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

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。

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.