基于栅格法的钢厂无人天车调度系统

doi:10.16182/j.issn1004731x.joss.18-0511

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (4): 687-699.doi: 10.16182/j.issn1004731x.joss.18-0511

基于栅格法的钢厂无人天车调度系统

李维刚^1,2, 王肖¹, 赵云涛¹, 李梓响³

1. 武汉科技大学冶金自动化与检测技术教育部工程研究中心,湖北武汉 430081;
2. 武汉科技大学高温材料与炉衬技术国家地方联合工程研究中心,湖北武汉 430081;
3. 武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉 430081

收稿日期:2018-07-25 修回日期:2018-10-25 出版日期:2020-04-18 发布日期:2020-04-16
作者简介:李维刚(1977-),男,湖北通城,博士,教授,研究方向为冶金过程控制与数学建模。
基金资助:
国家自然科学基金(51774219),东北大学轧制技术及连轧自动化国家重点实验室开放课题 (2017RALKFKT004)

Unmanned Crane Dispatching System Based on Grid Method in Steel Works

Li Weigang^1,2, Wang Xiao¹, Zhao Yuntao¹, Li Zixiang³

1. Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China;
2. National-provincial Joint Engineering Research Center of High Temperature Materials and Lining Technology, Wuhan University of Science and Technology, Wuhan 430081, China;
3. Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan 430081, China

Received:2018-07-25 Revised:2018-10-25 Online:2020-04-18 Published:2020-04-16

摘要/Abstract

摘要： 为解决钢厂无人天车自动调度问题,利用栅格法建模。提出了一种改进的A*算法,对库房各路段和天车不同的移动方式赋予不同的移动代价,计算出总代价最小,并能规避障碍物的板坯调运线路;为了解决人工操作天车效率低的问题,设计了一套智能调运规则,可有效处理调运过程中可能出现的天车冲突、紧急不可用,以及天车之间、天车与平板车之间相互配合等问题,最终生成天车及相关设备的调运指令。仿真实验结果及现场应用表明了上述方法的可靠性和高效性。

关键词: 无人天车, 栅格法, 改进*算法, 调运规则

Abstract: A grid method is used to model a storeroom to solve the problem of the unmanned crane automatic scheduling of the iron and steel industry. An improved A* algorithm is proposed to make the path planning. Different moving costs are assigned for the different route sections in storeroom and the different moving modes of cranes, and the path with the minimum total cost which can avoid the slab obstacles alongside is calculated by the algorithm. A set of intelligent dispatching rules are designed to solve the inefficiency of the manual operation, which can effectively deal with the problems about the collision, emergency unavailability during the dispatch and the cooperation between the cranes as well as the crane and the flatbed truck. The dispatching instructions for the cranes and the other dispatching equipment can be generated. The simulation results and applications in the field show that the method is reliable and efficient.

Key words: unmanned crane, grid method, improved A*algorithm, dispatching rules

中图分类号:

TP18

李维刚, 王肖, 赵云涛, 李梓响. 基于栅格法的钢厂无人天车调度系统[J]. 系统仿真学报, 2020, 32(4): 687-699.

Li Weigang, Wang Xiao, Zhao Yuntao, Li Zixiang. Unmanned Crane Dispatching System Based on Grid Method in Steel Works[J]. Journal of System Simulation, 2020, 32(4): 687-699.

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基于栅格法的钢厂无人天车调度系统

Unmanned Crane Dispatching System Based on Grid Method in Steel Works

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