CN111717845A - Forklift AGV basket distribution transfer system and automatic control method thereof - Google Patents
Forklift AGV basket distribution transfer system and automatic control method thereof Download PDFInfo
- Publication number
- CN111717845A CN111717845A CN202010528127.6A CN202010528127A CN111717845A CN 111717845 A CN111717845 A CN 111717845A CN 202010528127 A CN202010528127 A CN 202010528127A CN 111717845 A CN111717845 A CN 111717845A
- Authority
- CN
- China
- Prior art keywords
- agv
- forklift
- type agv
- forklift type
- cloth
- Prior art date
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- 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]
-
- 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 relates to a fork truck type AGV basket distribution transfer system, which solves the problems in the prior art and has the technical scheme that the fork truck type AGV basket distribution transfer system comprises a fork truck type AGV, an upper computer and a car calling system, wherein the upper computer is provided with an intelligent logistics scheduling system, and the fork truck type AGV and the car calling system are in communication connection with the upper computer; a standby area, an opening device and a cloth cache area are arranged in a field, a forklift type AGV is arranged in the standby area during charging and standby, and an intelligent logistics scheduling system sets the intelligent logistics scheduling system according to the current equipment states in the standby area, the opening device and the cloth cache area; the taxi calling system comprises lower computers which are respectively arranged at the scutching device and the cloth cache region and provided with calling devices, and an operator submits a transportation request through the calling devices according to the production condition; the forklift type AGV travels to an appointed position in a self-walking, self-navigation and automatic obstacle avoidance mode according to a control command of a taxi calling system, and detects and docks and separates with a distributed vehicle at the appointed position.
Description
Technical Field
The invention belongs to a transport tool during cloth production, and relates to a fork truck type AGV basket transferring system and an automatic control method thereof.
Background
At present, a section of process exists in cloth printing and dyeing production, and specifically comprises the following steps: the automatic cloth basket transferring system comprises a cloth spreading system, a cloth dyeing system, a cloth dehydrating system, a cloth basket transferring system and an automatic control method, wherein the cloth basket transferring system is used for spreading, dyeing, dehydrating, scutching and sizing, the cloth basket after scutching needs to be conveyed to a sizing area, then an empty cloth frame in the sizing area is reversely conveyed to the scutching area to be placed, the process is carried by workers in the past, the carrying labor intensity is high, and the carrying labor is tedious, so that the efficiency is low all the time, and due to the fact that the AGV is mature recently, the development of the cloth basket transferring system using the AGV and the automatic control method thereof can greatly reduce the labor cost and improve.
An Automated Guided Vehicle (AGV), also commonly referred to as an AGV cart or a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, is a transport Vehicle that does not require a driver in industrial applications, and uses a rechargeable battery as a power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic track.
Chinese patent publication No.: 105366593A discloses an intelligent laser direction AVG fork truck in 2016, and the main part includes the carriage body and sets up the front truck mechanism at the carriage body front end, its characterized in that: the middle part in the carriage body is provided with a storage battery, an industrial control computer, a programmable logic controller, a steering motor controller and a walking motor controller, the lower end of the carriage body is provided with a driving assembly, one side of the driving assembly is provided with an executing mechanism, the upper end of the carriage body is provided with a display module, and the top of the carriage body is provided with a laser scanning measuring instrument supported by an upright post. Obviously, the AGV technology is a mature technology, but the application of the AGV technology in the aspect of cloth production, particularly cloth printing and dyeing, is lost.
Disclosure of Invention
The invention solves the problem that the prior art is lacked in the aspect of cloth production, particularly cloth printing and dyeing, and provides a forklift type AGV cloth basket transfer system and an automatic control method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows: a forklift type AGV basket transferring system is used for transferring a cloth frame between scutching and shaping during cloth printing and dyeing processing and comprises a forklift type AGV, an upper computer provided with an intelligent logistics scheduling system and a car calling system, wherein the forklift type AGV and the car calling system are in communication connection with the upper computer; a standby area, an opening device and a cloth cache area are arranged in a field, a forklift type AGV is arranged in the standby area during charging and standby, and the intelligent logistics scheduling system sets the intelligent logistics scheduling system according to the current standby area, the opening device and the equipment state in the cloth cache area; the taxi calling system comprises lower computers which are respectively arranged at the scutching device and the cloth cache region and provided with calling devices, and an operator submits a transportation request through the calling devices according to the production condition; the forklift type AGV travels to an appointed position in a mode of autonomous walking, autonomous navigation and automatic obstacle avoidance according to a control command of a taxi calling system, detects and separates a distributed vehicle at the appointed position and is in butt joint with the distributed vehicle.
According to the invention, a forklift type AGV navigation mode is a laser navigation mode, a steering mode is a mode of adding a steering wheel to an omnidirectional wheel, automatic transportation of a cloth vehicle is completed by adopting the forklift type AGV, and the transportation rhythm of the forklift type AGV is controlled to be matched with the production rhythm by combining an intelligent logistics scheduling system. And after a calling button is manually pressed, the forklift type AGV automatically goes to the station, conveys the cloth car to the corresponding temporary storage station, and then returns to the standby area to standby or directly executes the next transportation task. The scheme can greatly reduce the labor cost and improve the production efficiency.
Preferably, the lower computer of the calling device is in communication connection with the control device of the scutching device through an MES interface. An MES interface is reserved in the system, the system can be connected with the MES system to acquire a production plan and specific production conditions, the transportation requirements of each operation point are calculated and prejudged, the AGV is automatically dispatched to transport, the whole process does not need workers to carry, does not need workers to call, and is higher in automation degree.
Preferably, the intelligent logistics scheduling system comprises user management, scheduling management, graph monitoring, AGV setting, system setting, interface management, query statistics and battery power management;
the user management in the intelligent logistics scheduling system comprises user information management, user information maintenance and authority management; scheduling management comprises task calling processing, state reminding and monitoring logs; the method comprises the steps that graphic monitoring displays the working state of the whole system in a map mode, and displays the position of a forklift type AGV and the moving effect in real time; the method comprises the following steps that AGV setting is used for setting information such as a scheduling principle, an AGV avoidance principle and an AGV parameter in an intelligent logistics scheduling system; the system is arranged to change and maintain the information of the distribution stations; the interface management checks the current state information of each terminal and equipment in real time and maintains interface parameter information; inquiring and counting the workload of the forklift type AGV and counting; the battery power management is to look over the current work electric quantity of fork truck formula AGV to show and suggestion.
Preferably, the number of the forklift type AGVs is configured to satisfy a standby mode of 5 cars/h, and the navigation mode of the forklift type AGVs is laser navigation. Because scutching and design itself consuming time great, consequently reduced fork truck formula AGV in quantity, further, because the vast majority time uses the bicycle operation, consequently can reduce fork truck formula AGV passageway width, has improved the rate of utilization in on-the-spot space.
Preferably, fork truck formula AGV includes fork truck automobile body, the control unit and keeps away the barrier unit, the fork truck automobile body is controlled by the control unit, the control unit with host computer communication connection, keep away the barrier unit and arrange on the fork truck automobile body, keep away the barrier unit with the control unit communication connection. Fork truck formula AGV is the industry relatively ripe, consequently does not do the injecing to the structure of fork truck formula AGV itself in this application, and the difference point lies in, has independent obstacle-avoiding unit in this application, keeps away among the fork truck formula AGV and keeps away outside the obstacle unit is independent of navigation, operates with higher priority, keeps away the realization of obstacle unit and can be equipment such as radar, photoelectricity.
Preferably, a weight sensor is arranged at the forklift part of the forklift type AGV, detects the weight of the current target and transmits the weight to the control unit, and the weight is uploaded to the upper computer by the control unit. The weight sensor is set to prevent the occurrence of production safety accidents caused by the overweight of the cloth frame.
The automatic control method for the basket distribution and transfer of the forklift type AGV is suitable for the basket distribution and transfer system of the forklift type AGV and comprises the following steps of:
step one, the intelligent logistics scheduling system sets according to the current standby area, the scutching device and the equipment state in the cloth cache area;
step two, the operator submits the transportation request to the intelligent logistics dispatching system through the calling device according to the production condition, and the intelligent logistics dispatching system calculates a control command according to the setting and the request and issues the control command to the forklift AGV;
and step three, the forklift type AGV travels to an appointed position in an autonomous walking, autonomous navigation and automatic obstacle avoidance mode according to a control command of the calling system, and detects and separates the cloth vehicle at the appointed position.
Preferably, in the first step, the upper computer sets a plurality of intersection points according to the condition that a plurality of necessary channels are one-way single lanes, when the standby second cart type AGV needs to be put into use, the running path of the second cart type AGV after being put into use is sent to the intelligent logistics scheduling system,
judging whether the running path of the current first forklift type AGV returns to the standby area generates intersection with the running path of the second forklift type AGV or not in the upper computer, if not, controlling the first forklift type AGV and the second forklift type AGV to continue to execute according to a preset path, and if so, executing the following substeps:
the first substep: calculating a place where the first forklift type AGV and the second forklift type AGV meet at a rated speed, and taking a meeting point with the distance value smaller than a set value from the meeting place as a meeting point to be selected;
and a second substep: screening out the intersection points to be selected in the running path of the first forklift type AGV or the second forklift type AGV from all the intersection points to be selected, if the intersection points to be selected exist after screening, selecting the intersection point closest to the expected intersection point as a target intersection point and executing a substep four, and if the intersection points to be selected do not exist after screening, executing a substep three;
and a third substep: changing the running path of the second forklift type AGV, setting an intermediate destination to be modified into the current nearest intersection point, repeatedly executing the first substep, and modifying the set distance value once;
and a fourth substep: dividing running paths of the first forklift type AGV and the second forklift type AGV into two sections by using a target intersection point, calculating the running time of the first forklift type AGV and the second forklift type AGV to the target intersection point, selecting the forklift type AGV which runs fast to the target intersection point, and adjusting the speed of the forklift type AGV which runs fast to the target intersection point to be Vt=Ve×Th/TlUntil the operation reaches the rendezvous point and the rendezvous is completed, wherein VtFor adjusted running speed, VeAt a rated operating speed, ThTime required for a fork lift AGV to travel faster to a target meeting point, TlThe time required by a forklift type AGV which runs slowly to a target meeting point;
and a fifth substep: after the crossing is completed, the first fork-lift type AGV and the second fork-lift type AGV continue to execute according to the preset path at the rated speed.
Preferably, the control unit receives predicted weight data transmitted by the upper computer, when a difference value between target weight data detected by the weight sensor and the predicted weight data is larger than a set value, the path of the forklift type AGV is automatically modified to a set position in the material distribution cache region, and the path end point of the forklift type AGV is uploaded to the upper computer. In the application, the weight sensor is arranged, so that the simple correction function is realized besides the prevention of overweight safety production accidents, the approximate type of the cloth in the current cloth frame can be directly judged through the weight difference, the automatic correction is performed when the conveying position of the cloth is different from the conveying position set by manual calling, and the reminding is performed.
The substantial effects of the invention are as follows: according to the invention, a forklift type AGV navigation mode is a laser navigation mode, a steering mode is a mode of adding a steering wheel to an omnidirectional wheel, automatic transportation of a cloth vehicle is completed by adopting the forklift type AGV, and the transportation rhythm of the forklift type AGV is controlled to be matched with the production rhythm by combining an intelligent logistics scheduling system. And after a calling button is manually pressed, the forklift type AGV automatically goes to the station, conveys the cloth car to the corresponding temporary storage station, and then returns to the standby area to standby or directly executes the next transportation task. The scheme can greatly reduce the labor cost and improve the production efficiency.
Drawings
Fig. 1 is a schematic view of an overall arrangement of the present invention.
Detailed Description
The technical solution of the present embodiment is further specifically described below by way of specific examples.
Example 1:
a fork truck type AGV basket transfer system (refer to figure 1) is used for transferring a cloth frame between scutching and shaping during cloth printing and dyeing processing, and comprises a fork truck type AGV, an upper computer provided with an intelligent logistics scheduling system and a car calling system, wherein the fork truck type AGV and the car calling system are in communication connection with the upper computer; a standby area, an opening device and a cloth cache area are arranged in a field, a forklift type AGV is arranged in the standby area during charging and standby, and the intelligent logistics scheduling system sets the intelligent logistics scheduling system according to the current standby area, the opening device and the equipment state in the cloth cache area; the taxi calling system comprises lower computers which are respectively arranged at the scutching device and the cloth cache region and provided with calling devices, and an operator submits a transportation request through the calling devices according to the production condition; the forklift type AGV travels to an appointed position in a mode of autonomous walking, autonomous navigation and automatic obstacle avoidance according to a control command of a taxi calling system, detects and separates a distributed vehicle at the appointed position and is in butt joint with the distributed vehicle.
In this embodiment, fork truck formula AGV's navigation mode adopts laser navigation mode, and the mode that turns to is the mode that the omniwheel adds the steering wheel, adopts fork truck formula AGV to accomplish the automatic transportation of cloth car, combines wisdom logistics scheduling system control fork truck formula AGV's transportation beat to coincide with the production beat. And after a calling button is manually pressed, the forklift type AGV automatically goes to the station, conveys the cloth car to the corresponding temporary storage station, and then returns to the standby area to standby or directly executes the next transportation task. The scheme can greatly reduce the labor cost and improve the production efficiency. And the lower computer of the calling device is in communication connection with the control device of the scutching device through an MES interface. An MES interface is reserved in the system, the system can be connected with the MES system to acquire a production plan and specific production conditions, the transportation requirements of each operation point are calculated and prejudged, the AGV is automatically dispatched to transport, the whole process does not need workers to carry, does not need workers to call, and is higher in automation degree. The intelligent logistics scheduling system comprises user management, scheduling management, graph monitoring, AGV setting, system setting, interface management, inquiry statistics and battery power management;
the user management in the intelligent logistics scheduling system comprises user information management, user information maintenance and authority management; scheduling management comprises task calling processing, state reminding and monitoring logs; the method comprises the steps that graphic monitoring displays the working state of the whole system in a map mode, and displays the position of a forklift type AGV and the moving effect in real time; the method comprises the following steps that AGV setting is used for setting information such as a scheduling principle, an AGV avoidance principle and an AGV parameter in an intelligent logistics scheduling system; the system is arranged to change and maintain the information of the distribution stations; the interface management checks the current state information of each terminal and equipment in real time and maintains interface parameter information; inquiring and counting the workload of the forklift type AGV and counting; the battery power management is to look over the current work electric quantity of fork truck formula AGV to show and suggestion. The number of the forklift type AGVs is configured in a standby and use mode meeting 5 cloth/h, and the navigation mode of the forklift type AGVs is laser navigation. Because scutching and design itself consuming time great, consequently reduced fork truck formula AGV in quantity, further, because the vast majority time uses the bicycle operation, consequently can reduce fork truck formula AGV passageway width, has improved the rate of utilization in on-the-spot space.
Fork truck formula AGV includes fork truck automobile body, the control unit and keeps away the barrier unit, the fork truck automobile body is controlled by the control unit, the control unit with host computer communication connection, keep away the barrier unit and arrange on the fork truck automobile body, keep away the barrier unit with the control unit communication connection. Fork truck formula AGV is the industry relatively ripe, consequently does not do the injecing to the structure of fork truck formula AGV itself in this application, and the difference point lies in, has independent obstacle-avoiding unit in this application, keeps away among the fork truck formula AGV and keeps away outside the obstacle unit is independent of navigation, operates with higher priority, keeps away the realization of obstacle unit and can be equipment such as radar, photoelectricity. The forklift position of the forklift type AGV is provided with a weight sensor, the weight sensor detects the weight of a current target and transmits the weight to the control unit, and the weight is uploaded to the upper computer by the control unit. The weight sensor is set to prevent the occurrence of production safety accidents caused by the overweight of the cloth frame.
The automatic control method for the basket distribution and transfer of the forklift type AGV is suitable for the basket distribution and transfer system of the forklift type AGV and comprises the following steps of:
step one, the intelligent logistics scheduling system sets according to the current standby area, the scutching device and the equipment state in the cloth cache area;
step two, the operator submits the transportation request to the intelligent logistics dispatching system through the calling device according to the production condition, and the intelligent logistics dispatching system calculates a control command according to the setting and the request and issues the control command to the forklift AGV;
and step three, the forklift type AGV travels to an appointed position in an autonomous walking, autonomous navigation and automatic obstacle avoidance mode according to a control command of the calling system, and detects and separates the cloth vehicle at the appointed position.
In the first step, the upper computer sets a plurality of intersection points according to the condition that a plurality of necessary channels are one-way single lanes, when a standby second forklift type AGV needs to be put into use, the running path of the second forklift type AGV after being put into use is sent to the intelligent logistics scheduling system,
judging whether the running path of the current first forklift type AGV returns to the standby area generates intersection with the running path of the second forklift type AGV or not in the upper computer, if not, controlling the first forklift type AGV and the second forklift type AGV to continue to execute according to a preset path, and if so, executing the following substeps:
the first substep: calculating a place where the first forklift type AGV and the second forklift type AGV meet at a rated speed, and taking a meeting point with the distance value smaller than a set value from the meeting place as a meeting point to be selected;
and a second substep: screening out the intersection points to be selected in the running path of the first forklift type AGV or the second forklift type AGV from all the intersection points to be selected, if the intersection points to be selected exist after screening, selecting the intersection point closest to the expected intersection point as a target intersection point and executing a substep four, and if the intersection points to be selected do not exist after screening, executing a substep three;
and a third substep: changing the running path of the second forklift type AGV, setting an intermediate destination to be modified into the current nearest intersection point, repeatedly executing the first substep, and modifying the set distance value once;
and a fourth substep: dividing running paths of the first forklift type AGV and the second forklift type AGV into two sections by using a target intersection point, calculating the running time of the first forklift type AGV and the second forklift type AGV to the target intersection point, selecting the forklift type AGV which runs fast to the target intersection point, and adjusting the speed of the forklift type AGV which runs fast to the target intersection point to be Vt=Ve×Th/TlUntil the operation reaches the rendezvous point and the rendezvous is completed, wherein VtFor adjusted running speed, VeAt a rated operating speed, ThTime required for a fork lift AGV to travel faster to a target meeting point, TlThe time required by a forklift type AGV which runs slowly to a target meeting point;
and a fifth substep: after the crossing is completed, the first fork-lift type AGV and the second fork-lift type AGV continue to execute according to the preset path at the rated speed. In this embodiment, because the route of fork truck formula AGV has been reduced, consequently, the one-way road that must exist can be solved with the mode of backing a car, but the operation of single lane then needs first fork truck formula AGV and second fork truck formula AGV to solve with the mode that a reasonable place intersects, through the design of intersection point, can increase the position in single lane as far as possible, the needs of reduction position width improve the occupation of land utilization of equipment. In this embodiment, the cloth frames are transported to the cloth buffer area before shaping, and all the one-way single lanes are located at the cloth buffer area, so that intersection points are designed between the open width area and the cloth buffer area and are designed in an evenly distributed manner, and it can be ensured that intersection points to be selected in the running path of the first forklift type AGV or the second forklift type AGV are selected. Through the method, the fork truck type AGV can meet stably, and the working rhythm calculation can be known in the application, the farthest transportation distance from the open area to the shaping area is 36+43.8=79.8 m according to the field calculation, the design speed of the AGV is calculated according to the average 0.8m/s, the AGV completes 79.8 × 2/0.8=199.5s =3.325min of back and forth transportation, the detection, the butt joint and the lifting are counted, the field calculation is carried out according to 4.5min, the 13-vehicle-distribution transportation operation can be completed in one hour, and the operation requirement is far greater than that of the field AGV 120 vehicle distribution/24 h = 5 vehicle distribution/h. Therefore, the redundancy of design can greatly reduce the speed of the vehicle during the intersection and even complete the intersection in a parking waiting mode. Therefore, in this application, AGV application scenes such as relative express delivery, there are the frequency of car to require lowly, and the car meeting number of times is few, consequently, can improve place storage capacity through reasonable in design's meeting mode. The control unit receives predicted weight data transmitted by the upper computer, when the difference value between target weight data detected by the weight sensor and the predicted weight data is larger than a set value, the path of the forklift AGV is automatically modified to a set position in the cloth cache region, and the path end point of the forklift AGV is uploaded to the upper computer. In the application, the weight sensor is arranged, so that the simple correction function is realized besides the prevention of overweight safety production accidents, the approximate type of the cloth in the current cloth frame can be directly judged through the weight difference, the automatic correction is performed when the conveying position of the cloth is different from the conveying position set by manual calling, and the reminding is performed.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (9)
1. A forklift type AGV basket transferring system is used for transferring a cloth frame between scutching and shaping during cloth printing and dyeing processing and is characterized by comprising a forklift type AGV, an upper computer provided with an intelligent logistics scheduling system and a car calling system, wherein the forklift type AGV and the car calling system are in communication connection with the upper computer; a standby area, an opening device and a cloth cache area are arranged in a field, a forklift type AGV is arranged in the standby area during charging and standby, and the intelligent logistics scheduling system sets the intelligent logistics scheduling system according to the current standby area, the opening device and the equipment state in the cloth cache area; the taxi calling system comprises lower computers which are respectively arranged at the scutching device and the cloth cache region and provided with calling devices, and an operator submits a transportation request through the calling devices according to the production condition; the forklift type AGV travels to an appointed position in a mode of autonomous walking, autonomous navigation and automatic obstacle avoidance according to a control command of a taxi calling system, detects and separates a distributed vehicle at the appointed position and is in butt joint with the distributed vehicle.
2. The forklift AGV basket transfer system of claim 1, further comprising: and the lower computer of the calling device is in communication connection with the control device of the scutching device through an MES interface.
3. The forklift AGV basket transfer system of claim 1, further comprising: the intelligent logistics scheduling system comprises user management, scheduling management, graph monitoring, AGV setting, system setting, interface management, inquiry statistics and battery power management;
the user management in the intelligent logistics scheduling system comprises user information management, user information maintenance and authority management; scheduling management comprises task calling processing, state reminding and monitoring logs; the method comprises the steps that graphic monitoring displays the working state of the whole system in a map mode, and displays the position of a forklift type AGV and the moving effect in real time; the method comprises the following steps that AGV setting is used for setting information such as a scheduling principle, an AGV avoidance principle and an AGV parameter in an intelligent logistics scheduling system; the system is arranged to change and maintain the information of the distribution stations; the interface management checks the current state information of each terminal and equipment in real time and maintains interface parameter information; inquiring and counting the workload of the forklift type AGV and counting; the battery power management is to look over the current work electric quantity of fork truck formula AGV to show and suggestion.
4. The forklift AGV basket transfer system of claim 1, further comprising: the number of the forklift type AGVs is configured in a standby and use mode meeting 5 cloth/h, and the navigation mode of the forklift type AGVs is laser navigation.
5. The forklift AGV basket transfer system of claim 1, further comprising: fork truck formula AGV includes fork truck automobile body, the control unit and keeps away the barrier unit, the fork truck automobile body is controlled by the control unit, the control unit with host computer communication connection, keep away the barrier unit and arrange on the fork truck automobile body, keep away the barrier unit with the control unit communication connection.
6. The forklift AGV basket transfer system of claim 5, wherein: the forklift position of the forklift type AGV is provided with a weight sensor, the weight sensor detects the weight of a current target and transmits the weight to the control unit, and the weight is uploaded to the upper computer by the control unit.
7. An automatic control method for fork truck type AGV basket transfer, which is suitable for the fork truck type AGV basket transfer system as claimed in claim 1, and is characterized by comprising the following steps:
step one, the intelligent logistics scheduling system sets according to the current standby area, the scutching device and the equipment state in the cloth cache area;
step two, the operator submits the transportation request to the intelligent logistics dispatching system through the calling device according to the production condition, and the intelligent logistics dispatching system calculates a control command according to the setting and the request and issues the control command to the forklift AGV;
and step three, the forklift type AGV travels to an appointed position in an autonomous walking, autonomous navigation and automatic obstacle avoidance mode according to a control command of the calling system, and detects and separates the cloth vehicle at the appointed position.
8. The method of claim 7, wherein the method further comprises:
in the first step, the upper computer sets a plurality of intersection points according to the condition that a plurality of necessary channels are one-way single lanes, when a standby second forklift type AGV needs to be put into use, the running path of the second forklift type AGV after being put into use is sent to the intelligent logistics scheduling system,
judging whether the running path of the current first forklift type AGV returns to the standby area generates intersection with the running path of the second forklift type AGV or not in the upper computer, if not, controlling the first forklift type AGV and the second forklift type AGV to continue to execute according to a preset path, and if so, executing the following substeps:
the first substep: calculating a place where the first forklift type AGV and the second forklift type AGV meet at a rated speed, and taking a meeting point with the distance value smaller than a set value from the meeting place as a meeting point to be selected;
and a second substep: screening out the intersection points to be selected in the running path of the first forklift type AGV or the second forklift type AGV from all the intersection points to be selected, if the intersection points to be selected exist after screening, selecting the intersection point closest to the expected intersection point as a target intersection point and executing a substep four, and if the intersection points to be selected do not exist after screening, executing a substep three;
and a third substep: changing the running path of the second forklift type AGV, setting an intermediate destination to be modified into the current nearest intersection point, repeatedly executing the first substep, and modifying the set distance value once;
and a fourth substep: dividing running paths of the first forklift type AGV and the second forklift type AGV into two sections by using a target intersection point, calculating the running time of the first forklift type AGV and the second forklift type AGV to the target intersection point, selecting the forklift type AGV which runs fast to the target intersection point, adjusting the speed of the forklift type AGV which runs fast to the target intersection point to be Vt = Ve multiplied by Th/Tl until the forklift type AGV runs to the intersection point and finishes intersection, wherein Vt is the regulated running speed, Ve is the rated running speed, Th is the time required by the forklift type AGV which runs fast to the target intersection point, and Tl is the time required by the forklift type AGV which runs slowly to the target intersection point;
and a fifth substep: after the crossing is completed, the first fork-lift type AGV and the second fork-lift type AGV continue to execute according to the preset path at the rated speed.
9. The method of claim 8, wherein the method further comprises: the control unit receives predicted weight data transmitted by the upper computer, when the difference value between target weight data detected by the weight sensor and the predicted weight data is larger than a set value, the path of the forklift AGV is automatically modified to a set position in the cloth cache region, and the path end point of the forklift AGV is uploaded to the upper computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010528127.6A CN111717845B (en) | 2020-06-11 | 2020-06-11 | Forklift AGV basket distribution transfer system and automatic control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010528127.6A CN111717845B (en) | 2020-06-11 | 2020-06-11 | Forklift AGV basket distribution transfer system and automatic control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111717845A true CN111717845A (en) | 2020-09-29 |
| CN111717845B CN111717845B (en) | 2022-06-10 |
Family
ID=72566423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010528127.6A Active CN111717845B (en) | 2020-06-11 | 2020-06-11 | Forklift AGV basket distribution transfer system and automatic control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111717845B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233221A (en) * | 2021-06-15 | 2021-08-10 | 珠海格力智能装备有限公司 | Loading and unloading connection equipment, cargo loading and unloading system and cargo loading and unloading method |
| CN115285710A (en) * | 2022-07-27 | 2022-11-04 | 广州达宝文汽车设备集团有限公司 | Automatic charging basket switching equipment and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150058800A (en) * | 2013-11-21 | 2015-05-29 | 한일이화 주식회사 | Just-in-sequence logistics system linkage computation system and Automated Guided Vehicle, and method thereof |
| CN106843218A (en) * | 2017-02-16 | 2017-06-13 | 上海理工大学 | Workshop homing guidance device dispatching method |
| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN108876269A (en) * | 2018-09-12 | 2018-11-23 | 广州汽车集团乘用车（杭州）有限公司 | Automatic material distribution system and automatic delivery method based on AGV |
-
2020
- 2020-06-11 CN CN202010528127.6A patent/CN111717845B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150058800A (en) * | 2013-11-21 | 2015-05-29 | 한일이화 주식회사 | Just-in-sequence logistics system linkage computation system and Automated Guided Vehicle, and method thereof |
| CN106843218A (en) * | 2017-02-16 | 2017-06-13 | 上海理工大学 | Workshop homing guidance device dispatching method |
| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN108876269A (en) * | 2018-09-12 | 2018-11-23 | 广州汽车集团乘用车（杭州）有限公司 | Automatic material distribution system and automatic delivery method based on AGV |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233221A (en) * | 2021-06-15 | 2021-08-10 | 珠海格力智能装备有限公司 | Loading and unloading connection equipment, cargo loading and unloading system and cargo loading and unloading method |
| CN115285710A (en) * | 2022-07-27 | 2022-11-04 | 广州达宝文汽车设备集团有限公司 | Automatic charging basket switching equipment and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111717845B (en) | 2022-06-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10466692B2 (en) | Automated guided vehicle system | |
| CN112875577B (en) | Intelligent warehouse management control system based on AMR and AGV fork truck | |
| CN104609086B (en) | Four-directional shuttle vehicle control system based on road right tokens | |
| CN103135548B (en) | A kind of unmanned floor truck and driving control system thereof | |
| JP5928402B2 (en) | Traveling vehicle control system | |
| CN107091637B (en) | Automatic scheduling system based on magnetic navigation | |
| EP2709233B1 (en) | Vehicle and non-contact power supply system | |
| CN109625123A (en) | A kind of spliced carrying vehicle, handling system and method for carrying | |
| CN102707718A (en) | Communication technique by which an autonomous guidance system controls an industrial vehicle | |
| CN111717845B (en) | Forklift AGV basket distribution transfer system and automatic control method thereof | |
| CN106843218A (en) | Workshop homing guidance device dispatching method | |
| CN109572526B (en) | Intelligent sharing bicycle transfer trolley | |
| CN109748203A (en) | A kind of AGV automatic operating system and control method | |
| CN112875576B (en) | Automatic driving forklift system | |
| CN104442452A (en) | Unmanned electric trackless three-direction stacking forklift truck | |
| CN111367294A (en) | Laser AGV (automatic guided vehicle) scheduling control system and control method thereof | |
| CN112947475A (en) | Laser navigation forklift type AGV vehicle-mounted system and method | |
| CN114527720B (en) | AGV remote monitering system based on sericulture equipment | |
| CN114529073A (en) | Traveling path planning method for container approaching process of loading and unloading handling system | |
| CN209765333U (en) | AGV commodity circulation delivery system | |
| CN111746994B (en) | AGV trolley following method and sorting system | |
| CN102830706A (en) | Medical automatic guided vehicle (AGV) control system | |
| CN114898545B (en) | Transportation system and management and control method | |
| CN116166029A (en) | Multi-AGV navigation method and system compatible with local obstacle avoidance function | |
| JP7112803B1 (en) | Transport system and transport control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |