CN110147092A - Automated Guided Vehicle control system - Google Patents
Automated Guided Vehicle control system Download PDFInfo
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- CN110147092A CN110147092A CN201810159009.5A CN201810159009A CN110147092A CN 110147092 A CN110147092 A CN 110147092A CN 201810159009 A CN201810159009 A CN 201810159009A CN 110147092 A CN110147092 A CN 110147092A
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- 238000000034 method Methods 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims description 52
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000004590 computer program Methods 0.000 abstract description 2
- 238000013079 data visualisation Methods 0.000 abstract 1
- 238000007726 management method Methods 0.000 description 16
- 239000000047 product Substances 0.000 description 12
- 241000196324 Embryophyta Species 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000004064 recycling Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000011265 semifinished product Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 206010011469 Crying Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000002547 anomalous effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The entitled AGV control system of the present invention, AGV control system should belong to computer program field, we are directed a factory the logistics of production scene by AGV control system, by some data visualizations, informationization, the case where manager can become more apparent upon production scene by these information, system can be docked with other systems, more completely, the efficiency that plant produced is improved by new scheme, obtains optimal interests.We are automatic by fractional hardware by AGV control system, allow plant produced personnel to become to standardize, factory is made to become concise, while reducing the unnecessary safety accident generated in process of factory production because personnel walk about, more save time and cost.Our systems will provide optimal solution to plant produced logistics to the greatest extent, and manager can also change the more perfect demand to production scene of new solution by system.
Description
Technical field
The present invention relates to computer program field, it is related specifically to the method and system dispatched to live material flows automation.
Background technique
Currently, plant produced belongs to hand haulage's mode, general factory floor works, and people is needed to use tool by object
Material is transported to some specified positions, and so, flow of the people can be very more, and can consume the extra time, and on-the-spot meeting is very
Disorderly.So that there are many uncertain factors for on-the-spot meeting, there are hidden danger, be easy to cause safety accident.By plant information, intelligence
Change, automation is our first heart.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides the AGV control system of complete set, is controlled using system
Factory Logistics transport, to replace pervious hand haulage's mode.
AGV control system possesses the technical solution of complete set, AGV transportation system by AGV bicycle, AGV control system,
AGV charging system, other auxiliary appliances composition, and AGV control system mainly by AGV monitoring computer, AGV control system, thoroughly
Transmission module, dispatch terminal, banner system composition.AGV monitors computer and passes through Ethernet and warehousing system (ERP/WMS), life
Produce control system (MES), banner system (Kanban) computer is communicated；AGV control system and AGV trolley pass through wireless saturating
Transmission module is communicated.
The job task that AGV automatic dispatching system is generated according to the request of dispatch terminal, according to certain automatic intelligence of rule
AGV trolley can be dispatched and execute corresponding picking position entrance, carry out carrying out picking with after the interaction of logistics management machine automatic or manual
Operation, picking according to the route of planning to discharge location entrance, carry out and logistics management machine automatic or manual after the completion
Unloading operation is carried out after interaction, operation automatic archiving after the completion of unloading；System real-time display entirely carries the status data of task.
Cargo outbound conveying, pallet needed for operator calls in dispatch terminal (including object under current production process correspondence
Expect assembled scheme, packaging scheme and material requirement inventory), materials pull system recalls corresponding pallet from reservoir area automatically, send to
Defined AGV picking platform.Library materials pull system sends picking request to AGV control system.AGV control system is according to request
The AGV trolley of scheduling distance recently, idle is taken cargo pallet away, is sent to specified platform to corresponding picking platform.Complete cargo
Outbound conveying.
Clout returns to conveying, and operator calls clout pallet Hui Ku in dispatch terminal.Materials pull system is controlled to AGV
System sends the request of remainder material torr disk.AGV control system recently, just unsnatched according to request scheduling distance the AGV trolley of goods to pair
Picking platform is answered, clout pallet is taken away, send to clout pallet and recycle platform.Complete the recycling conveying of clout pallet.This task passes through
Optimizing scheduling is compounded in the task of outbound.
Full tray stacking is placed on full tray platform by empty full tray recycling conveying, operator, full in dispatch terminal calling
Pallet Hui Ku.Materials pull system takes full tray to request to the transmission of AGV control system.AGV control system according to request scheduling away from
From nearest, the rigid AGV trolley for unsnatching goods to corresponding picking platform, takes full tray away, send to full tray and recycle platform.Complete full support
Disk recycling conveying, while empty pallet being sent to line side pallet website.This task is compounded in the task of outbound by optimizing scheduling
In.
Library is moved in product pallet, full tray stacking is placed on full tray platform by operator, calls full support in dispatch terminal
Disk moves library.Materials pull system takes full tray transfer to request to the transmission of AGV control system.AGV control system is according to request scheduling
Distance recently, just unsnatches the AGV trolley of goods to corresponding picking platform, takes full tray away, send to next sequence pallet and recycle platform.It is complete
It is conveyed at being recycled between full tray process.This task is compounded in the task of outbound by optimizing scheduling.
AGV control system provides shop logistics and standardizes report, and ogistics distribution schedule and progress feed back report, logistics cost
Analytical statement, vehicle scheduling report, return management report, materiel warehouse-out report, in product transfer report etc., full dynamic realtime is aobvious
Show in AGV system that the operating position and operating status of each AGV trolley, common state include 40: starting stops, is pause, anxious
Stop alarm ERROR, anticollision ERROR, drawing bar alarm ERROR, barrier alarm ERROR, left drive alarm ERROR, right drive alarm
ERROR, derailing alarm, voltage are promoted lower than alarming value, voltage lower than shutdown value, the electric current excess of stroke, driving abnormal etc..Report AGV
The various failures that system occurs generate the reports such as event log, check and be arranged data collection system outputs and inputs state,
It checks the task order list in task order buffer area, checks AGV trolley specific loading, unloading paper roll place.Task order column
Table can be constantly updated according to the status information that receives, can be according to requiring to delete a certain item task order or change certain ginsengs of task
Number, AGV system have the function of incident management.It can report that all kinds of anomalous events, including AGV trolley wait the charging time too long；Vehicle
Blocking time is too long；Task is cancelled；Loading, unloading goods station platform number is invalid or mistake etc..Using event filter, institute is only shown
The event occurred in the event type that need to be inquired or period.
1. whole system can upgrade update, equipment can be recycled, save the cost.
2. during plant produced, our systems can carry out data collection to it and acquisition is integrated, by data public affairs
It opens, is information-based.
3. we will be seen that live flow situation by system, material requirement greatly reduces artificial quantity, certainly by factory
Dynamicization.
4. in the factory, the transport and request of material can be completed by the logical operation automatic processing of system, pass through
Trolley is transported to designated position, this will reduce the time, improves production efficiency.
Compared with prior art, the present invention is conducive to improve working efficiency, saves the time, reduces walking about for personnel, improves
Site environment reduces safety accident, and by plant information, automation improves the normalization of factory, convenient for management.
Detailed description of the invention
Fig. 1 is AGV material pull process figure.
Fig. 2 is white part finished product AGV storage flow chart.
Fig. 3 is defective products process flow diagram.
Fig. 4 is product quality retrospect flow chart.
Fig. 5 is electronic work order publication flow chart
Fig. 6 is unplanned electronic work order switching flow figure.
Fig. 7 is post matrix training process figure.
Fig. 8 is the controlled publication flow chart of technical papers.
Fig. 9 is to borrow work order flow chart.
Figure 10 is production equipment point inspection tooling tooling mistake proofing setting procedure figure.
Figure 11 is production abnormality process flow diagram.
Figure 12 is trial-production single process figure.
Figure 13 is first and last part inspection process figure.
Figure 14 is maintenance personal's equipment line walking point inspection flow chart.
Figure 15 is line side material cancelling stocks flow chart.
Figure 16 is sampling test flow chart.
Figure 17 is sample inspection flow chart.
Figure 18 is system construction drawing, we are communicated by Ethernet, and multiple systems and our system are carried out pair
It connects, the complete a set of AGV of composition controls transportation system.
Figure 19 is the system construction drawing of AGV system, and AGV system manages corresponding data, Ke Yitong by modules
Labor management is crossed to change outstanding scheme, system is made more perfectly to arrange in pairs or groups scene.
Figure 20 is the dispatch terminal project figure of AGV system, the dispatch terminal of AGV system, for issuing material requests.
Figure 21 is the dispatch terminal product figure of AGV system, and the dispatch terminal of AGV system selects product material.
Figure 22 is the dispatch terminal process chart of AGV system, and the dispatch terminal in AGV system, Figure 20-22 is exactly options
Mesh-> product-> process, we can be to sending task requests, after the logical process by system, its request by it
The module of processing event can be returned to.
Figure 23 is material allocation assembled scheme figure, and material allocation assembled scheme management, we specify distribution side by it
Case.
Figure 24 is that vehicle management is used to manage AGV trolley, checks the state and information of trolley.
Figure 25 is MBOM management, is used to management product processing route (ERP, MES, Excel file system introducing).
Figure 26 is the line management in system, and the route needs that AGV trolley is advanced are planned, is set according to the landform of factory
Count reasonable route.
Figure 27 is the terrestrial reference management in AGV system, and AGV trolley is turned to, advanced by identification terrestrial reference.
Figure 28 is the line side bucket management in AGV system, there is the place there are material on each production line, we
The position of material storage can be come to change by it, the material that trolley transport comes is consistent with position.
Figure 29 is system billboard figure, the billboard in AGV system, and under system logic processing, it is existing that it will be shown in factory
, shown above is all demand task, and Field Force passes through it can be seen that demand required for current task, by hand dispatching or
Person AGV dispatching, prepares material in advance.
Figure 30 is system image monitoring figure, the picture control in AGV system, we can be whole in real time by AGV system
The operating position of each trolley of Dynamically Announce and operating status can understand the work of the AGV trolley to scene in time by system
Make state, solves the problems, such as.
Figure 31 is AGV trolley figure, it is used for transported material, and it is material transportation that it, which receives the task that system issues, and responds
Carrier.
Figure 32 is the association structure figure of AGV control system.AGV control system and interconnected system
1, material pulls interface 2, moves bank interface 3, finished product/semi-finished product storage 4, material cancelling stocks in product
5, execution status of task query interface 6, WMS/ERP material move bank interface 7, material requirement sees plate interface
8, finished product is offline sees plate interface
Figure 33 is AGV control system and host computer communication network figure.
Figure 34 is the content graph configured needed for dispatch terminal in AGV system.
Specific embodiment
Dispatch terminal is configured, test can be scheduled after completing, and AGV system provides 2 kinds and is material mode, not had
In the case where having third party system (MES), we carry out being material by dispatch terminal, and dispatch terminal is exactly an industry touching
Plate is touched, it is communicated by transparent transmission module and system, while sending material requests to AGV control system, and system receives
Can send it to idle AGV trolley after material requests, AGV trolley here be also by our transparent transmission module come be
System is communicated and is received the task of AGV system sending, and second is exactly that we can be by the line side stock control in MES
Material requests are sent to AGV trolley, the stock control of line side is material to be by material warning, for example when warning value is 20, touch
Hair is material task, and line side inventory's increases and decreases, and can all be controlled by MES, it does not collide with dispatch terminal, when
When crying material peak period, we send a plurality of material requests, we can carry out the material requests received at AGV central control system
Classification, for example at category, semi-finished product class, then we pass through again makes the time sequencing of material respond.
What material requirement task billboard was primarily used to real-time exhibition AGV system is material demand, AGV operation visualization billboard
It is the position for real-time Dynamic Display AGV trolley and state, communication management is to pull to be by cable LAN and library material
Supervisor of uniting communicates, the information of transmission tasks scheduling and executive condition.It is kept in communication, is referred to by transparent transmission module and each AGV trolley
The operation of each vehicle in system is waved, vehicle management is the position and state according to current AGV trolley, is selected away from task object point most
Close free vehicle executes task, and every set system can control and dispatch simultaneously 50 AGV trolleies while work, line pipe
Reason is live AGV service line information, and system supports that AGV dispatching and dispatching setting manually, terrestrial reference management are the routes to scene
Terrestrial reference is adjusted and modifies, and the stock control of line side is exactly to be managed to the material location mode by live station, in report
The heart is a series of reports of AGV control system, for example, logistics cost analytical statement, materiel warehouse-out report, in product transfer report etc.,
Handling of goods and materials is packed aiming at the dispatching of material, combines the design done, and AGV control system is docked by standard interface with MES,
The real-time material situation of station is acquired, and by reasonable algorithm, scheduling AGV executes dispatching task.
Claims (3)
1. the method and system of the material flows automation scheduling of a kind of pair of factory site, the system of being technically characterized in that can be existing to factory
The logistics demand of field is managed, by the dispatch service of AGV system to the distribution of AGV trolley task weight and priority scheduling, system
A fixed complete AGV trolley travelling route, completes current task, overcomes transported material by hand.
2. the method and system for the material flows automation scheduling told according to claim 1, technical principle: AGV control system is logical
Cross control trolley and complete a series of mission requirements, command request (Figure 20) can be sent by dispatch terminal, can also by with
MES docking publication command request (Figure 28) can be passed through by managing the partial function (Figure 19) of AGV control system from the background
MES line side inventory's warning line is exactly to send to be material task automatically when supplies on hand is lower than warning value, passes through AGV material
Control system goes up shots feeding to command trolley to reach, then reaches object demand point and carry out blanking (Fig. 1).
3. the method and system for the material flows automation scheduling told according to claim 1, AGV control system dispatch function by AGV
It can carry out data processing, AGV scheduling feature does not have that foreground is shown and back-stage management, its effect are exactly to pass through transparent transmission module to connect
Task requests are received, then is come out by logic and finds the idle trolley nearest apart from task point, trolley is scheduled and is controlled, it is small
The task that vehicle will receive scheduling feature sending goes to task place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810159009.5A CN110147092A (en) | 2018-02-11 | 2018-02-11 | Automated Guided Vehicle control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810159009.5A CN110147092A (en) | 2018-02-11 | 2018-02-11 | Automated Guided Vehicle control system |
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| CN110147092A true CN110147092A (en) | 2019-08-20 |
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| CN201810159009.5A Pending CN110147092A (en) | 2018-02-11 | 2018-02-11 | Automated Guided Vehicle control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111292045A (en) * | 2020-03-06 | 2020-06-16 | 嘉兴蓝匠仓储系统软件有限公司 | Warehouse-out management method for intelligent warehousing |
| CN112678543A (en) * | 2020-12-10 | 2021-04-20 | 四川长虹电器股份有限公司 | Self-adaptive feeding system and method |
| CN112734322A (en) * | 2020-12-18 | 2021-04-30 | 山东东辰瑞森新材料科技有限公司 | Intelligent production system and method |
| CN112718508A (en) * | 2019-10-28 | 2021-04-30 | 上海际链网络科技有限公司 | Goods sorting system and sorting method and device thereof |
| CN113835430A (en) * | 2021-09-22 | 2021-12-24 | 聊城大学 | Matrix workshop AGV scheduling optimization method based on special conditions |
| CN113934189A (en) * | 2021-12-17 | 2022-01-14 | 机科发展科技股份有限公司 | Mobile carrying robot scheduling system and scheduling method |
| CN115129001A (en) * | 2022-04-20 | 2022-09-30 | 南京航空航天大学 | Internet of things perception production system and scheduling control method under wireless signal forbidden environment |
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| CN107450536A (en) * | 2017-08-01 | 2017-12-08 | 上海艾崇机器人有限公司 | A kind of automatical pilot transportation vehicle dispatches system |
| CN107621825A (en) * | 2017-09-22 | 2018-01-23 | 苏州华天视航智能装备技术有限公司 | A kind of AGV controlling equipments, scheduling system and paths planning method |
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| CN107368047A (en) * | 2017-06-16 | 2017-11-21 | 杭州南江机器人股份有限公司 | A kind of automatic guided vehicle dispatching method and device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112718508A (en) * | 2019-10-28 | 2021-04-30 | 上海际链网络科技有限公司 | Goods sorting system and sorting method and device thereof |
| CN111292045A (en) * | 2020-03-06 | 2020-06-16 | 嘉兴蓝匠仓储系统软件有限公司 | Warehouse-out management method for intelligent warehousing |
| CN111292045B (en) * | 2020-03-06 | 2023-10-20 | 安歌软件(嘉兴)有限公司 | Exit management method for intelligent warehouse |
| CN112678543A (en) * | 2020-12-10 | 2021-04-20 | 四川长虹电器股份有限公司 | Self-adaptive feeding system and method |
| CN112678543B (en) * | 2020-12-10 | 2022-04-19 | 四川长虹电器股份有限公司 | Self-adaptive feeding system and method |
| CN112734322A (en) * | 2020-12-18 | 2021-04-30 | 山东东辰瑞森新材料科技有限公司 | Intelligent production system and method |
| CN113835430A (en) * | 2021-09-22 | 2021-12-24 | 聊城大学 | Matrix workshop AGV scheduling optimization method based on special conditions |
| CN113934189A (en) * | 2021-12-17 | 2022-01-14 | 机科发展科技股份有限公司 | Mobile carrying robot scheduling system and scheduling method |
| CN115129001A (en) * | 2022-04-20 | 2022-09-30 | 南京航空航天大学 | Internet of things perception production system and scheduling control method under wireless signal forbidden environment |
| CN115129001B (en) * | 2022-04-20 | 2024-09-20 | 南京航空航天大学 | Internet of things sensing production system under wireless signal disabling environment and scheduling control method |
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