CN110658817A - Safety detection method and safety detection system for AGV - Google Patents
Safety detection method and safety detection system for AGV Download PDFInfo
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- CN110658817A CN110658817A CN201910925624.7A CN201910925624A CN110658817A CN 110658817 A CN110658817 A CN 110658817A CN 201910925624 A CN201910925624 A CN 201910925624A CN 110658817 A CN110658817 A CN 110658817A
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- 238000001514 detection method Methods 0.000 title claims abstract description 39
- 238000007599 discharging Methods 0.000 claims abstract description 5
- 230000032258 transport Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
Abstract
The invention provides a safety detection method of an AGV (automatic guided vehicle), which comprises the following steps: acquiring wharf information, and judging a wharf state according to the wharf information, wherein the wharf state comprises an idle state and a full-load state; if the wharf state is an idle state, the AGV carries a first full-yarn vehicle to the wharf; if the wharf state is a full load state, carrying to a cache region; acquiring relative position information; if the AGV does not leave the wharf, the relative position information is not updated; if the AGV leaves the wharf, updating the relative position information; the RGV carries a first full yarn vehicle according to the relative position information; the RGV carries the empty yarn vehicle to the wharf; the AGV trolley carries the empty yarn trolley to a yarn discharging area from a wharf to acquire relative position information; if the AGV does not leave the wharf, the relative position information is not updated; and if the AGV car leaves the wharf, updating the relative position information. The invention also provides a safety detection system of the AGV. The invention ensures the safety of the AGV trolley and the yarn trolley and avoids the safety problem.
Description
Technical Field
The invention relates to the technical field of AGV trolley safety detection, in particular to a safety detection method and a safety detection system of an AGV trolley.
Background
In the traditional production management of yarn rolls, an AGV trolley is generally adopted for carrying the yarn rolls, the full yarn trolley is placed on the AGV trolley, and the full yarn trolley is overturned or damaged because the AGV trolley does not leave a wharf in time and is easy to collide with an RGV trolley for carrying the full yarn trolley in the future; if the AGV trolley does not leave in time without safety detection when the empty yarn trolley is taken from the wharf, the next empty yarn trolley is sent to the wharf, and the empty yarn trolley collides with the AGV trolley.
Disclosure of Invention
In order to solve the problem that the AGV trolley and the yarn trolley are damaged when the safety detection is not carried out on the AGV trolley in the prior art, a safety detection method and a safety detection system of the AGV trolley are further provided, so that different design requirements are met.
In order to achieve the purpose, the invention provides a safety detection method of an AGV, which comprises the following steps:
acquiring wharf information, and judging a wharf state according to the wharf information, wherein the wharf state comprises an idle state and a full-load state;
if the wharf state is an idle state, the AGV carries a first full-yarn vehicle to the wharf; if the wharf state is a full load state, the AGV carries to a cache region;
acquiring relative position information, and judging the relative position between the AGV and the wharf according to the relative position information;
if the AGV does not leave the wharf, the relative position information is not updated; if the AGV leaves the wharf, updating the relative position information;
the RGV carries a first full yarn vehicle according to the relative position information;
the RGV carries the empty yarn vehicle to the wharf;
the AGV trolley carries the empty yarn trolley to a yarn discharging area from a wharf to acquire relative position information;
if the AGV does not leave the wharf, the relative position information is not updated; and if the AGV car leaves the wharf, updating the relative position information.
Preferably, the specific steps of determining the wharf state are as follows:
the RGV trolley transports the second full yarn trolley which is transported to the wharf away;
the wharf does not detect the information of the second full yarn vehicle;
and clearing the wharf state, wherein the wharf state is an idle state, and otherwise, the wharf state is a full load state.
Preferably, the RGV trolley carries the empty yarn trolley by the following specific steps:
the AGV trolley transports the empty yarn trolley away from the wharf;
and (5) the wharf does not detect the information of the empty yarn car, and the RGV trolley is scheduled to move.
The invention also provides a safety detection system of the AGV, which comprises:
the AGV control unit is used for controlling the AGV to move and storing relative position information;
the information unit is used for storing wharf information, full yarn car information and empty yarn car information;
the PLC unit is used for scheduling the RGV trolley to move and updating the wharf information;
the detection device comprises first sensors arranged at the front end and the rear end of the wharf and second sensors arranged at the bottom of the wharf, the first sensors are used for detecting whether the wharf has a yarn car, and the second sensors are used for detecting whether the yarn car normally leaves.
Preferably, the full yarn car information includes a yarn car code and a lane number of the full yarn car.
Preferably, the empty yarn car information includes a yarn car code of the empty yarn car.
Preferably, the first sensor is a photosensor.
Preferably, the second sensor is a photosensor.
The technical scheme of the invention has the following technical effects:
(1) by adopting the safety detection method of the AGV, according to the judged wharf state, when the wharf is in an idle state, the AGV transports a first full yarn car to the appointed wharf, and at the moment, by acquiring the relative position information between the AGV and the wharf, when the AGV does not leave the wharf, the relative position information is not updated; if the AGV leaves the wharf, updating the relative position information; the phenomenon that the AGV car is damaged and the full-yarn car is overturned is avoided; after confirming that the AGV car leaves the wharf, the RGV car carries the first full yarn car to the next station. When the AGV trolley carries the empty yarn trolley, relative position information between the AGV trolley and the wharf is obtained again, and when the AGV trolley does not leave the wharf, the relative position information is not updated; if the AGV car leaves the wharf, the relative position information is updated, and the problem that the AGV car and the empty yarn car are damaged due to the fact that the next empty yarn car comes into collision with the AGV car which leaves in time is avoided.
(2) According to the safety detection system of the AGV trolley, the information such as the wharf information, the full yarn trolley information and the empty yarn trolley information is transmitted through the matching among the units, whether the yarn trolley leaves the wharf or not is further determined through the detection of the wharf and the yarn trolley by the detection device, the related information is timely updated, and the damage of the AGV trolley and the yarn trolley is avoided.
Drawings
FIG. 1 is a schematic flow chart of an AGV safety detection method according to the present invention;
FIG. 2 is a schematic diagram of an AGV car safety detection system according to the present invention.
Wherein, 1 is the information unit, 2 is the AGV control unit, 3 is the PLC unit, and 4 is detection device.
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 a safety detection method and a safety detection system for an AGV (automatic guided vehicle) in order to solve the problem that the AGV and a creel are damaged when the safety detection is not carried out on the AGV.
As shown in FIG. 1, the present invention provides a method for detecting the safety of an AGV, comprising the following steps:
s1, acquiring wharf information, and judging wharf states according to the wharf information, wherein the wharf states comprise an idle state and a full-load state;
further, the specific steps for determining the wharf state are as follows:
s10, the RGV carries the second full yarn car which is carried to the wharf away;
s11, the wharf does not detect the information of the second full yarn car;
in the step, wharf information is obtained through the information unit 1, and the wharf state is judged; the specific method for judging the wharf state comprises the following steps: before the AGV trolley carries the full yarn trolley to the wharf, the PLC unit 3 preferably confirms that the RGV trolley has carried away the current wharf yarn trolley, namely the photoelectric sensors arranged at the front end and the rear end of the wharf do not have signals, and the photoelectric sensors arranged at the bottom of the wharf do not have information and then transmit the information to the information unit 1, and at the moment, the wharf state can be determined to be an idle state.
Certainly, other units or devices can be adopted to obtain the wharf information, judge the state of the wharf and determine whether the current wharf creel is transported away, and the method is not limited to the information unit 1 and the PLC unit 3; of course, other sensors may be used to detect the signal, not limited to a photosensor.
And S12, clearing the wharf state, wherein the wharf state is an idle state, and otherwise, the wharf state is a full load state.
S2, if the wharf state is an idle state, the AGV carries a first full-yarn vehicle to the wharf; if the wharf state is a full load state, the AGV carries to a cache region;
in this step, the information unit 1 sends a signal to the AGV control unit 2, and the AGV control unit 2 controls the AGV to transport the first full-size car to the dock or the buffer. Of course, other units or devices may be used to signal the AGV control unit 2.
S3, acquiring relative position information, and judging the relative position between the AGV and the wharf according to the relative position information;
in the step, after the AGV trolley carries a first full-yarn trolley to a designated wharf, the optimal information unit 1 acquires the relative position information between the AGV trolley and the wharf through the AGV control unit 2; of course, other units or devices may be used to obtain the relative position information between the AGV and dock.
S4, if the AGV does not leave the wharf, the relative position information is not updated; if the AGV leaves the wharf, updating the relative position information;
in the step, when the relative position between the AGV and the wharf shows that the AGV leaves the wharf, the AGV control unit 2 sends an instruction, and transmits information such as the yarn car code and the furnace lane number of the current full yarn car to the information unit 1; after receiving the information, the information unit 1 transmits the information to the PLC unit 3.
S5, carrying the first full yarn car by the RGV according to the relative position information;
in this step, after the PLC unit 3 receives the information, it schedules the RGV car to carry the first full-yarn car placed on the wharf to the next station.
S6, carrying the empty yarn vehicle to a wharf by the RGV;
further, the concrete steps of the RGV trolley for carrying the empty yarn trolley are as follows:
s60, the AGV trolley transports the empty yarn trolley away from the wharf;
and S61, the wharf does not detect the information of the empty yarn car, and the RGV trolley is scheduled to move.
S7, the AGV trolley carries the empty yarn trolley to a yarn discharging area from the wharf to obtain relative position information;
in the step, after the RGV trolley transports the empty yarn trolley to the wharf, the AGV trolley transports the empty yarn trolley to a yarn discharging area from the wharf; when the AGV trolley takes the empty yarn trolley away from the wharf, the photoelectric sensor and the photoelectric sensor arranged on the wharf are not shielded, and the wharf state can be determined to be an idle state; in this process, the information unit 1 acquires the relative position information between the AGV car and the dock via the AGV control unit 2.
S8, if the AGV does not leave the wharf, the relative position information is not updated; and if the AGV car leaves the wharf, updating the relative position information.
In the step, when the relative position between the AGV and the wharf shows that the AGV leaves the wharf, the AGV control unit 2 transmits the relative position information to the information unit 1; the information unit 1 clears the information of the empty yarn car corresponding to the wharf; after the PLC unit 3 confirms that the information of the empty yarn car is cleared, the RGV trolley is dispatched to convey the empty yarn car to the wharf.
By adopting the safety detection method of the AGV, the wharf state is judged, when the wharf is in an idle state, the AGV control unit 2 controls the AGV to convey the first full yarn car to the appointed wharf, at the moment, the relative position information between the AGV and the wharf is obtained through the information unit 1, and when the AGV does not leave the wharf, the relative position information is not updated; if the AGV leaves the wharf, updating the relative position information; avoid damaging the AGV dolly, the phenomenon that the full yarn car overturns appears, after confirming that the AGV dolly leaves the pier, the first full yarn car of RGV dolly transport is to next station. When the AGV trolley carries the empty yarn trolley, relative position information between the AGV trolley and the wharf is obtained again, and when the AGV trolley does not leave the wharf, the relative position information is not updated; if the AGV car leaves the wharf, the relative position information is updated, and the problem that the AGV car and the empty yarn car are damaged due to the fact that the next empty yarn car comes into collision with the AGV car which leaves in time is avoided.
As shown in FIG. 2, the present invention also provides a safety detection system for an AGV comprising:
the AGV control unit 2 is used for controlling the AGV to move and storing relative position information;
the information unit 1 is used for storing wharf information, full yarn car information and empty yarn car information;
further, the full yarn car information includes a yarn car code and a lane number of the full yarn car.
Further, the empty yarn car information includes a yarn car code of the empty yarn car.
The PLC unit 3 is used for scheduling the RGV trolley to move and updating wharf information;
the detection device 4 comprises first sensors arranged at the front end and the rear end of the wharf and a second sensor arranged at the bottom of the wharf;
further, the first sensor is a photoelectric sensor and is used for detecting whether a yarn car exists in the wharf or not.
Further, the second sensor is a photoelectric sensor and is used for detecting whether the yarn car normally leaves.
Of course, the first sensor and the second sensor may be sensors of other types as long as the actual working requirements can be met.
By adopting the technical scheme, the PLC unit 3 confirms that the RGV trolley is transported away from the current wharf creel, namely, the photoelectric sensor in the detection device 4 has no signal, no information is transmitted to the information unit 1, and the wharf state can be determined to be an idle state at the moment. The information unit 1 sends a signal to the AGV control unit 2 to control the movement of the AGV, and the AGV control unit 2 transmits information such as the yarn car code, the furnace channel number and the like of the current full yarn car to the information unit 1; after receiving the information, the information unit 1 transmits the information to the PLC unit 3.
To sum up, through the cooperation between each unit, the process of transporting full yarn car or empty yarn car to the AGV dolly detects, to information transmission, guarantees the AGV dolly, and the safety of yarn car avoids appearing the safety problem.
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 (8)
1. A safety detection method for an AGV is characterized by comprising the following steps:
acquiring wharf information, and judging a wharf state according to the wharf information, wherein the wharf state comprises an idle state and a full-load state;
if the wharf state is an idle state, the AGV carries a first full-yarn vehicle to the wharf; if the wharf state is a full load state, the AGV carries to a cache region;
acquiring relative position information, and judging the relative position between the AGV trolley and the wharf according to the relative position information;
if the AGV does not leave the wharf, the relative position information is not updated; if the AGV trolley leaves the wharf, updating the relative position information;
the RGV carries the first full yarn vehicle according to the relative position information;
the RGV trolley carries the empty yarn trolley to the wharf;
the AGV trolley carries the empty yarn trolley to the yarn discharging area from the wharf to acquire the relative position information;
if the AGV does not leave the wharf, the relative position information is not updated; and if the AGV trolley leaves the wharf, updating the relative position information.
2. The AGV cart security detection method of claim 1, wherein the specific steps to determine the dock status are as follows:
the RGV trolley transports a second full yarn trolley which is transported to the wharf away;
the wharf does not detect the information of the second full yarn vehicle;
and clearing the wharf state, wherein the wharf state is an idle state, and otherwise, the wharf state is a full load state.
3. The AGV cart safety detection method of claim 2, wherein the RGV cart transport empty carts comprises the following steps:
the AGV trolley transports the empty yarn trolley away from the wharf;
and the wharf does not detect the information of the empty yarn car and schedules the RGV trolley to move.
4. A safety detection system for an AGV comprising:
the AGV comprises an AGV control unit, a storage unit and a control unit, wherein the AGV control unit is used for controlling the movement of an AGV and storing relative position information;
the information unit is used for storing wharf information, full yarn car information and empty yarn car information;
the PLC unit is used for scheduling the RGV trolley to move and updating the wharf information;
the detection device comprises a first sensor and a second sensor, wherein the first sensor is arranged at the front end and the rear end of the wharf, the second sensor is arranged at the bottom of the wharf, the first sensor is used for detecting whether the wharf has a yarn car, and the second sensor is used for detecting whether the yarn car normally leaves.
5. The AGV cart safety detection system of claim 4, wherein the full car information includes a car code and lane number of the full car.
6. The AGV cart safety detection system of claim 4, wherein the empty car information includes a car code for the empty car.
7. The AGV safety detection system of claim 4 wherein said first sensor is a photoelectric sensor.
8. The AGV safety detection system of claim 4, wherein said second sensor is a photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910925624.7A CN110658817A (en) | 2019-09-27 | 2019-09-27 | Safety detection method and safety detection system for AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910925624.7A CN110658817A (en) | 2019-09-27 | 2019-09-27 | Safety detection method and safety detection system for AGV |
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| CN110658817A true CN110658817A (en) | 2020-01-07 |
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| CN201910925624.7A Pending CN110658817A (en) | 2019-09-27 | 2019-09-27 | Safety detection method and safety detection system for AGV |
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2019
- 2019-09-27 CN CN201910925624.7A patent/CN110658817A/en active Pending
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| US20090191028A1 (en) * | 2008-01-24 | 2009-07-30 | Hong Tian | Loading/unloading system for container terminal |
| CN107215631A (en) * | 2017-06-02 | 2017-09-29 | 广州赫伽力智能科技有限公司 | A kind of automatic Yarn hanging device of AGV dollies |
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