Automatic batching method and system for scrap yard feeding menu

Abstract

The application provides a kind of scrap yard feeding menu automatic batching method and system, comprising: step S1: obtaining scrap yard information and scrap feeding menu information, the scrap yard information includes: the material of scrap yard compartment and its inventory information;The scrap feeding menu information includes scrap category and the weight of corresponding category scrap demand;Step S2: the obtained scrap yard information and scrap feeding menu information are pretreated, to obtain the pretreated scrap yard information and scrap feeding menu information;Step S3: according to the pretreated scrap yard information and scrap feeding menu information, the optimal batching scheme is calculated using batching model;Step S4: according to the optimal batching scheme obtained, the corresponding hoisting instruction is generated, and the travelling crane in the scrap yard is controlled to carry out automatic batching according to the hoisting instruction.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology, specifically to an automatic batching method and system for scrap steel yard feed menus. Background Technology

[0002] In the modern scrap steel recycling and processing industry, with the continuous development of automation technology, automated batching systems have gradually become an important means to improve work efficiency and reduce labor costs. While traditional manual feeding methods offer high flexibility, automated batching based on manual feeding has limitations in terms of efficiency and accuracy. Therefore, algorithm-based automated batching solutions have emerged, aiming to achieve precise, efficient, and optimized resource utilization in scrap steel yard feeding.

[0003] Conventional batching algorithms generally follow the principle of proximity, which means calculating efficiency based on the distance of the crane to the loading position. The grid cell corresponding to each scrap steel in the supply menu that is closest to the loading position is selected as the grid cell with the best efficiency.

[0004] Manual feeding offers high flexibility and is less affected by safe driving distances; conventional batching algorithms can fully meet the requirements.

[0005] For automatic feeding, conventional feeding algorithms can basically meet the efficiency requirements of automatic feeding per vehicle, but may not meet the accuracy requirements. Assigning to a material cell with insufficient inventory will reduce the amount of material picked up per cell, thus affecting the efficiency of automatic feeding. When assigned to a material cell that is not dispensing or has personnel working, which prevents automatic feeding, the feeder must manually modify the feeding or the crane must manually pick up the material, which will increase manual intervention and fail to achieve the goal of reducing labor costs.

[0006] For automatic batching, the material cells calculated by conventional batching algorithms are mostly adjacent material cells near the loading position. Since a certain safety distance (usually more than 20 meters) needs to be maintained between adjacent cranes during automatic operation, there will be more or less hoisting interference during the automatic batching process, which greatly affects the efficiency of automatic batching. When the feeding rhythm is fast, the material pipe needs to be manually modified to avoid hoisting interference, or the crane needs to be manually removed to reduce the waiting time caused by hoisting interference. This cannot meet the efficiency and accuracy requirements of automatic batching.

[0007] Patent document CN116503002A (application number: 202310441898.5) discloses a scrap steel batching method, system, electronic device, and readable storage medium. The method includes the following steps: obtaining steelmaking batching order demand information from the scrap steel demand side and comparing it with the scrap steel inventory information of each batching station in the scrap steel yard; determining the batching station based on the comparison result and sending a batching instruction; moving the scrap steel transport container to the batching station based on the batching instruction; transferring the scrap steel from the stockpile to the scrap steel transport container according to the batching instruction and the steelmaking batching order demand information, obtaining the actual weight data of the scrap steel, comparing it with the steelmaking batching order demand information, and correcting the batching instruction based on the comparison result until the steelmaking batching order demand information is met; and transporting the batched scrap steel transport container to the scrap steel demand destination. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automatic batching method and system for scrap steel yard feed menus.

[0009] An automatic feeding method for a scrap steel yard according to the present invention includes: Step S1: Obtain scrap steel yard information and scrap steel supply menu information. The scrap steel yard information includes: the materials in the scrap steel yard grids and their inventory information; the scrap steel supply menu information includes scrap steel categories and the weight required for the corresponding categories of scrap steel. Step S2: Preprocess the obtained scrap steel yard information and scrap steel supply menu information to obtain preprocessed scrap steel yard information and scrap steel supply menu information; Step S3: Based on the pre-processed scrap steel stockpile information and scrap steel supply menu information, calculate the optimal batching scheme using the batching model; Step S4: Generate corresponding hoisting instructions based on the obtained optimal batching scheme, and control the overhead crane in the scrap yard to automatically batch the scrap according to the hoisting instructions; The batching model includes: simulating the entire process of automatic batching of two vehicles based on the vehicle scheduling model, including the processes of picking up and placing materials, traveling, and waiting; calculating the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; calculating the batching time based on the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; and selecting the optimal batching scheme based on the optimal batching time.

[0010] Preferably, step S2 includes: Step S2.1: Clean the obtained scrap steel stockpile information and scrap steel supply menu information to obtain cleaned scrap steel stockpile information and scrap steel supply menu information; Step S2.2: Standardize the information on the cleaned scrap steel yard and the scrap steel supply menu to obtain standardized scrap steel yard information and scrap steel supply menu information; Step S2.3: Convert the weight and composition of the standardized scrap steel supply menu information into the batching ratio.

[0011] Preferably, step S3 includes: Step S3.1: Analyze the material feeding menu and calculate the number of times each material is hoisted based on the average single-stage material handling capacity of the overhead crane; Step S3.2: Based on the pre-processed scrap steel stockpile information, remove the material grids that do not meet the preset requirements and obtain all material batching schemes from the material supply menu; Step S3.3: Based on the number of hoisting operations for each material and all batching schemes in the feeding menu, calculate the optimal batching time for each batching scheme, and select the corresponding batching scheme as the optimal batching scheme based on the optimal batching time.

[0012] Preferably, step S3.3 includes: Based on the principle of evenly distributing the number of hoisting operations, the number of hoisting operations allocated to the two cranes should be as close as possible to n / 2; The batching time for each batching scheme is calculated based on the hoisting sequence, wherein the hoisting sequence includes: a hoisting sequence in which the two vehicles move in the same direction and get closer and closer to the loading position; a hoisting sequence in which the two vehicles move in the same direction and get farther and farther from the loading position; a hoisting sequence in which the two vehicles move in opposite directions and get closer and farther from the loading position; or a hoisting sequence in which the two vehicles move in opposite directions and get farther and farther from the loading position. The batching time includes: crane waiting time, crane travel time, and crane loading and unloading time; Compare the batching time for each batching scheme and each hoisting sequence, select the scheme with the shortest time as the optimal batching time, and designate the corresponding batching scheme as the optimal batching scheme and the corresponding hoisting sequence as the optimal hoisting sequence for the batching scheme.

[0013] Preferably, the material picking position is set as the center of the material grid, and the material dropping position is set as the center of the loading vehicle position; a vehicle scheduling model is constructed, which is used to schedule the vehicle to pick up and drop materials, avoid obstacles, follow vehicles, and wait, thereby simulating the entire process of automatic material distribution between two vehicles, including the material picking and dropping, travel, and waiting processes, and calculating the vehicle waiting time; A path travel model is constructed, which is used to plan the driving route and calculate the driving time. An electronically controlled material handling model is constructed to simulate the material handling process of the traveling crane, thereby calculating the time required for the traveling crane to handle material handling.

[0014] Preferably, the method further includes: monitoring and recording the actual batching situation during the batching process; when the remaining quantity of a certain material in the optimal batching scheme does not meet the preset requirements, searching for alternative materials in the current scrap steel yard and repeatedly triggering the batching model to calculate the optimal batching scheme; generating corresponding hoisting instructions based on the obtained optimal batching scheme, and controlling the overhead crane in the scrap steel yard to automatically batch materials according to the hoisting instructions.

[0015] An automatic feeding system for scrap steel yards according to the present invention includes: Module M1: Acquires scrap steel yard information and scrap steel supply menu information. The scrap steel yard information includes: the materials in the scrap steel yard compartments and their inventory information; the scrap steel supply menu information includes the scrap steel category and the weight required for the corresponding category of scrap steel. Module M2: Preprocesses the acquired scrap yard information and scrap supply menu information to obtain preprocessed scrap yard information and scrap supply menu information; Module M3: Based on the pre-processed scrap steel stockpile information and scrap steel supply menu information, the optimal batching scheme is calculated using the batching model; Module M4: Generates corresponding hoisting instructions based on the obtained optimal batching scheme, and controls the overhead cranes in the scrap yard to automatically batch materials according to the hoisting instructions; The batching model includes: simulating the entire process of automatic batching of two vehicles based on the vehicle scheduling model, including the processes of picking up and placing materials, traveling, and waiting; calculating the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; calculating the batching time based on the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; and selecting the optimal batching scheme based on the optimal batching time.

[0016] Preferably, the module M2 includes: Module M2.1: Cleans the acquired scrap steel yard information and scrap steel supply menu information to obtain cleaned scrap steel yard information and scrap steel supply menu information; Module M2.2: Standardizes the information on the cleaned scrap steel yard and the scrap steel supply menu to obtain standardized scrap steel yard and scrap steel supply menu information; Module M2.3: Converts the weight and composition of the standardized scrap steel supply menu information into batching ratios.

[0017] Preferably, the module M3 includes: Module M3.1: Parses the material feeding menu and calculates the number of times each material is hoisted based on the average single-stage material handling capacity of the overhead crane; Module M3.2: Based on the pre-processed scrap steel stockpile information, remove material grids that do not meet the preset requirements and obtain all material batching schemes from the material supply menu; Module M3.3: Based on the number of hoisting operations for each material and all batching schemes in the feeding menu, calculate the optimal batching time for each batching scheme, and select the corresponding batching scheme as the optimal batching scheme based on the optimal batching time; The module M3.3 includes: Based on the principle of evenly distributing the number of hoisting operations, the number of hoisting operations allocated to the two cranes should be as close as possible to n / 2; The batching time for each batching scheme is calculated based on the hoisting sequence, wherein the hoisting sequence includes: a hoisting sequence in which the two vehicles move in the same direction and get closer and closer to the loading position; a hoisting sequence in which the two vehicles move in the same direction and get farther and farther from the loading position; a hoisting sequence in which the two vehicles move in opposite directions and get closer and farther from the loading position; or a hoisting sequence in which the two vehicles move in opposite directions and get farther and farther from the loading position. The batching time includes: crane waiting time, crane travel time, and crane loading and unloading time; Compare the batching time for each batching scheme and each hoisting sequence, select the scheme with the shortest time as the optimal batching time, and designate the corresponding batching scheme as the optimal batching scheme and the corresponding hoisting sequence as the optimal hoisting sequence for the batching scheme.

[0018] Preferably, the material picking position is set as the center of the material grid, and the material dropping position is set as the center of the loading vehicle position; a vehicle scheduling model is constructed, which is used to schedule the vehicle to pick up and drop materials, avoid obstacles, follow vehicles, and wait, thereby simulating the entire process of automatic material distribution between two vehicles, including the material picking and dropping, travel, and waiting processes, and calculating the vehicle waiting time; A path travel model is constructed, which is used to plan the driving route and calculate the driving time. An electronically controlled material handling model is constructed to simulate the material handling process of the traveling crane, thereby calculating the time required for the traveling crane to handle material handling.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The automatic batching method and system for scrap steel yard feeding menu is a method that uses automation technology and data processing to achieve precise batching of scrap steel in scrap steel yards, improves the efficiency and accuracy of automatic batching, and reduces manual intervention and labor costs. 2. The batching model in this invention is based on material distribution, crane scheduling, path travel, and electronically controlled material handling to improve batching efficiency. It combines the crane scheduling model, path travel model, and electronically controlled material handling model with the specific site conditions to obtain the optimal batching result adapted to the site. It has adaptability and scalability. Therefore, the batching efficiency will be affected by the material distribution, crane scheduling, path travel, and crane equipment performance in the scrap steel yard. 3. The material feeding monitoring strategy of this invention controls the entire automatic feeding process of the crane in the feeding menu, detects feeding abnormalities in a timely manner, and schedules the crane to complete the automatic feeding more efficiently. It controls the demand and lifting volume of each material in the feeding menu as well as the demand and lifting volume of the entire feeding menu, and completes the automatic feeding more accurately. Attached Figure Description

[0020] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 Flowchart of the automatic batching method for feeding scrap steel stockpiles.

[0021] Figure 2 This is a diagram illustrating the hoisting sequence.

[0022] Figure 3 This is a diagram illustrating the hoisting sequence.

[0023] Figure 4 This is a diagram illustrating the hoisting sequence.

[0024] Figure 5 This is a diagram illustrating the hoisting sequence. Detailed Implementation

[0025] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0026] Example 1 An automatic feeding method for scrap steel yards according to the present invention, such as... Figure 1 As shown, it includes: data acquisition, data processing, ingredient calculation, ingredient control, real-time monitoring and adjustment.

[0027] (1) Data Acquisition: Through the communication interface of the resource system, relevant information of the scrap yard is collected in real time, such as the materials in the scrap yard grid and their inventory; through the communication interface of the scrap system, relevant information of the scrap supply menu is collected in real time, such as scrap code and scrap weight requirement. These data are transmitted to the batching system for processing.

[0028] (2) Data processing: The collected data is parsed and processed. The data is cleaned to remove invalid or erroneous data, which can improve the data quality. The data is standardized to extract the average single-pass material quantity, required weight, inventory and corresponding material grid location, and material supply point location of scrap steel in the material supply menu. This can ensure the accuracy and reliability of the data for subsequent batching calculation and analysis. The data is converted to convert the weight and composition data of scrap steel into batching ratios for subsequent optimization algorithms.

[0029] (3) Ingredient calculation: Based on the feeding menu and information on the materials and inventory in the scrap yard, a batching algorithm is used to calculate the allocation of each type of scrap to a specific grid. The approximate number of hoisting operations for each material is calculated based on the average single-grid material handling volume. The entire process of automatic batching between two cranes is simulated using a crane scheduling model, including material handling, movement, and waiting. The crane's path and travel time are calculated using a path-traffic model. Finally, the crane's material handling time is calculated using an electronically controlled material handling model to determine the optimal feeding scheme based on the batching time.

[0030] For automatic material feeding, this feeding algorithm eliminates material cells with insufficient inventory and those that cannot be automatically fed based on factors such as material inventory and cell status. It innovatively incorporates a crane scheduling model, a path travel model, and an electronically controlled material handling model into the feeding algorithm to minimize crane interference, thereby improving the efficiency and accuracy of automatic feeding and reducing manual intervention and labor costs.

[0031] For example, the supply menu ① includes: 6.8 tons of purchased heavy waste, 5.2 tons of purchased mixed waste, 4.9 tons of automotive shavings and baled blocks, 5.8 tons of mixed waste from within the plant, 8.4 tons of heavy waste cut-off pieces, 7.6 tons of crushed material, and 5.9 tons of silicon steel sheets.

[0032] a) Analyze the material feeding menu and calculate the approximate number of hoisting operations for each material based on the average single-stage material handling capacity of the overhead crane; Let the material demand be w_demand and the average material handling rate per unit be w_unit. Then the number of hoisting trips n_hoisting = (w_demand - 1t) / w_unit, rounded up.

[0033] For example, in the material supply menu ①, there are 6.8 tons of purchased heavy scrap, (6.8-1) / 4.1=1.41, so the number of hoisting operations is 2; 5.2 tons of purchased mixed scrap, (5.2-1) / 2.4=1.75, so the number of hoisting operations is 2; 4.9 tons of automotive shavings and baled blocks, (4.9-1) / 4.4=0.89, so the number of hoisting operations is 1; 5.8 tons of mixed scrap from within the plant, (5.8-1) / 3.7=1.30, so the number of hoisting operations is 2; 8.4 tons of heavy scrap cuts, (8.4-1) / 4.4=1.68, so the number of hoisting operations is 2; 7.6 tons of crushed material, (7.6-1) / 3.6=1.83, so the number of hoisting operations is 2; 5.9 tons of silicon steel sheets, (5.9-1) / 3.6=1.36, The number of hoisting operations is 2.

[0034]

[0035] b) Based on factors such as material inventory and cell status, cells that do not meet the preset conditions are eliminated. In this embodiment, cells with insufficient inventory and cells that cannot be automatically fed are eliminated, and all material feeding schemes in the feeding menu are listed. For example, the material supply menu ① includes: 6.8 tons of purchased heavy waste, 5.2 tons of purchased mixed waste, 4.9 tons of automotive shavings and baled blocks, 5.8 tons of mixed waste from within the plant, 8.4 tons of heavy waste cut-off pieces, 7.6 tons of crushed material, and 5.9 tons of silicon steel sheets.

[0036] Assume that the material compartments corresponding to purchased heavy waste are 1-1 and 4-2, the material compartments corresponding to purchased mixed waste are 1-2 and 5-1, the material compartments corresponding to automotive slicing and baling blocks are 2-1 and 5-2, the material compartments corresponding to in-plant mixed waste are 2-2 and 6-1, the material compartments corresponding to heavy waste cut heads are 3-1 and 6-2, the material compartments corresponding to crushed material are 3-2 and 7-1, and the material compartments corresponding to silicon steel sheets are 4-1 and 7-2.

[0037] Assuming that material compartments 1-1 and 4-1 are currently out of stock, and that material compartments 2-1 and 2-2 require manual operation and cannot be automatically fed, therefore material compartments 1-1, 2-1, 2-2, and 4-1 are excluded. The complete material preparation schemes for feeding menu ① are as follows: Option 1: 4-2, 1-2, 5-2, 6-1, 3-1, 3-2, 7-2 Option 2: 4-2, 1-2, 5-2, 6-1, 3-1, 7-1, 7-2 Option 3: 4-2, 1-2, 5-2, 6-1, 6-2, 3-2, 7-2 Option 4: 4-2, 1-2, 5-2, 6-1, 6-2, 7-1, 7-2 Option 5: 4-2, 5-1, 5-2, 6-1, 3-1, 3-2, 7-2 Option 6: 4-2, 5-1, 5-2, 6-1, 3-1, 7-1, 7-2 Option 7: 4-2, 5-1, 5-2, 6-1, 6-2, 3-2, 7-2 Option 8: 4-2, 5-1, 5-2, 6-1, 6-2, 7-1, 7-2 c) Calculate the optimal ingredient ratio: 1) Traffic allocation: Establish a coordinate system with the direction of the large vehicle as x, the direction of the small vehicle as y, and the upper right corner as the origin.

[0038] To maximize the simultaneous completion of automatic material batching by both cranes and minimize waiting time for a single crane, the tasks in the batching plan are evenly distributed between the two cranes: Based on the number of hoisting operations for each material calculated in step a), the total number of hoisting operations n for the batching plan is calculated. The material grids are then distributed to the cranes in ascending order along the direction of the main crane. That is, the coordinate system of the material grids in the stockpile is the same as the coordinate system of the main crane and the auxiliary crane. The coordinate system of the main crane is X, and the coordinate system of the auxiliary crane is Y. Therefore, the ascending order along the direction of the main crane refers to the X-axis of the material grid stockpile coordinate system being from smallest to largest. Following the principle of evenly distributing the number of hoisting operations, the number of hoisting operations allocated to the two cranes is made as close to n / 2 as possible.

[0039] For example, if the number of hoisting trips for purchased heavy scrap (2 trips), purchased mixed waste (2 trips), automotive slicing and baling blocks (1 trip), in-plant mixed waste (2 trips), heavy scrap cut heads (2 trips), crushed material (2 trips), and silicon steel sheets (2 trips) in the material supply menu ① is calculated, then the total number of hoisting trips is 13 trips. According to the principle of equal distribution of hoisting trips, n / 2 is 6.5 trips. Let the order of the material compartments from smallest to largest in the direction of the main trolley be purchased heavy scrap, purchased mixed waste, automotive slicing and baling blocks, in-plant mixed waste, heavy scrap cut heads, crushed material, and silicon steel sheets. Let the trolley in the large direction of the main trolley be #2 and the trolley in the small direction of the main trolley be #1. Then, the purchased heavy scrap, purchased mixed waste, automotive slicing and baling blocks, and in-plant mixed waste are assigned to trolley #1, and the heavy scrap cut heads, crushed material, and silicon steel sheets are assigned to trolley #2. Then, the number of hoisting trips for trolley #1 is 7 trips, and the number of hoisting trips for trolley #2 is 6 trips.

[0040] 2) Simulate and calculate the batching time for each ingredient hoisting sequence: There are four types of hoisting sequences: ① from largest to smallest in the direction of the trolley (<-<-), ② from smallest to largest in the direction of the trolley (->->), ③ from farthest to nearest from the loading position (-><-), and ④ from nearest to farthest from the loading position (<- ->). Figure 2-5 As shown; For each hoisting sequence, the entire hoisting process of crane #1 and crane #2 is simulated. The single-stage hoisting process is divided into unloaded waiting, unloaded travel, material picking, loaded travel, loaded waiting, and material unloading. The material picking location is defined as the center of the material storage compartment, and the material dropping location is defined as the center of the loading vehicle. The crane scheduling model is used to schedule the crane's material picking, dropping, avoidance, following, and waiting, thereby simulating the entire process of automatic material batching between the two vehicles, including material picking, dropping, traveling, and waiting, and calculating the waiting time of the vehicles. The path travel model is used to plan the path of the crane, thereby calculating the travel time of the vehicles. The electronically controlled material picking and dropping model is used to simulate the material picking and dropping process of the crane, thereby calculating the material picking and dropping time of the vehicles. By combining the crane scheduling model, the path travel model, and the electronically controlled material picking and dropping model, the automatic batching time of the batching scheme is calculated.

[0041] Let the unloaded waiting time of each single hoisting process of crane #1 be t_unloaded waiting 1, the unloaded travel time be t_unloaded travel 1, the material picking time be t_picking 1, the loaded travel time be t_loaded travel 1, the loaded waiting time be t_loaded waiting 1, and the unloading time be t_unloaded 1; and let the unloaded waiting time of each single hoisting process of crane #2 be t_unloaded waiting 2, the unloaded travel time be t_unloaded travel 2, the material picking time be t_picking 2, the loaded travel time be t_loaded travel 2, the loaded waiting time be t_loaded waiting 2, and the unloading time be t_unloaded 2.

[0042] The total hoisting time of crane #1 is the sum of all times during the hoisting process of crane #1, and the total hoisting time of crane #2 is the sum of all times during the hoisting process of crane #2. Therefore, the hoisting time of crane #1, thoisting1 = ∑twaiting1 (empty load) + ∑ttraveling1 (empty load) + ∑tretrieving1 (retrieving material) + ∑ttraveling1 (loaded load) + ∑twaiting1 (loaded load) + ∑treleasing1 (unloaded load). The hoisting time of crane #2, thoisting2 = ∑twaiting2 (empty load) + ∑ttraveling2 (empty load) + ∑tretrieving2 (loaded load) + ∑twaiting2 (loaded load) + ∑treleasing2 (unloaded load). The larger of thoisting1 and thoisting2 is the material preparation time for this hoisting sequence. Based on the above methods, the following can be calculated: ① Material preparation time t_large from largest to smallest, ② Material preparation time t_small-large from smallest to largest, ③ Material preparation time t_far-near from far to near, and ④ Material preparation time t_near-far from near to far. 3) Calculate the optimal batching time for each batching scheme: t 大小 t 小大 t 远近 and t 近远 The minimum value in the formula is the optimal batching time for this batching scheme, and its hoisting sequence is the optimal hoisting sequence for this batching scheme.

[0043] (4) Batching control: The calculated batching results are used to generate corresponding hoisting instructions and transmitted to the control system, which controls the overhead cranes in the scrap yard to automatically batch materials according to the hoisting instructions. This can automate the batching process and reduce manual operation and time costs.

[0044] (5) Real-time monitoring and adjustment: During the batching process, the actual batching situation needs to be monitored and recorded. This allows for the timely detection of batching anomalies and problems, and provides feedback for adjustments. The system will automatically switch the material handling strategy to adapt to the feeding rhythm based on the remaining feeding time and feeding speed requirements. If, during automatic batching, one crane has completed its assigned feeding task while another crane still has two or more feeding tasks, the system will automatically reassign the feeding task with the material cell furthest from the current feeding cell (to minimize crane interference) to that crane. During automatic batching, the system will automatically arrange for cranes that have completed their feeding tasks to automatically stack materials to facilitate subsequent feeding.

[0045] Based on monitoring results and ingredient requirements, the ingredients are optimized and adjusted to improve their accuracy and stability.

[0046] Since the material handling capacity of a single station is normally greater than 1 ton, when the single material handling capacity of the overhead crane is greater than the single material demand minus 1 ton, the system will automatically complete the material supply task for that material and continue to the next material supply task; when the total handling capacity of the overhead crane is greater than the total demand of the supply menu minus 1 ton, the system will automatically complete the material supply task for that supply menu and continue to the next supply menu task.

[0047] For example, if the demand for purchased heavy waste in the above supply menu is 6.8 tons, the supply task of purchased heavy waste is considered complete when the hoisting volume of purchased heavy waste is greater than 5.8 tons; if the total demand in the above supply menu is 44.6 tons, the supply task of the supply menu is considered complete when the total hoisting volume is greater than 43.6 tons.

[0048] When the completion of each material supply task in the supply menu is due to the single material lifting volume being less than the single material demand, the supply task in the supply menu may not meet the completion standard, i.e., the total lifting volume is not greater than the total demand - 1 ton.

[0049] When a single material supply task is completed, the single material hoisting volume is less than the single material demand. The system will automatically accumulate the difference between the single material hoisting volume and the single material demand into an unfinished material supply task in the supply menu with high material substitutability (such as electrical steel, low-sulfur mixed waste and heavy waste cut-off heads, which can be adjusted according to the specific requirements on site), thereby avoiding the above situation.

[0050] The material feeder can also adjust the feeding amount, material grid distribution, and crane distribution through the operating terminal.

[0051] The present invention also provides an automatic batching system for scrap steel yard supply menus. The automatic batching system for scrap steel yard supply menus can be implemented by executing the process steps of the automatic batching method for scrap steel yard supply menus. That is, those skilled in the art can understand the automatic batching method for scrap steel yard supply menus as a preferred embodiment of the automatic batching system for scrap steel yard supply menus.

[0052] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0053] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An automatic batching method for a scrap steel yard feed menu, characterized in that, include Step S1: Obtain scrap steel yard information and scrap steel supply menu information. The scrap steel yard information includes: the materials in the scrap steel yard grids and their inventory information; the scrap steel supply menu information includes the scrap steel category and the weight required for the corresponding category of scrap steel. Step S2: Preprocess the obtained scrap steel yard information and scrap steel supply menu information to obtain preprocessed scrap steel yard information and scrap steel supply menu information; Step S3: Based on the pre-processed scrap steel stockpile information and scrap steel supply menu information, calculate the optimal batching scheme using the batching model; Step S4: Generate corresponding hoisting instructions based on the obtained optimal batching scheme, and control the overhead crane in the scrap yard to automatically batch the scrap according to the hoisting instructions; The batching model includes: simulating the entire process of automatic batching of two vehicles based on the vehicle scheduling model, including the processes of picking up and placing materials, traveling, and waiting; calculating the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; calculating the batching time based on the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; and selecting the optimal batching scheme based on the optimal batching time.

2. The automatic batching method for scrap steel yard feed menu according to claim 1, characterized in that, Step S2 includes: Step S2.1: Clean the obtained scrap steel stockpile information and scrap steel supply menu information to obtain cleaned scrap steel stockpile information and scrap steel supply menu information; Step S2.2: Standardize the information on the cleaned scrap steel yard and the scrap steel supply menu to obtain standardized scrap steel yard information and scrap steel supply menu information; Step S2.3: Convert the weight and composition of the standardized scrap steel supply menu information into the batching ratio.

3. The automatic batching method for scrap steel yard feed menu according to claim 1, characterized in that, Step S3 includes: Step S3.1: Analyze the material feeding menu and calculate the number of times each material is hoisted based on the average single-stage material handling capacity of the overhead crane; Step S3.2: Based on the pre-processed scrap steel stockpile information, remove the material grids that do not meet the preset requirements and obtain all material batching schemes from the material supply menu; Step S3.3: Based on the number of hoisting operations for each material and all batching schemes in the feeding menu, calculate the optimal batching time for each batching scheme, and select the corresponding batching scheme as the optimal batching scheme based on the optimal batching time.

4. The automatic batching method for scrap steel yard feed menu according to claim 3, characterized in that, Step S3.3 includes: Based on the principle of evenly distributing the number of hoisting operations, the number of hoisting operations allocated to the two cranes should be as close as possible to n / 2; The batching time for each batching scheme is calculated based on the hoisting sequence, wherein the hoisting sequence includes: a hoisting sequence in which the two vehicles move in the same direction and get closer and closer to the loading position; a hoisting sequence in which the two vehicles move in the same direction and get farther and farther from the loading position; a hoisting sequence in which the two vehicles move in opposite directions and get closer and farther from the loading position; or a hoisting sequence in which the two vehicles move in opposite directions and get farther and farther from the loading position. The batching time includes: crane waiting time, crane travel time, and crane loading and unloading time; Compare the batching time for each batching scheme and each hoisting sequence, select the scheme with the shortest time as the optimal batching time, and designate the corresponding batching scheme as the optimal batching scheme and the corresponding hoisting sequence as the optimal hoisting sequence for the batching scheme.

5. The automatic batching method for scrap steel yard feed menu according to claim 4, characterized in that, Let the material picking position be the center of the material grid and the material dropping position be the center of the loading vehicle position; construct a vehicle scheduling model, which is used to schedule the vehicle to pick up and drop materials, avoid obstacles, follow vehicles, and wait, thereby simulating the entire process of automatic material distribution between two vehicles, including the material picking and dropping, travel, and waiting processes, and calculating the vehicle waiting time; A path travel model is constructed, which is used to plan the driving route and calculate the driving time. An electronically controlled material handling model is constructed to simulate the material handling process of the traveling crane, thereby calculating the time required for the traveling crane to handle material handling.

6. The automatic batching method for scrap steel yard feed menu according to claim 1, characterized in that, The method further includes: monitoring and recording the actual batching situation during the batching process; when the remaining quantity of a certain material in the optimal batching scheme does not meet the preset requirements, searching for alternative materials in the current scrap steel yard and repeatedly triggering the batching model to calculate the optimal batching scheme; generating corresponding hoisting instructions based on the obtained optimal batching scheme, and controlling the overhead crane in the scrap steel yard to automatically batch materials according to the hoisting instructions.

7. An automatic batching system for scrap steel yards, characterized in that, include Module M1: Acquires scrap steel yard information and scrap steel supply menu information. The scrap steel yard information includes: the materials in the scrap steel yard compartments and their inventory information; the scrap steel supply menu information includes the scrap steel category and the weight required for the corresponding category of scrap steel. Module M2: Preprocesses the acquired scrap yard information and scrap supply menu information to obtain preprocessed scrap yard information and scrap supply menu information; Module M3: Based on the pre-processed scrap steel stockpile information and scrap steel supply menu information, the optimal batching scheme is calculated using the batching model; Module M4: Generates corresponding hoisting instructions based on the obtained optimal batching scheme, and controls the overhead cranes in the scrap yard to automatically batch materials according to the hoisting instructions; The batching model includes: simulating the entire process of automatic batching of two vehicles based on the vehicle scheduling model, including the processes of picking up and placing materials, traveling, and waiting; calculating the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; calculating the batching time based on the vehicle waiting time, vehicle traveling time, and vehicle picking up and placing time; and selecting the optimal batching scheme based on the optimal batching time.

8. The automatic batching system for scrap steel yards according to claim 7, characterized in that, The module M2 includes: Module M2.1: Cleans the acquired scrap steel yard information and scrap steel supply menu information to obtain cleaned scrap steel yard information and scrap steel supply menu information; Module M2.2: Standardizes the information on the cleaned scrap steel yard and the scrap steel supply menu to obtain standardized scrap steel yard and scrap steel supply menu information; Module M2.3: Converts the weight and composition of the standardized scrap steel supply menu information into batching ratios.

9. The automatic batching system for scrap steel yards according to claim 8, characterized in that, The module M3 includes: Module M3.1: Parses the material feeding menu and calculates the number of times each material is hoisted based on the average single-stage material handling capacity of the overhead crane; Module M3.2: Based on the pre-processed scrap steel stockpile information, remove material grids that do not meet the preset requirements and obtain all material batching schemes from the material supply menu; Module M3.3: Based on the number of hoisting operations for each material and all batching schemes in the feeding menu, calculate the optimal batching time for each batching scheme, and select the corresponding batching scheme as the optimal batching scheme based on the optimal batching time; The module M3.3 includes: Based on the principle of evenly distributing the number of hoisting operations, the number of hoisting operations allocated to the two cranes should be as close as possible to n / 2; The batching time for each batching scheme is calculated based on the hoisting sequence, wherein the hoisting sequence includes: a hoisting sequence in which the two vehicles move in the same direction and get closer and closer to the loading position; a hoisting sequence in which the two vehicles move in the same direction and get farther and farther from the loading position; a hoisting sequence in which the two vehicles move in opposite directions and get closer and farther from the loading position; or a hoisting sequence in which the two vehicles move in opposite directions and get farther and farther from the loading position. The batching time includes: crane waiting time, crane travel time, and crane loading and unloading time; Compare the batching time for each batching scheme and each hoisting sequence, select the scheme with the shortest time as the optimal batching time, and designate the corresponding batching scheme as the optimal batching scheme and the corresponding hoisting sequence as the optimal hoisting sequence for the batching scheme.

10. The automatic batching system for scrap steel yards according to claim 9, characterized in that, Let the material picking position be the center of the material grid and the material dropping position be the center of the loading vehicle position; construct a vehicle scheduling model, which is used to schedule the vehicle to pick up and drop materials, avoid obstacles, follow vehicles, and wait, thereby simulating the entire process of automatic material distribution between two vehicles, including the material picking and dropping, travel, and waiting processes, and calculating the vehicle waiting time; A path travel model is constructed, which is used to plan the driving route and calculate the driving time. An electronically controlled material handling model is constructed to simulate the material handling process of the traveling crane, thereby calculating the time required for the traveling crane to handle material handling.

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