CN110580028A - AGV trolley control method - Google Patents
AGV trolley control method Download PDFInfo
- Publication number
- CN110580028A CN110580028A CN201910912662.9A CN201910912662A CN110580028A CN 110580028 A CN110580028 A CN 110580028A CN 201910912662 A CN201910912662 A CN 201910912662A CN 110580028 A CN110580028 A CN 110580028A
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- China
- Prior art keywords
- information
- agv
- yarn
- wharf
- trolley
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention provides an AGV trolley control method, which comprises the following steps: when the full yarn car appears, the information system controls the AGV car to move through the AGV dispatching system; the information system judges the wharf state according to the wharf information, and if the wharf state is empty, the full yarn vehicle is conveyed to the designated wharf and the wharf information in the information system is updated; otherwise, the full yarn vehicle is transported to the first cache area, and the information of the first cache area in the information system is updated; when the RGV trolley transports the empty yarn trolley to the wharf, the information system controls the AGV trolley to move through the AGV dispatching system; the information system judges the yarn feeding area state according to the yarn feeding area information, if the yarn feeding area state is empty, the empty yarn vehicle is conveyed to the specified yarn feeding area, and the yarn feeding area information in the information system is updated; otherwise, the empty yarn car is transported to the second cache area, and the information of the second cache area in the information system is updated to finish the transportation of the yarn car. The invention reduces the influence on the subsequent work, reduces the labor, saves time and labor, improves the working efficiency and improves the factory informatization level.
Description
Technical Field
The invention relates to the technical field of AGV trolley control, in particular to an AGV trolley control method.
background
In the traditional production management of the yarn roll, the yarn roll is processed, transferred and carried by manpower, so that the time and the labor are wasted, the working efficiency is low, and the production cost is high; some companies adopt AGV dolly to carry in actual production, but because the control to AGV is improper, to follow-up yardage roll stoving, processing such as transport influence.
Disclosure of Invention
In order to solve the problems of improper control, time and labor waste and low working efficiency of the AGV in the prior art, the AGV trolley control method is further provided, and therefore different design requirements are met.
in order to achieve the purpose, the invention provides an AGV trolley control method, which comprises the following steps:
s1, when the full yarn car appears, the information system issues a first carrying instruction to the AGV dispatching system to control the AGV car to move;
S2, the information system judges the wharf state according to the wharf information, if the wharf state is empty, S3 is executed, otherwise S4 is executed;
S3, the AGV carries the full yarn car to a designated wharf, and updates wharf information in the information system;
S4, the AGV carries the full yarn car to the first cache area, and updates the information of the first cache area in the information system;
S5, when the RGV transports the empty yarn car to the wharf, the information system issues a second transport instruction to the AGV dispatching system to control the AGV to move;
S6, the information system judges the yarn feeding area state according to the yarn feeding area information, if the yarn feeding area state is empty, S7 is executed, otherwise S8 is executed;
S7, the AGV trolley carries the empty yarn trolley to a specified yarn discharging area, and the information of the yarn discharging area in the information system is updated;
S8, the AGV trolley carries the empty yarn trolley to a second cache area, and updates the information of the second cache area in the information system;
and S9, ending.
preferably, step S1 specifically includes:
s101, when a full yarn car appears, the yarn unloading robot sends a first calling request to an information system and uploads full yarn car information;
s102, the information system issues a first carrying instruction to an AGV dispatching system;
and S103, controlling the AGV trolley to move by the AGV dispatching system according to the first carrying instruction.
Preferably, step S5 specifically includes:
s501, after the RGV trolley transports the empty yarn trolley to the wharf, the wharf sends a second call request to the information system;
S502, the information system issues a second carrying instruction to the AGV dispatching system;
And S503, the AGV dispatching system controls the AGV trolley to move according to the second carrying instruction.
Preferably, the information system is used for storing full yarn car information, wharf information and doffing area information.
Preferably, the full yarn car information includes an order number, a model number, a yarn car number, a station number, a number of yarn packages, a weight of the yarn packages, and a classification of the yarn packages.
Preferably, the first handling instruction comprises full creel position information and wharf information.
Preferably, the second handling instruction comprises empty trolley position and doffing area information.
Preferably, the dock information includes a dock status and a dock number.
Preferably, the lower yarn section information includes a lower yarn section state and a lower yarn section number.
preferably, the first buffer information comprises a first buffer status.
the technical scheme of the invention has the following technical effects:
(1) By adopting the AGV trolley control method, the information system sends the carrying instruction to the AGV dispatching system according to the wharf information or the yarn feeding area information, the AGV trolley is controlled to move, and a full yarn trolley or an empty yarn trolley is carried to a proper position for subsequent utilization. This process has realized the transport to full yarn car or empty yarn car, through judging the place that full yarn car or empty yarn car were placed according to pier information or lower yarn district information, reduces the influence to follow-up work, has reduced manual work, labour saving and time saving simultaneously, has improved work efficiency, improves the information-based level of mill.
(2) according to the AGV trolley control method, the yarn unloading robot sends a first calling request to the information system, the full yarn trolley information is uploaded, the information system issues a first carrying instruction to the AGV dispatching system, the AGV trolley is controlled to move, and the full yarn trolley is carried to a proper position.
(3) According to the AGV trolley control method, the wharf sends the second calling request to the information system, the information system issues the second carrying instruction to the AGV dispatching system, the AGV trolley is controlled to move, and the empty yarn trolley is carried to a proper position.
Drawings
FIG. 1 is a flow chart of an AGV control method according to the present invention.
Detailed Description
The following describes an embodiment according to the present invention with reference to the drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
the invention provides an AGV trolley control method, which aims to solve the problems of time and labor waste and low working efficiency due to improper control of an AGV.
as shown in FIG. 1, the present invention provides an AGV control method, which comprises the following steps:
S1, when the full yarn car appears, the information system issues a first carrying instruction to the AGV dispatching system to control the AGV car to move;
further, the information system is used for storing full yarn car information, wharf information and doffing area information.
Further, step S1 specifically includes:
S101, when a full yarn car appears, the yarn unloading robot sends a first calling request to an information system and uploads full yarn car information;
further, the full yarn car information includes an order number, a model number, a yarn car number, a station number, a yarn roll weight, and a yarn roll classification.
S102, the information system issues a first carrying instruction to an AGV dispatching system;
further, the first handling instruction includes full creel position information and dock information.
And S103, controlling the AGV trolley to move by the AGV dispatching system according to the first carrying instruction.
s2, the information system judges the wharf state according to the wharf information, if the wharf state is empty, S3 is executed, otherwise S4 is executed;
Further, the dock information includes a dock status and a dock number.
s3, the AGV carries the full yarn car to a designated wharf, and updates wharf information in the information system;
s4, the AGV carries the full yarn car to the first cache area, and updates the information of the first cache area in the information system;
further, the first buffer information includes a first buffer status.
s5, when the RGV transports the empty yarn car to the wharf, the information system issues a second transport instruction to the AGV dispatching system to control the AGV to move;
Further, step S5 specifically includes:
s501, after the RGV trolley transports the empty yarn trolley to the wharf, the wharf sends a second call request to the information system;
s502, the information system issues a second carrying instruction to the AGV dispatching system;
further, the second carrying instruction comprises information of the position of the empty yarn trolley and the yarn dropping area.
and S503, the AGV dispatching system controls the AGV trolley to move according to the second carrying instruction.
S6, the information system judges the yarn feeding area state according to the yarn feeding area information, if the yarn feeding area state is empty, S7 is executed, otherwise S8 is executed;
further, the doffing area information includes a doffing area state and a doffing area number.
s7, the AGV trolley carries the empty yarn trolley to a specified yarn discharging area, and the information of the yarn discharging area in the information system is updated;
S8, the AGV trolley carries the empty yarn trolley to a second cache area, and updates the information of the second cache area in the information system;
and S9, ending.
The technical solution of this application is explained in detail by the following examples:
when a full yarn car appears, the yarn unloading robot sends a first calling request to the information system and uploads full yarn car information, and at the moment, the information system issues a first carrying instruction to the AGV dispatching system to control the AGV to move to the position with the full yarn car.
The AGV car accesses the information system through the AGV dispatching system, the information system judges whether a wharf is empty and can be used for placing a full-length yarn car according to the wharf information, and meanwhile, the wharf information in the information system is updated; if the AGV trolley transports the full yarn trolley to the appointed wharf, if the wharf is not empty, the full yarn trolley is transported to the first cache area temporarily, meanwhile, the first cache area information in the information system is updated, after the empty wharf is waited, the full yarn trolley is transported to the empty wharf or the full yarn trolley is directly transported to the next station, and subsequent processing is carried out.
The first buffer area can temporarily store full yarn cars and also can temporarily store empty yarn cars. Namely: when the wharf does not have a position, the full-yarn car temporarily exists in the first buffer area, and the full-yarn car is conveyed to the wharf from the first buffer area by the AGV trolley when the wharf has a position; when the RGV trolley sends the empty yarn trolley to the wharf, the yarn feeding area or the second cache area has no vacancy, at the moment, the empty yarn trolley needs to be placed in the first cache area, and when the yarn feeding area or the second cache area has the vacancy, the empty yarn trolley is conveyed to the yarn feeding area or the second cache area by the AGV trolley. The first buffer area can be used for temporarily storing the proportion of full yarn cars and empty yarn cars and adjusting the condition that the full yarn cars and the empty yarn cars are not matched in the production process.
Of course, the first buffer area can be used for only placing the empty yarn trolley which is not transported by the AGV trolley; and the full yarn car is placed on a designated wharf when the wharf has a vacancy, and the AGV car always bears the full yarn car when the wharf does not have the vacancy, and the full yarn car is placed on the wharf or directly conveyed to the next station for subsequent treatment until the wharf has the vacancy.
When the AGV trolley receives an instruction to carry a full-yarn trolley, the path of the AGV trolley adopts an up-and-down symmetrical mode. When in work, the principle of system priority is adopted. If the lower yarn area is divided into an upper part and a lower part, the full yarn car on the upper part of the lower yarn area is carried by the AGV close to the upper part of the lower yarn area, and the full yarn car on the lower part of the lower yarn area is carried by the AGV close to the lower part of the lower yarn area, so that the AGV has less travel distance, and the working efficiency is improved; when the AGV trolleys in one area all work and cannot transport the full-size trolleys, the AGV trolleys in the other area are automatically dispatched to execute the transport tasks in the past.
when the RGV trolley transports the empty yarn trolley to the wharf, the wharf sends a second calling request to the information system, the information system sends a second transporting instruction to the AGV dispatching system according to the second calling request, the AGV dispatching system controls the AGV trolley to move to the position of the empty yarn trolley according to the second transporting instruction, meanwhile, the information system needs to judge whether the yarn trolley is the empty yarn trolley or not, and the empty yarn trolley is determined by detecting whether the yarn trolley is provided with a yarn roll, the bar code of the yarn trolley and other yarn trolley information.
The information system judges whether the yarn feeding area needs an empty yarn vehicle or not according to the yarn feeding area information, namely whether the yarn feeding area has a vacancy for placing the empty yarn vehicle or not, if the empty yarn vehicle is transported to the yarn feeding area by an AGV trolley, and meanwhile, the yarn feeding area updates the yarn feeding area information in the information system; and if no vacancy exists, the AGV trolley conveys the empty yarn trolley to the second cache region, and meanwhile, the information of the second cache region in the information system is updated. And after the empty yarn discharging area has an empty position, the empty yarn vehicle is conveyed to the yarn discharging area, or the empty yarn vehicle is directly conveyed to the next station for subsequent treatment.
At this time, the path planning of the AGV trolley is consistent with that of the full-yarn trolley, and the description is omitted here.
In conclusion, the information system issues a carrying instruction to the AGV dispatching system according to the wharf information or the yarn discharge area information, so as to control the AGV trolley to move, and carry the full yarn trolley or the empty yarn trolley to a proper position for subsequent utilization. This process has realized the transport to full yarn car or empty yarn car, through judging the place that full yarn car or empty yarn car were placed according to pier information or lower yarn district information, reduces the influence to follow-up work, has reduced manual work, labour saving and time saving simultaneously, has improved work efficiency, improves the information-based level of mill.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. the AGV trolley control method is characterized by comprising the following steps:
S1, when the full yarn car appears, the information system issues a first carrying instruction to the AGV dispatching system to control the AGV car to move;
S2, the information system judges the wharf state according to the wharf information, if the wharf state is empty, S3 is executed, otherwise S4 is executed;
s3, the AGV transports the full yarn car to the appointed wharf, and updates the wharf information in the information system;
S4, the AGV carries the full yarn car to a first cache area, and updates the information of the first cache area in the information system;
s5, when the RGV transports the empty yarn car to the wharf, the information system issues a second transport instruction to the AGV dispatching system to control the AGV to move;
S6, the information system judges the yarn feeding area state according to the yarn feeding area information, if the yarn feeding area state is empty, S7 is executed, otherwise S8 is executed;
S7, the AGV trolley conveys the empty yarn trolley to the appointed yarn discharging area, and the information of the yarn discharging area in the information system is updated;
S8, the AGV carries the empty yarn car to a second cache area, and the information of the second cache area in the information system is updated;
and S9, ending.
2. the AGV cart control method of claim 1, wherein said step S1 specifically includes:
S101, after the full yarn car appears, the yarn unloading robot sends a first calling request to the information system and uploads the full yarn car information;
s102, the information system issues the first carrying instruction to the AGV dispatching system;
And S103, controlling the AGV trolley to move by the AGV dispatching system according to the first carrying instruction.
3. the AGV cart control method of claim 1, wherein said step S5 specifically includes:
S501, after the RGV trolley transports the empty yarn trolley to the wharf, the wharf sends a second call request to the information system;
s502, the information system issues the second carrying instruction to the AGV dispatching system;
and S503, the AGV dispatching system controls the AGV trolley to move according to the second carrying instruction.
4. the AGV cart control method of claim 1, wherein the information system is adapted to store full car information, dock information and drop zone information.
5. the AGV car control method of claim 4 wherein said full reel information includes order number, model number, reel number, counter number, reel weight and reel classification.
6. The AGV cart control method of claim 1, wherein the first transport command includes full car position information and dock information.
7. The AGV cart control method of claim 1, wherein the second transport command includes empty cart position and drop zone information.
8. The AGV cart control method of claim 1, wherein the dock information includes dock status and dock number.
9. the AGV lot control method of claim 1, wherein the yam discharge area information includes a yam discharge area status and a yam discharge area number.
10. The AGV cart control method of claim 1, wherein the first buffer information includes a first buffer status.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910912662.9A CN110580028A (en) | 2019-09-25 | 2019-09-25 | AGV trolley control method |
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|---|---|---|---|
| CN201910912662.9A CN110580028A (en) | 2019-09-25 | 2019-09-25 | AGV trolley control method |
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| CN110580028A true CN110580028A (en) | 2019-12-17 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439514A (en) * | 2020-03-31 | 2020-07-24 | 无锡长江精密纺织有限公司 | Intelligent spinning logistics system based on AGV |
| CN111694333A (en) * | 2020-06-10 | 2020-09-22 | 中国联合网络通信集团有限公司 | AGV (automatic guided vehicle) cooperative management method and device |
| CN112907044A (en) * | 2021-02-01 | 2021-06-04 | 广东利元亨智能装备股份有限公司 | Logistics line scheduling method and system |
| CN113104630A (en) * | 2021-04-08 | 2021-07-13 | 三角轮胎股份有限公司 | Method for automatically replacing curling station tooling vehicle of cutting production line in tire production |
| CN113501274A (en) * | 2021-07-19 | 2021-10-15 | 珠海格力智能装备有限公司 | AGV material receiving and feeding method and system, storage medium and electronic equipment |
| CN114115244A (en) * | 2021-11-09 | 2022-03-01 | 同日云联信息技术(苏州)有限公司 | AGV automatic material receiving and sending scheduling method and system and storage medium |
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| CN108133335A (en) * | 2018-01-30 | 2018-06-08 | 共享智能铸造产业创新中心有限公司 | A kind of logistics multitask control system and its control method based on AGV equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439514A (en) * | 2020-03-31 | 2020-07-24 | 无锡长江精密纺织有限公司 | Intelligent spinning logistics system based on AGV |
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| CN111694333A (en) * | 2020-06-10 | 2020-09-22 | 中国联合网络通信集团有限公司 | AGV (automatic guided vehicle) cooperative management method and device |
| CN112907044A (en) * | 2021-02-01 | 2021-06-04 | 广东利元亨智能装备股份有限公司 | Logistics line scheduling method and system |
| CN113104630A (en) * | 2021-04-08 | 2021-07-13 | 三角轮胎股份有限公司 | Method for automatically replacing curling station tooling vehicle of cutting production line in tire production |
| CN113501274A (en) * | 2021-07-19 | 2021-10-15 | 珠海格力智能装备有限公司 | AGV material receiving and feeding method and system, storage medium and electronic equipment |
| CN113501274B (en) * | 2021-07-19 | 2022-07-15 | 珠海格力智能装备有限公司 | AGV material receiving and feeding method and system, storage medium and electronic equipment |
| CN114115244A (en) * | 2021-11-09 | 2022-03-01 | 同日云联信息技术(苏州)有限公司 | AGV automatic material receiving and sending scheduling method and system and storage medium |
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Application publication date: 20191217 |