CN112051806B - RGV intelligent scheduling method in reciprocating type track under random fault - Google Patents
RGV intelligent scheduling method in reciprocating type track under random fault Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 34
- 238000012423 maintenance Methods 0.000 claims abstract description 5
- 230000005484 gravity Effects 0.000 claims description 12
- 230000008030 elimination Effects 0.000 claims description 3
- 238000003379 elimination reaction Methods 0.000 claims description 3
- 230000010365 information processing Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000003754 machining Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
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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] or computer integrated manufacturing [CIM]
- G05B19/41865—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] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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] or computer integrated manufacturing [CIM]
- G05B19/41815—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] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
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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] or computer integrated manufacturing [CIM]
- G05B19/4184—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] or computer integrated manufacturing [CIM] characterised by fault tolerance, reliability of production system
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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] or 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] or 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] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- 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]
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Abstract
The invention discloses an RGV intelligent scheduling method in a reciprocating type track under random faults, through material transportation and material treatment under normal operation and fault states, when a machine tool breaks down, a system can automatically identify a numerical control machine tool under the fault state, a track guided vehicle is not scheduled before the maintenance of the track guided vehicle is completed, the method maintains the normal operation of the system and ensures the efficiency, the method can effectively deal with the fault condition under the condition of ensuring the efficiency, and the production benefit of a processing system is improved.
Description
Technical Field
The invention relates to the field of automatic control, in particular to an RGV intelligent scheduling method in a reciprocating type track under random faults.
Background
The RGV is a rail guided vehicle, also called a rail shuttle trolley, the rail guided trolley can be used for warehouses with various high-density storage modes, the trolley channel can be designed to be arbitrarily long, the storage capacity of the whole warehouse can be improved, and a forklift is not required to drive into a roadway during operation, so that the safety of the rail guided trolley is higher. The advantage that fork truck need not to get into the tunnel is being utilized, and the quick operation of cooperation dolly in the tunnel effectively improves the operating efficiency in warehouse.
With the rise of the intelligent processing industry, in order to reduce labor cost and increase product benefits, establishing a set of scientific and effective rail guide trolley scheduling method is the key for improving the efficiency of an intelligent processing system. In the industrial production process, the scheduling of the rail guide trolley has great influence on the production efficiency of the intelligent processing system, so that the effective intelligent scheduling strategy can obviously improve the production benefit in a specific scene.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the defects of the prior art, the invention provides the RGV intelligent scheduling method in the reciprocating type track under the random fault, and the method can effectively deal with the random fault and improve the processing efficiency of products.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a method for intelligently scheduling RGVs in a reciprocating track under random faults, which comprises the following steps:
the method comprises the following steps: starting a numerical control machine tool and a rail guided trolley, wherein the numerical control machine tool workbench judges whether materials exist on the numerical control machine tool workbench through a gravity sensor, when the numerical control machine tool is in a standby state without material processing, state information of the numerical control machine tool is sent to a central processing unit on the rail guided trolley through a Bluetooth module on the numerical control machine tool, the central processing unit on the rail guided trolley records the state of each machine position numerical control machine tool, once the numerical control machine tool is in the standby state, the central processing unit on the rail guided trolley sends a signal to a motor through the Bluetooth module to control the motor to drive a rail guided vehicle loaded with the materials to reach a designated position on one side of the standby numerical control machine tool along a guide rail according to a GPS module, the materials are conveyed to each numerical control machine tool through a mechanical arm, after the gravity sensor on the numerical control machine tool senses the information of the materials existing on the workbench, the Bluetooth module on the numerical control machine tool changes the standby state into a working state and starts to carry out predefined information Processing, and simultaneously, sending the working state information of the numerical control machine tool of the machine position to the rail guided trolley by a Bluetooth module on the numerical control machine tool;
step two: when all the machine tools are in the working state, the central processing unit judges the numerical control machine tool which has worked for the longest time according to the information recorded by the timer on each numerical control machine tool, and sends a signal to the central processing unit through the Bluetooth module on the numerical control machine tool to drive the rail guided trolley to carry materials to the position of the numerical control machine tool to prepare material changing processing in advance.
Step three: when the numerical control machine finishes all appointed processing steps, the numerical control machine resets and adjusts the working state by the Bluetooth module, meanwhile, the Bluetooth module sends the processing completion information of the numerical control machine to the central processing unit, a timer on the numerical control machine immediately records the idle time of the numerical control machine and transmits the count of the idle time to the central processing unit in real time, and the track guidance trolley preferentially selects the numerical control machine with the longest count time after adjusting the working state to the completion state when serving the numerical control machine next time;
if a plurality of numerical control machines complete processing and enter a processing completion state when the rail guided trolley is in a working state, the central processing unit inquires a timer of each numerical control machine in the processing completion state, selects the numerical control machine with the longest recording time, namely the numerical control machine which is idle for the longest time according to the recording time of the numerical control machines, sends a signal to drive the rail guided trolley to reach the position of the machine for replacing materials, and the mechanical arm transfers clinker to a blanking conveying belt to be conveyed away and places raw materials on a working table of the numerical control machine.
Step four: when the mass change sensed by the gravity sensor on the numerical control machine tool exceeds a limited range, namely, the numerical control machine tool is judged to be in fault, the numerical control machine tool stops immediately, the Bluetooth module changes the state of the numerical control machine tool into a fault state after the numerical control machine tool stops, meanwhile, the Bluetooth module sends a fault signal to the central processing unit, the numerical control machine tool of the machine position is recorded as a non-working machine position by the central processing unit, the track guide vehicle automatically shields any signal sent by the non-working machine position before receiving the signal for eliminating the fault, after the maintenance of the numerical control machine tool of the machine position is finished, the numerical control machine tool restarts to recover a standby state and sends a fault elimination signal to the central processing unit, the central processing unit eliminates the fault information of the numerical control machine tool of the machine position, and the trolley is indicated to list the numerical control machine tool of the machine position into the working machine position.
As a further preferred feature of the invention, in the first step, a central processing unit arranged on the rail guided trolley records the state information of each machine position numerical control machine tool and sends a signal to drive the rail guided trolley to move, and the operation of conveying materials and replacing the materials is carried out through a mechanical arm.
As a further preferred feature of the present invention, in the first step, the material is accurately placed on the worktable of the numerically controlled machine tool by the image sensor through the mechanical arm on the rail guided vehicle.
As a further preferred aspect of the present invention, in the second step, after the nc machine enters the working state, since the machining time required by the nc machine is determined, the larger the count of the timer of the nc machine is, the longer the nc machine is, the nc machine is operated.
As a further preferable mode of the invention, in the second step, when the numerically-controlled machine tool is in a working state, the timer records the processing time of the numerically-controlled machine tool, and the central processing unit takes the received real-time data recorded by the timer as a basis for driving the rail guided vehicle to reach the position of the numerically-controlled machine tool which is firstly finished with processing to prepare for material changing processing in advance.
As a further preferable mode of the invention, in the fourth step, the limited range refers to a range allowed by mass change sensed by the gravity sensor after each processing action is completed, the gravity sensor of the numerically-controlled machine tool senses the mass change of the processed material, if the mass change exceeds a specified change, a fault is determined and a fault signal is sent to the central processing unit, and the rail guided vehicle is instructed to disregard the machine position numerically-controlled machine tool until the machine position numerically-controlled machine tool is repaired and restarted to recover to the standby state.
Has the advantages that: the RGV intelligent scheduling method in the reciprocating type track under the random fault summarizes a simple dynamic scheduling method through reasonable arrangement, can effectively deal with the fault condition under the condition of ensuring the efficiency, and improves the production benefit of a processing system.
Drawings
FIG. 1 is a flow chart of a scheduling method;
FIG. 2 is a schematic view of numerically controlled machine tool machining.
Detailed Description
The invention will be further elucidated with reference to the following specific examples.
As shown in fig. 1, according to the intelligent RGV scheduling method in the reciprocating track under the random fault, the system can automatically identify the numerically-controlled machine tool under the fault state when the machine tool is in fault through material transportation and material treatment under normal operation and the fault state, and the tracked guided vehicle is not scheduled before the maintenance of the tracked guided vehicle is completed.
Examples
The method comprises the following steps: starting a numerical control machine tool and a rail guided trolley, wherein the numerical control machine tool workbench judges whether materials exist on the numerical control machine tool workbench through a gravity sensor, when the numerical control machine tool is in a standby state without material processing, the state information of the numerical control machine tool is sent to a central processing unit on the rail guided trolley through a Bluetooth module on the numerical control machine tool, the central processing unit on the rail guided trolley records the state of each machine position numerical control machine tool, once the numerical control machine tool is in the standby state, the central processing unit on the rail guided trolley sends a signal to a motor through the Bluetooth module to control the motor to drive a rail guided vehicle loaded with the materials to reach an appointed position at one side of the standby numerical control machine tool along a guide rail according to a GPS module, the rail guided trolley accurately places the materials on the workbench of the numerical control machine tool through an image sensor through a mechanical arm, and after the gravity sensor on the numerical control machine tool senses the information of the materials on the workbench, the Bluetooth module on the numerical control machine tool changes the standby state into the working state and starts to perform predefined machining actions, and meanwhile, the Bluetooth module on the numerical control machine tool sends the working state information of the numerical control machine tool of the machine position to the rail guided trolley, as shown in figure 2;
step two: when all the machine tools are in the working state, the central processing unit judges the numerical control machine tool which has worked for the longest time according to the information recorded by the timers on all the numerical control machine tools, and sends a signal to the central processing unit through the Bluetooth module on the numerical control machine tool to drive the rail guided trolley to carry materials to the position of the numerical control machine tool to prepare for material changing treatment in advance.
Step three: when the numerical control machine finishes all appointed processing steps, the numerical control machine resets and adjusts the working state by the Bluetooth module, meanwhile, the Bluetooth module sends the processing completion information of the numerical control machine to the central processing unit, a timer on the numerical control machine immediately records the idle time of the numerical control machine and transmits the count of the idle time to the central processing unit in real time, and the track guidance trolley preferentially selects the numerical control machine with the longest count time after adjusting the working state to the completion state when serving the numerical control machine next time;
step four: when the mass change sensed by the gravity sensor on the numerical control machine tool exceeds a limited range, namely, the numerical control machine tool is judged to be in fault, the numerical control machine tool stops immediately, the Bluetooth module changes the state of the numerical control machine tool into a fault state after the numerical control machine tool stops, meanwhile, the Bluetooth module sends a fault signal to the central processing unit, the numerical control machine tool of the machine position is recorded as a non-working machine position by the central processing unit, the track guide vehicle automatically shields any signal sent by the non-working machine position before receiving the signal for eliminating the fault, after the maintenance of the numerical control machine tool of the machine position is finished, the numerical control machine tool restarts to recover a standby state and sends a fault elimination signal to the central processing unit, the central processing unit eliminates the fault information of the numerical control machine tool of the machine position, and the trolley is indicated to list the numerical control machine tool of the machine position into the working machine position.
Claims (4)
1. An RGV intelligent scheduling method in a reciprocating type track under random faults is characterized by comprising the following steps:
the method comprises the following steps: starting a numerical control machine tool and a rail guided trolley, wherein the numerical control machine tool workbench judges whether materials exist on the numerical control machine tool workbench through a gravity sensor, when the numerical control machine tool is in a standby state without material processing, state information of the numerical control machine tool is sent to a central processing unit on the rail guided trolley through a Bluetooth module on the numerical control machine tool, the central processing unit on the rail guided trolley records the state of each machine position numerical control machine tool, once the numerical control machine tool is in the standby state, the central processing unit on the rail guided trolley sends a signal to a motor through the Bluetooth module to control the motor to drive a rail guided vehicle loaded with the materials to reach a designated position on one side of the standby numerical control machine tool along a guide rail according to a GPS module, the materials are conveyed to each numerical control machine tool through a mechanical arm, after the gravity sensor on the numerical control machine tool senses the information of the materials existing on the workbench, the Bluetooth module on the numerical control machine tool changes the standby state into a working state and starts to carry out predefined information Processing, and simultaneously, sending the working state information of the numerical control machine tool of the machine position to the rail guided trolley by a Bluetooth module on the numerical control machine tool;
step two: when all the machine tools are in a working state, the central processing unit judges the numerical control machine tool which has been operated for the longest time according to the information recorded by the timers on all the numerical control machine tools, and sends a signal to the central processing unit through the Bluetooth module on the numerical control machine tool to drive the rail guided trolley to carry materials to the position of the numerical control machine tool to prepare material changing treatment in advance;
step three: when the numerical control machine finishes all appointed processing steps, the numerical control machine resets and adjusts the working state by the Bluetooth module, meanwhile, the Bluetooth module sends the processing completion information of the numerical control machine to the central processing unit, a timer on the numerical control machine immediately records the idle time of the numerical control machine and transmits the count of the idle time to the central processing unit in real time, and the track guidance trolley preferentially selects the numerical control machine with the longest count time after adjusting the working state to the completion state when serving the numerical control machine next time;
step four: when the quality change sensed by the gravity sensor on the numerical control machine tool exceeds a limited range, namely, the numerical control machine tool is judged to be in fault, the numerical control machine tool stops immediately, the Bluetooth module changes the state of the numerical control machine tool into a fault state after the numerical control machine tool stops, meanwhile, the Bluetooth module sends a fault signal to the central processing unit, the numerical control machine tool of the machine position is recorded as a non-working machine position by the central processing unit, the rail guided vehicle automatically shields any signal sent by the non-working machine position before receiving the signal for eliminating the fault, after the maintenance of the numerical control machine tool of the machine position is finished, the numerical control machine tool restarts to recover a standby state and sends a fault elimination signal to the central processing unit, and the central processing unit eliminates the fault information of the machine position numerical control machine tool and instructs the rail guided vehicle to list the numerical control machine tool of the machine position into the working machine position.
2. The intelligent RGV dispatching method in reciprocating track under random fault as claimed in claim 1, wherein: in the first step, a central processing unit arranged on the rail guided trolley records the state information of the numerical control machine tool of each machine position and sends a signal to drive the rail guided trolley to move, and the operation of conveying materials and replacing the materials is carried out through a mechanical arm.
3. The intelligent RGV dispatching method in reciprocating track under random fault as claimed in claim 1, wherein: in the first step, the rail guided trolley is used for accurately placing materials on a workbench of a numerical control machine tool through an image sensor and a mechanical arm.
4. The intelligent RGV dispatching method in reciprocating track under random fault as claimed in claim 1, wherein: in the fourth step, the limited range refers to a range allowed by the mass change sensed by the gravity sensor after each processing operation is completed.
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