The invention discloses a cooperative scheduling method based on double-vehicle linkage, and the method comprises the steps: constructing control threads of crown blocks in the same span of crown blocks, and enabling the control threads of different crown blocks to grab a lock together, so as to guarantee that only the crown blocks grabbing the lock carry out the operation logic judgment at the same time; according to the map set of the same-span crown block, carrying out movement conflict judgment on the two vehicles; a guard wakeup thread of each crown block is designed, the guard wakeup threads are matched with the control thread, and the crown blocks are controlled to adopt corresponding processing modes according to different movement conflict conditions of the crown blocks; in conclusion, on the basis of the map set technology and the thread technology, the crown blocks are controlled to reasonably execute the scheduling tasks of waiting, avoiding or moving, so that cooperative scheduling of the crown blocks on the same span is achieved, and continuous grabbing, discharging and avoiding actions of the two crown blocks on the same side or different sides on the same span are achieved; according to the method, path conflict resolution and orderly avoidance of the double crown blocks can be realized, and the working efficiency and the working progress of the double crown blocks are ensured.

    本发明公开了一种基于双车联动的协同调度方法,其步骤包括:构建同跨天车中天车的控制线程,所述不同天车的控制线程共同抢夺一把锁,以保证同一时刻只有抢到锁的天车进行运行逻辑判断;根据同跨天车的map集合,进行两车的移动冲突判断;设计各个天车的守护唤醒线程,所述守护唤醒线程与控制线程互相配合,根据天车不同的移动冲突情况,控制天车采取相应的处理方式;综上所述,本发明基于map集合技术和线程技术控制天车合理执行等待、避让或移动的调度任务,从而实现同跨天车的协同调度,实现同跨两台天车在同侧或异侧的连续抓料、放料与避让动作,此外,本发明能够实现双天车的路径冲突消解和有序避让,保证了双天车的工作效率和工作进程。


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    Title :

    Cooperative scheduling method based on double-vehicle linkage


    Additional title:

    一种基于双车联动的协同调度方法


    Contributors:
    QIU YONGFENG (author) / ZHANG WEI (author) / MAO XUAN'ANG (author) / MA YINGZHAO (author) / ZHENG YI (author) / ZHA BO (author) / PENG KANG (author)

    Publication date :

    2024-07-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B66C Krane , CRANES / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



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