the active roller are removed. The new passive roller and the active roller are then installed on the left fixed seat and the right fixed seat. The passive roller and the active roller are fixed in position under the spring force of the right fixed seat. One end of the outer protective layer of the passive roller is fixed to the outside of the active roller, and the protective layer covers the front of the sensing component lens.

[0014] The present invention has the following beneficial effects: 1. This invention provides a transparent protective layer that is wound up by a roller on the outside of the sensing lens of an unmanned vehicle. With the help of a micro slow motor, the motor can be driven to work and replace the protective layer after contamination is detected, thereby ensuring the cleanliness of the lens and preventing additional contamination. Furthermore, a corresponding elastic pressure component is configured on the outside of the passive roller to prevent its rotation and ensure the tension of the protective layer on the outside of the lens, so that the protective layer can always stick to the outside of the lens and ensure the clarity of the lens.

[0015] 2. By placing the contact ends of the elastic pressure component and the roller shaft at both ends of the roller shaft, this invention can avoid the impact of friction between the pressure component and the protective film on the lens clarity, ensuring that the friction point is located at the edge of the protective film and guaranteeing the clarity of the protective film. At the same time, the installation of the protective film and its winding assembly is achieved through a movable plug-in method, which facilitates regular replacement later. Compared with the replacement of cleaning fluid, it is more convenient and easier to operate, improving maintenance efficiency and reducing safety risks during maintenance operations.

[0016] 3. By connecting a pressure plate to the rear side of the elastic pressure member and configuring a pressure sensor on its exterior, the present invention enables the pressure plate to apply pressure to the pressure sensor precisely after the protective film is used up. This allows the system to receive information that the protective film is no longer in use, allowing staff to replace it in a timely manner and ensuring the clarity of the lens when the sensing system is working. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the sensing lens in the invention. Figure 2This is a partial structural diagram of the sensing lens in this invention; Figure 3 For the present invention Figure 2 Enlarged structural diagram at point A; Figure 4 This is a schematic diagram of the roller assembly in this invention; Figure 5 This is a partial cross-sectional structural diagram of the sensing lens in this invention; Figure 6 For the present invention Figure 5 A magnified structural diagram at point B in the middle.

[0018] In the diagram: 1. Sensing component; 101. Mounting slot; 2. Left fixing seat; 3. Right fixing seat; 31. Base plate; 311. Insert block; 4. Pressure plate; 41. Groove; 42. Pressure plate; 5. Connecting rod; 6. Pressure sensor; 7. Passive roller; 8. Active roller; 9. Protective layer; 10. Baffle; 11. Miniature slow-speed motor; 12. Connecting block. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] An unmanned overhead crane for hot-rolled steel coils includes a bridge and a trolley frame, a lifting mechanism, a trolley traveling mechanism, electrical and control components, a sensing system, an intelligent warehouse management system, an execution and control system, and a safety and monitoring system. The sensing system includes a sensing component 1, which is installed externally to the aforementioned working mechanism. (See reference...) Figure 1A mounting slot 101 is provided above the front lens of the sensing component 1. Two upper and lower left fixing seats 2 are provided on the left side of the front of the sensing component 1, and two upper and lower right fixing seats 3 are provided on the right side of the front of the sensing component 1. A passive roller 7 and an active roller 8 are respectively installed between the two upper and lower left fixing seats 2 and the right fixing seats 3, with the passive roller 7 located above the lens and the active roller 8 located below the lens. A protective layer 9 is wound around the outside of the passive roller 7, and the outer end of the protective layer 9 is connected to the active roller 8. A pressure plate 4 is provided on one side of the passive roller 7 and mounted on the sensing component 1, and the bottom of the pressure plate 4 is connected by a spring. The telescopic structure is installed on the sensing component 1. When there is no external force, the pressure plate 4 exerts pressure on the outside of the passive roller 7, preventing the passive roller 7 from rotating freely and causing the protective layer 9 to unwind. The left fixed seat 2 connected to the outer end of the active roller 8 is equipped with a micro slow motor 11, which is installed on the outside of the sensing component 1. The output shaft of the micro slow motor 11 is connected to the left fixed seat 2. A baffle 10 is installed on the sensing component 1 above the passive roller 7, which can block dust and prevent dust and other contaminants from polluting the protective layer 9 wrapped around the outside of the passive roller 7.

[0021] Sensing component 1 is either a lidar or a camera.

[0022] Please see Figure 2 The left fixing seat 2 is rotatably connected to the outside of the sensing component 1 via a rotating shaft. There are two left fixing seats 2, one mounted vertically and the other vertically, respectively above and below the lens. The interior of each left fixing seat 2 has a cross-shaped groove, and the outer end of the lower left fixing seat 2 is connected to the output shaft of a miniature slow-speed motor 11. The right fixing seat 3 is installed symmetrically to the left fixing seat 2 in the middle of the sensing component 1. The right fixing seat 3 has a corresponding cross-shaped groove on the side opposite to the left fixing seat 2. (See reference...) Figure 3 The right fixed seat 3 is rotatably connected to the base plate 31. The base plate 31 is connected to the outside of the insert block 311. The sensing component 1 is connected to the bracket at the position corresponding to the right fixed seat 3. The insert block 311 is movably inserted into the bracket on the outside of the sensing component 1. The base plate 31 is connected to the bracket by a spring. The insert block 311 can only move axially relative to the bracket, so that the right fixed seat 3 can realize the installation, fixation and disassembly of the two take-up roller shafts by moving left and right.

[0023] Please see Figure 4The passive roller 7 has connecting blocks 12 at both ends. The connecting blocks 12 are cross-shaped. The connecting blocks 12 at both ends of the passive roller 7 are movably inserted into the left fixed seat 2. The protective layer 9 wrapped around the outside of the passive roller 7 is a transparent PET film that can adapt to the production and transportation environment of hot-rolled steel coils. The active roller 8 has connecting blocks 12 at both ends. The active roller 8 is movably inserted into the left fixed seat 2 through the connecting blocks 12 at both ends, which can facilitate subsequent replacement operations. By setting an automatically replaceable protective layer 9 on the front side of the sensing component 1, the physical scraping and cleaning liquid spraying methods can be replaced, which can reduce the wear and tear on the lens and the liquid pollution caused by liquid cleaning to the production environment. At the same time, it can also facilitate manual maintenance operations and improve the stability of the unmanned crane operation of hot-rolled steel coils.

[0024] Please see Figure 5-6 The pressure plate 4 is installed in the mounting groove 101 via a connecting rod 5. The connecting rod 5 consists of a freely telescopic guide rod and a spring. The compression distance of the passive roller shaft 7 and its outer protective layer 9 on the connecting rod 5 is greater than the initial thickness of the protective layer 9 wound around the outside of the passive roller shaft 7. This allows the pressure plate 4 to still exert pressure on the protective layer 9 as the thickness of the outer protective layer 9 of the passive roller shaft 7 decreases. The length of the pressure plate 4 corresponds to the width of the protective layer 9 wound on the passive roller shaft 7. A groove 41 is provided in the middle of the pressure plate 4. Both ends of the pressure plate 4 contact the protective layer 9 on the passive roller shaft 7 and generate pressure. Rubber pads are connected at the contact points between the pressure plate 4 and the protective layer 9, which can increase the friction between the protective layer 9 and the pressure plate 4 when the protective layer 9 is released, ensuring the stability of the passive roller shaft 7 during rotation. At the same time, it also increases the friction between the pressure plate 4 and the protective layer 9. The pressure points are located at both ends of the protective layer 9, which will not affect the clarity of the middle part of the protective layer 9 and is conducive to the acquisition of camera information. The pressure plate 42 is connected to the rear side of the pressure plate 4. The pressure sensor 6 is installed inside the mounting groove 101 on the outer side of the pressure plate 42 and is connected to the control system. The pressure point of the pressure sensor 6 is opposite to the pressure plate 42 and the pressure sensor 6 is on the moving path of the pressure plate 42. The distance between the pressure sensor 6 and the pressure plate 42 is equal to the thickness of the protective layer 9 in the initial state outside the passive roller 7. When the protective layer 9 outside the passive roller 7 is completely released, the pressure plate 42 moves to the outside of the pressure sensor 6 and applies pressure to it. The control system receives the corresponding information and can remind the staff to replace the protective layer 9 in time.

[0025] A control method for an unmanned crane for hot-rolled steel coils, implemented using the aforementioned unmanned crane for hot-rolled steel coils, comprises the following steps: S1. Task issuance: The host system sends the production or logistics plan to the intelligent warehouse management system. S2. Intelligent scheduling: The upper-level system automatically selects the optimal driving route and plans the path based on factors such as real-time warehouse location and equipment status. S3. Automatic coil picking: The overhead crane automatically travels to above the target steel coil and accurately locks the position and orientation of the steel coil using technologies such as 3D scanning; the system automatically controls the lowering of the spreader and accurately clamps the steel coil. S4. After clamping the steel coil, the crane travels along the planned path; S5. After reaching the target location, the system once again uses positioning and vision technology to accurately place the steel coil on the designated saddle or transport vehicle. S6. After the operation is completed, the crane will send the results to the intelligent warehouse management system, which will then update the warehouse inventory data to complete the entire closed-loop process.

[0026] Furthermore, the positioning and vision technology, including locking the position and orientation of the steel coil, completes position information acquisition through sensing component 1. When the system determines that the information collected by sensing component 1 is blurry or has a deviation, it controls the micro slow motor 11 to work. The micro slow motor 11 drives the active roller 8 to wind up the protective layer 9, and the passive roller 7 also rotates and releases a new protective layer 9. After the front lens of sensing component 1 becomes clear, the micro slow motor 11 stops working. At the same time, the passive roller 7 is fixed in position under the pressure of pressure plate 4. When the outer protective layer 9 of the passive roller 7 is exhausted, the connecting rod 5 extends, and the pressure plate 42 presses against the pressure sensor 6. When pressure is generated, the system receives a signal from the pressure sensor 6 and reminds the staff to replace the protective layer 9. During replacement, the right fixed seat 3 is moved outward and away from the connecting block 12 on the passive roller 7 and the active roller 8. Then, the passive roller 7 and the active roller 8 are removed. The new passive roller 7 and the active roller 8 are then installed on the left fixed seat 2 and the right fixed seat 3. The passive roller 7 and the active roller 8 are fixed in position under the spring force of the right fixed seat 3. One end of the protective layer 9 outside the passive roller 7 is fixed to the outside of the active roller 8, and the protective layer 9 covers the front side of the lens of the sensing component 1.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An unmanned crane for hot-rolled steel coils, comprising a bridge and a trolley frame, a lifting mechanism, a trolley running mechanism, an electrical and control system, a sensing system, an intelligent warehouse management system, an execution and control system, and a safety and monitoring system, wherein the sensing system includes a sensing component (1), and the sensing component (1) is installed outside the aforementioned working mechanism, characterized in that: The sensing component (1) has a mounting groove (101) above the front lens. Two upper and lower left fixing seats (2) are provided on the left side of the front of the sensing component (1), and two upper and lower right fixing seats (3) are provided on the right side of the front of the sensing component (1). A passive roller (7) and an active roller (8) are respectively installed between the two left fixing seats (2) and the right fixing seats (3), with the passive roller (7) located above the lens and the active roller (8) located below the lens. A protective layer (9) is wound around the outside of the passive roller (7). The outer end is connected to the active roller shaft (8). A pressure plate (4) is installed on the sensing component (1) on one side of the passive roller shaft (7). The bottom of the pressure plate (4) is installed on the sensing component (1) through an elastic telescopic structure. When there is no external force, the pressure plate (4) generates pressure on the outside of the passive roller shaft (7). A micro slow motor (11) is installed on the outside of the left fixed seat (2) connected to the outer end of the active roller shaft (8). The micro slow motor (11) is installed on the outside of the sensing component (1). The output shaft of the micro slow motor (11) is connected to the left fixed seat (2).

2. The unmanned crane for hot-rolled steel coils according to claim 1, characterized in that: The left fixing seat (2) is rotatably connected to the outside of the sensing component (1) via a rotating shaft. There are two left fixing seats (2) installed vertically. The two left fixing seats (2) are installed above and below the lens respectively. The interior of the left fixing seat (2) is a "+" shaped groove. The outer end of the lower left fixing seat (2) is connected to the output shaft of a miniature slow motor (11).

3. The unmanned crane for hot-rolled steel coils according to claim 2, characterized in that: The right fixed seat (3) is installed in a position symmetrical to the left and right of the left fixed seat (2) relative to the sensing component (1). The right fixed seat (3) has a corresponding "+" shaped groove on the side opposite to the left fixed seat (2). The right fixed seat (3) is rotatably connected to a base plate (31). The base plate (31) is connected to an insert (311) on the outside. The sensing component (1) is connected to a bracket at the position corresponding to the right fixed seat (3). The insert (311) is movably inserted into the bracket on the outside of the sensing component (1). The base plate (31) is connected to the bracket by a spring. The insert (311) can only move axially relative to the bracket.

4. The unmanned crane for hot-rolled steel coils according to claim 1, characterized in that: The passive roller shaft (7) is connected to two connecting blocks (12) at both ends. The connecting blocks (12) are in the shape of a cross. The connecting blocks (12) at both ends of the passive roller shaft (7) are movably inserted into the left fixed seat (2). The protective layer (9) wrapped around the outside of the passive roller shaft (7) is a transparent PET film.

5. The unmanned crane for hot-rolled steel coils according to claim 4, characterized in that: The active roller (8) is connected to connecting blocks (12) at both ends, and the active roller (8) is movably inserted between the left fixed seat (2) through the connecting blocks (12) at both ends.

6. The unmanned crane for hot-rolled steel coils according to claim 1, characterized in that: The pressure plate (4) is installed in the mounting groove (101) via the connecting rod (5). The length of the pressure plate (4) corresponds to the width of the protective layer (9) wound on the passive roller (7). A groove (41) is provided in the middle of the pressure plate (4). The two ends of the pressure plate (4) contact the protective layer (9) on the passive roller (7) and generate pressure. A rubber pad is connected at the position where the pressure plate (4) contacts the protective layer (9). A pressure plate (42) is connected to the rear side of the pressure plate (4).

7. The unmanned crane for hot-rolled steel coils according to claim 6, characterized in that: The connecting rod (5) is composed of a freely telescopic guide rod and a spring. The compression distance of the passive roller shaft (7) and its external protective layer (9) on the connecting rod (5) is greater than the thickness of the protective layer (9) wrapped around the passive roller shaft (7) in the initial state.

8. The unmanned crane for hot-rolled steel coils according to claim 6, characterized in that: A pressure sensor (6) is installed inside the mounting groove (101) on the outside of the pressure plate (42), and the pressure sensor (6) is connected to the control system. The force point of the pressure sensor (6) is opposite to the pressure plate (42), and the pressure sensor (6) is on the moving path of the pressure plate (42). The distance between the pressure sensor (6) and the pressure plate (42) is equal to the thickness of the protective layer (9) outside the passive roller (7) in the initial state.

9. A control method for an unmanned crane for hot-rolled steel coils, characterized in that, The unmanned crane using the aforementioned hot-rolled steel coils will achieve the following specific steps: S1. Task issuance: The host system sends the production or logistics plan to the intelligent warehouse management system. S2. Intelligent scheduling: The upper-level system automatically selects the optimal driving route and plans the path based on factors such as real-time warehouse location and equipment status. S3. Automatic coil picking: The overhead crane automatically travels to above the target steel coil and accurately locks the position and orientation of the steel coil using technologies such as 3D scanning; the system automatically controls the lowering of the spreader and accurately clamps the steel coil. S4. After clamping the steel coil, the crane travels along the planned path; S5. After reaching the target location, the system once again uses positioning and vision technology to accurately place the steel coil on the designated saddle or transport vehicle. S6. After the operation is completed, the crane will send the results to the intelligent warehouse management system, which will then update the warehouse inventory data to complete the entire closed-loop process.

10. A control method for an unmanned crane for hot-rolled steel coils, characterized in that: The locking of the steel coil position and attitude, as well as the positioning and vision technology, are completed by the sensing component (1) to collect position information. When the system determines that the information collected by the sensing component (1) is blurry or has a deviation, it controls the micro slow motor (11) to work. The micro slow motor (11) drives the active roller (8) to wind up the protective layer (9). The passive roller (7) also rotates and releases a new protective layer (9). After the front lens of the sensing component (1) is clear, the micro slow motor (11) stops working. At the same time, the passive roller (7) is fixed in position under the pressure of the pressure plate (4). When the external protective layer (9) of the passive roller (7) is consumed, the connecting rod (5) extends. The pressure plate (42) generates pressure on the pressure sensor (6). When the system receives the signal from the pressure sensor (6), it reminds the staff to replace the protective layer (9).

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