Three-Dimension Model And Hoisting Path Planning In Coil Warehouse

How to enhance working efficiency is very important in the steel industry, which is currently in a transitional period. And its construction of networked and unmanned is especially critical.In this paper, a three-dimension visual model of the coil warehouse is studied based on the WebGL technology. And a method of hoisting path planning of the crane system in the coil warehouse is also studied as equal important.This research can help the steel industry to do coils' hoisting work in a networked and unmanned way, and achieve the goal of intelligent manufacturing. It is benefit for safety production and reduction of labor cost.A three-dimension model of the coil warehouse is studied based on the WebGL technology in this paper. Firstly, the entity elements in coil warehouse is described and drew following the modeling steps in WebGL. Then a dynamic scene model of the hoisting process is achieved by the help of the WebGL animation technology. This three-dimension model shows the real hoisting site. It has the function of 3D display, and allows users to observe independently and control the hoisting speed. This research can give support to the coil warehouse's visual and networked construction.An improved PSO is employed as the basic method for the hoisting path planning in coil warehouse. And this is a three-dimension scene. This research has improved the method in the flowing two ways, considering the characteristics of the path planning in the three dimension space.Firstly, a method is designed for particle node encoding. This research fixes the x-axis coordinate value of the path nodes. The density of nodes is determined by the distance between these nodes and the obstacle. The shorter of the distance is, the denser of the nodes is. By this way, it can ensure the path forward, and help to find out an excellent path quickly.Secondly, a larger constant is added to the fitness value of a particle. A particle is just represents a path in this paper. If there is any node of a path in the obstruction, then this path will never be the best way. So it achieves the purpose of obstacle avoidance. As the nodes near the obstruction are more than the further, it can avoid the line between two nodes to pass through the obstacle.Then this method is expressed in Java, which can control the motion of the entity elements for web application, such as the crane and coils. By this way, the research verifies the path planning method in the three-dimension model.The simulation and field experiments indicate that this revised PSO can help for the hoisting path planning in the coil warehouse, and that the crane system can execute the task in a visualized way in the three-dimension model.In the last, this research shows the process of a hoisting task just following the planned path in the three-dimension model.