CN110244553A - A kind of transfer robot traffic control system and control method - Google Patents
A kind of transfer robot traffic control system and control method Download PDFInfo
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- CN110244553A CN110244553A CN201910579923.XA CN201910579923A CN110244553A CN 110244553 A CN110244553 A CN 110244553A CN 201910579923 A CN201910579923 A CN 201910579923A CN 110244553 A CN110244553 A CN 110244553A
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- transfer robot
- track
- control system
- module
- state
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention discloses a kind of transfer robot traffic control system and control method, traffic control system includes: production and transport line, stops parking stall, track and transfer robot.Central control system connects multiple transfer robots by wireless communication module, and central control system includes: control host, power management module, communication module, route control module and user interface；Transfer robot is equipped with control chip and communication module；Track is equipped with multiple sensors and inductor, PID controller is equipped in the route control module, the PID controller and inductor are electrically connected to form the feedback control system of closed loop.The present invention monitors the transfer robot quantity on every group of track by forming the feedback control system of closed loop between control host, inductor and PID controller, control host communicates the job execution process for obtaining transfer robot and position positioning with transfer robot, it realizes the handling work of effective, reduces labor management cost.
Description
Technical field
The invention belongs to workshop haulage equipment field, especially a kind of transfer robot traffic control system and controlling party
Method.
Background technique
Workshop transfer robot plays significant role, existing conveying robot in shop floor production and storage field
People needs first then to reuse by multiple working procedures such as vanning, joint sealings from finished product to transfer robot when carrying finished product cargo
Unloading goods on manipulator or fork truck could complete product from pipeline to the transport between transfer robot.Therefore transfer robot
Operation limited by working procedures, case process and handling work functioning in parallel can not be made, save handling time.
But the condition of production of workshop complexity is considered in the handling process of workshop, it should use a set of rigorous conveying robot
People's traveling control system to cope with and manage multiple transfer robots in workshop, complete transfer robot and production and transport line it
Between mutual cooperation, realize the handling work of effective.
Summary of the invention
Goal of the invention: providing a kind of transfer robot traffic control system and control method, can be realized in workshop and owns
The orderly carrying of transfer robot, to solve the above problem of the existing technology.
A kind of technical solution: transfer robot traffic control system, comprising:
Central control system, the central control system include: control host, power management module, communication module, route control
Module and user interface；
Transfer robot, the transfer robot are equipped with control chip and communication module, and the transfer robot passes through wireless
Connection control host；
The intersection of walking track, the walking track is equipped with multiple inductors, and the inductor, which is electrically connected, controls host；
PID controller is equipped in the route control module, the PID controller and inductor are electrically connected to form the feedback control of closed loop
System processed, thus on track transfer robot quantity and operating status be monitored and feed back.
In a further embodiment, the central control system is additionally provided with the monitoring system of connection photographic device.
In a further embodiment, the transfer robot includes: body ontology, the control system being located on body ontology
System, mobile mechanism and boxing mechanism；
The control system includes the processor being located on conveying robot human body and is connected with the processor following
Module: obstacle avoidance module, locating module, drive module and processing data information module；
The mobile mechanism includes transfer robot pedestal, is located at the walking mechanism of transfer robot two sides of base, is located at carrying
Lift telescopic device in robot base and the branch board group for being fixedly connected on lift telescopic device output end；
The boxing mechanism includes the support assembly being fixedly mounted in lifting support plate, is fixedly connected on one at the top of support assembly
The feeding mechanism of side, the vanning station of corresponding feeding mechanism and the conveying device for being located at vanning station bottom；
The identifiable unique ID control mark of control host is equipped in the transfer robot processor, the processor will be carried
Robot is switched to three kinds of working conditions, three kinds of working conditions are as follows: state and waits in line shape in full load condition, loading
State.
In a further embodiment, the track close to the side of product pipeline be equipped with multiple grating sensors and
Navigation sensor.
In a further embodiment, the traffic control system further includes being located at the carrying of Workshop Production transmission line one end
Robot stops parking stall.
In a further embodiment, including following work step:
(1) control host is communicated by wireless network and multiple transfer robots, and the user interface by controlling host can be artificial
Set the cargo dead-weight of all or single transfer robot；
(2) control host according in track inductor and photographic device monitor every production transmission line before transfer robot row
It sails state and is lined up situation；
(3) in transfer robot walking process in orbit, control host is by grating sensor to the carrying in walking process
Robot carries out positioning and speed of service judgement, thus extrapolates and reaches the time that target stops parking stall, while PID controller is logical
It crosses inductor the transfer robot quantity in track is controlled and guided；
(4) transfer robot issues solicited message to control host according to the useful load of itself, controls host according to conveying robot
The solicited message that human hair goes out, the specified transfer robot waited in line in state go to the position, take over and reach useful load
Transfer robot continue to complete handling work.
In a further embodiment, the inductor is mounted on the infall of track and track and transfer robot is stopped
On parking stall, when machine is by intersection, inductor will test data and be sent to PID controller, and PID controller passes through induction number
It is divided into saturation state and unsaturated state according to by each track；Saturation state can be defined as follows: Y=XW；
Y is saturation state, and X is the vehicle accommodation status stopped on parking stall, and W is by cross-inductive device vehicle-state；
When XY is 1, it is saturation state that Y, which is 1, and when it is 0 that X or W, which has a side, it is unsaturated state that Y, which is 0,；
PID controller senses the track groups under unsaturated state, sends solicited message to control host, control host will be inquired
All transfer robots waited in line in state, and manipulate transfer robot and carried out by the cross track under unsaturated state
It carries and is lined up, make to meet queuing requirement on its every track.
The utility model has the advantages that feedback control system of the present invention by formation closed loop between control host, inductor and PID controller
Transfer robot quantity on system every group of track of monitoring, control host communicate the operation for obtaining transfer robot with transfer robot
Executive process and position positioning, make seamless interfacing between multiple transfer robots and production and transport line, realize removing for effective
Work is transported, labor management cost is reduced.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of workshop production and transport line and track of the present invention.
Fig. 2 is the perspective view of transfer robot of the present invention.
Fig. 3 is the working principle diagram of traffic control system of the present invention.
Fig. 4 is present invention induction control structure schematic diagram.
Appended drawing reference are as follows: production and transport line 1 stops parking stall 2, track 3, transfer robot 4, walking mechanism 40, goes up and down and stretch
Compression apparatus 41, branch board group 42, boxing mechanism 43.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
A kind of transfer robot traffic control system as shown in Figure 1 includes: production and transport line in the present embodiment, stops vehicle
Position, track and transfer robot.Central control system connects multiple transfer robots, center control system by wireless communication module
System includes: control host, power management module, communication module, route control module and user interface；Control host is set
Between equipment management in workshop, there is user to realize manipulation and management to whole system by user interface.
The intersection of track is equipped with multiple sensors, and sensor includes: that track is pacified close to the side of product pipeline
Equipped with multiple grating sensors and navigation sensor, the sensor, which is electrically connected, controls host；Grating sensor can detecte carrying
Whether barrier is placed on the speed that robot orbits, position and detection track.Navigation sensor can be right
The driving direction of transfer robot is navigated, and transfer robot offset track is avoided.Transfer robot is equipped with control chip
And communication module, the transfer robot by the way that the status data of the speed of operation and loading is wirelessly sent to control host,
Complete the normal operation of transport operation.
PID controller is equipped in route control module, the PID controller and inductor are electrically connected to form the feedback control of closed loop
System processed, thus on track transfer robot quantity and operating status be monitored and feed back.
The central control system is additionally provided with the monitoring system of connection photographic device.
Transfer robot as shown in Figure 2 includes: body ontology, be located at control system on body ontology, mobile mechanism,
And boxing mechanism, robot control system include the processor being located on conveying robot human body and with the processor phase
Connection with lower module: obstacle avoidance module, locating module, drive module and processing data information module；Processor passes through
Obstacle avoidance module, locating module, drive module and processing data information module can be realized the autonomous operation of transport operation.
Mobile mechanism includes transfer robot pedestal, is located at the walking mechanism of transfer robot two sides of base, is located at transfer robot base
Lift telescopic device on seat and the branch board group for being fixedly connected on lift telescopic device output end.Transfer robot is transported in production
Special docking station is equipped at the docking of defeated line, when transfer robot is parked on docking station, boxing mechanism is directed at production and transport
At line discharging, boxing mechanism includes the support assembly being fixedly mounted in lifting support plate, is fixedly connected at the top of support assembly
The feeding mechanism of side, the vanning station of corresponding feeding mechanism and the conveying device for being located at vanning station bottom；
Support assembly is fixedly mounted in lifting plate, and the outside of support assembly is equipped with guard shield, and the side of guard shield is solid
Dingan County is equipped with miniature control host, and the side of miniature control host is equipped with man-machine interaction display screen.It is equipped in miniature control host
Processor, processor are connected with lower module: obstacle avoidance module, locating module, drive module and processing data information module.
Obstacle avoidance module connects the infrared detecting device on robot body, and will test data and be sent to robot control system,
Control system control walking mechanism is slowed down or is stopped when detecting barrier in driving process.
Feeding mechanism is fixedly mounted on the top of support assembly, comprising: photographic device, regulating device, roll roller station and
Multiple groups correct baffle group.Photographic device is electrically connected processor, can at the vanning state to the inside of cabinet and feeding mechanism at
Grade, which is set, to be detected and is positioned.
Conveying device includes the transfer gantry being fixedly connected in lifting plate, the Roller conveyor being connected on transfer gantry,
It is sequentially connected in the transmission chain at Roller conveyor both ends, and the feed drive motor of transmission connection transmission chain.The bottom of transfer gantry
It is fixedly connected with rotating mechanism, rotating mechanism includes: the runing rest for being fixedly connected with transfer gantry, is fixedly mounted on rotation branch
The upper cylinder hinged seat of frame, is fixedly connected on the rotating mechanism cylinder of the hinged upper left of cylinder, and is located at the dynamic of cylinder interior
Power bar is connected to the articulated joint of the power rail other end, the rotary shaft being socketed in inside articulated joint；Vanning is additionally provided in conveying device
Station, vanning station include the jacking apparatus for being located at Roller conveyor bottom and the vanning limit base for being fixedly connected with jacking apparatus, conveying
The top of device is equipped with sealing device.The model IKGN-CF of feed drive motor.
Feed drive motor drives Roller conveyor rotation by transmission chain, to make the carton on carton pipeline in Roller conveyor
Upper advance, when carton is run to vanning station, jacking apparatus drives vanning limit base to rise, so that lifting its carton makes its original
Roller conveyor is managed, sealing device carries out joint sealing to cabinet after the completion of vanning, and jacking apparatus drives under vanning limit base after the completion of joint sealing
Drop, carton is prevented on Roller conveyor, while the rotating mechanism cylinder in rotating mechanism drives runing rest to drive conveying
Rolling wire is turned on the storing supporting plate of robot two sides in support assembly internal rotating certain orientation, carton is transported by bracket
It send to storing supporting plate.Rotating mechanism air cylinder structure is compact, and rotational travel precision is high, can be realized stable precision controlling, rings
It is fast between seasonable.
The working principle diagram of traffic control system as shown in Figure 3 to Figure 4 is equipped with control host in transfer robot processor
Identifiable unique ID control mark, the robot processor by according to the weight sensor on storing plate by transfer robot
It is switched to three kinds of working conditions, three kinds of working conditions are as follows: state and wait in line state in full load condition, loading, weight
When the quality that sensor detects is 0, robot processor is less than to the signal for controlling host dispatcher queue wait state, quality
To the signal for controlling state in host transmission loading when fully loaded quality, when quality exceeds full-load range value completely to the transmission of control host
The signal of load state.
Inductor is mounted on the infall of track and track and transfer robot is stopped on parking stall, when machine is by intersection
When, inductor will test data and be sent to PID controller, and each track is divided into saturation by sensed data by PID controller
State and unsaturated state；Saturation state can be defined as follows: Y=XW；
Y is saturation state, and X is the vehicle accommodation status stopped on parking stall, and W is by cross-inductive device vehicle-state；
When XY is 1, it is saturation state that Y, which is 1, and when it is 0 that X or W, which has a side, it is unsaturated state that Y, which is 0,；
PID controller senses the track groups under unsaturated state, sends solicited message to control host, control host will be inquired
All transfer robots waited in line in state, and manipulate transfer robot and carried out by the cross track under unsaturated state
It carries and is lined up, make to meet queuing requirement on its every track.
Work step is as follows:
The first step, control host are communicated by wireless network and multiple transfer robots, and the user interface by controlling host can be with
Manually set the cargo dead-weight of all or single transfer robot；
Second step, control host according in track inductor and photographic device monitor every production transmission line before conveying robot
People's driving status and queuing situation；
In third step, transfer robot walking process in orbit, control host is by grating sensor in walking process
Transfer robot carries out positioning and speed of service judgement, thus extrapolates and reaches the time that target stops parking stall, while PID control
Device is controlled and is guided to the transfer robot quantity in track by inductor；
4th step, transfer robot issue working state signal to control host according to itself useful load, control host according to
The just solicited message that switching full load condition transfer robot issues, all carryings waited in line in state in inquiry local area network inside
Robot, and the specified transfer robot waited in line in state goes to the position to be lined up, and takes over and reaches useful load
Transfer robot continue to complete handling work.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of transfer robot traffic control system characterized by comprising
Central control system, the central control system part include: control host, power management module, communication module, route
Control module and user interface；
Transfer robot, the transfer robot are equipped with control chip and communication module, and the transfer robot passes through wireless
Connection control host；
The intersection of walking track, the walking track is equipped with multiple inductors, and the inductor, which is electrically connected, controls host；
PID controller is equipped in the route control module, the PID controller and inductor are electrically connected to form the feedback control of closed loop
System processed, thus on track transfer robot quantity and operating status be monitored and feed back.
2. a kind of transfer robot traffic control system according to claim 1, which is characterized in that center control system
System is additionally provided with the monitoring system of connection photographic device.
3. a kind of transfer robot traffic control system according to claim 1, which is characterized in that the transfer robot
It include: body ontology, control system, mobile mechanism and the boxing mechanism being located on body ontology；
The control system includes the processor being located on conveying robot human body and is connected with the processor following
Module: obstacle avoidance module, locating module, drive module and processing data information module；
The mobile mechanism includes transfer robot pedestal, is located at the walking mechanism of transfer robot two sides of base, is located at carrying
Lift telescopic device in robot base and the branch board group for being fixedly connected on lift telescopic device output end；
The boxing mechanism includes the support assembly being fixedly mounted in lifting support plate, is fixedly connected on one at the top of support assembly
The feeding mechanism of side, the vanning station of corresponding feeding mechanism and the conveying device for being located at vanning station bottom；
The identifiable unique ID control mark of control host is equipped in the transfer robot processor, the processor will be carried
Robot is switched to three kinds of working conditions, three kinds of working conditions are as follows: state and waits in line shape in full load condition, loading
State.
4. a kind of transfer robot traffic control system according to claim 1, which is characterized in that the track is close to production
The side of product pipeline is equipped with multiple grating sensors and navigation sensor.
5. a kind of transfer robot traffic control system according to claim 1, which is characterized in that the traffic control system
System further includes the transfer robot stop parking stall for being located at Workshop Production transmission line one end.
6. a kind of transfer robot traffic control method, which is characterized in that including following work step:
(1) control host is communicated by wireless network and multiple transfer robots, and the user interface by controlling host can be artificial
Set the cargo dead-weight of all or single transfer robot；
(2) control host according in track inductor and photographic device monitor every production transmission line before transfer robot row
It sails state and is lined up situation；
(3) in transfer robot walking process in orbit, control host is by grating sensor to the carrying in walking process
Robot carries out positioning and speed of service judgement, thus extrapolates and reaches the time that target stops parking stall, while PID controller is logical
It crosses inductor the transfer robot quantity in track is controlled and guided；
(4) transfer robot issues solicited message to control host according to the useful load of itself, controls host according to conveying robot
The solicited message that human hair goes out, the specified transfer robot waited in line in state go to the position, take over and reach useful load
Transfer robot continue to complete handling work.
7. a kind of transfer robot traffic control method according to claim 6, which is characterized in that the inductor installation
It is stopped on parking stall in the infall and transfer robot of track and track, when machine is by intersection, inductor will test number
According to PID controller is sent to, each track is divided into saturation state and unsaturated state by sensed data by PID controller；
Saturation state can be defined as follows: Y=XW；
Y is saturation state, and X is the vehicle accommodation status stopped on parking stall, and W is by cross-inductive device vehicle-state；
When XY is 1, it is saturation state that Y, which is 1, and when it is 0 that X or W, which has a side, it is unsaturated state that Y, which is 0,；
PID controller senses the track groups under unsaturated state, sends solicited message to control host, control host will be inquired
All transfer robots waited in line in state, and manipulate transfer robot and carried out by the cross track under unsaturated state
It carries and is lined up, make to meet queuing requirement on its every track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910579923.XA CN110244553A (en) | 2019-06-28 | 2019-06-28 | A kind of transfer robot traffic control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910579923.XA CN110244553A (en) | 2019-06-28 | 2019-06-28 | A kind of transfer robot traffic control system and control method |
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| Publication Number | Publication Date |
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| CN110244553A true CN110244553A (en) | 2019-09-17 |
Family
ID=67890355
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910579923.XA Withdrawn CN110244553A (en) | 2019-06-28 | 2019-06-28 | A kind of transfer robot traffic control system and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114735459A (en) * | 2022-05-10 | 2022-07-12 | 厦门海辰新能源科技有限公司 | Automatic transfer system and automatic transfer method |
| CN114901570A (en) * | 2020-02-28 | 2022-08-12 | 欧姆龙株式会社 | Control device and conveying system |
-
2019
- 2019-06-28 CN CN201910579923.XA patent/CN110244553A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114901570A (en) * | 2020-02-28 | 2022-08-12 | 欧姆龙株式会社 | Control device and conveying system |
| CN114901570B (en) * | 2020-02-28 | 2024-01-19 | 欧姆龙株式会社 | Control device and conveyance system |
| CN114735459A (en) * | 2022-05-10 | 2022-07-12 | 厦门海辰新能源科技有限公司 | Automatic transfer system and automatic transfer method |
| CN114735459B (en) * | 2022-05-10 | 2023-09-26 | 厦门海辰储能科技股份有限公司 | Automatic conveying system and automatic conveying method |
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Application publication date: 20190917 |