CN112506163A - RGV avoidance control system and avoidance method - Google Patents
RGV avoidance control system and avoidance method Download PDFInfo
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- CN112506163A CN112506163A CN202011507869.7A CN202011507869A CN112506163A CN 112506163 A CN112506163 A CN 112506163A CN 202011507869 A CN202011507869 A CN 202011507869A CN 112506163 A CN112506163 A CN 112506163A
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- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000011156 evaluation Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 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]
- G05B19/4189—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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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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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- 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
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an RGV avoidance control system and an avoidance method, wherein the RGV avoidance control system comprises: the system comprises a client, a PLC, a bar code positioning system and a plurality of RGV trolleys, wherein each RGV trolley is provided with a PLC module, a sensing device for detecting the surrounding environment of the trolley and a communication unit for communicating the RGV with a central control system; the avoidance method of the invention provides a collision detection calculation method, an avoidance position calculation method and a clear avoidance calculation method.
Description
Technical Field
The invention belongs to the technical field of logistics, and relates to an RGV avoidance control system and an avoidance method.
Background
RGV is an abbreviation for (Rail Guided Vehicle), i.e. "Guided Vehicle". The RGV is generally used in the current automatic industrial system, and the application forms include one-rail one-vehicle, one-rail two-vehicle, one-vehicle single-station, one-vehicle double-station, one-vehicle multi-station and the like. The RGV scheduling system distributes tasks to each RGV through a planning path no matter a central control system or a cluster control system is adopted, although a special path planning algorithm is adopted, the problem of path conflict among trolleys cannot be avoided generally because a plurality of trolleys cannot be in parallel due to limited track resources.
Disclosure of Invention
The invention aims to provide an RGV avoidance control system and an RGV avoidance method, which are used for solving path conflicts when an RGV operates in an RGV scheduling process.
The technical scheme of the invention is as follows:
the RGV avoidance control system comprises a client, a bar code positioning system, a PLC control system and a plurality of RGV trolleys. The client is a commercial industrial personal computer, the RGVs are scheduled through the operation scheduling algorithm and the path planning algorithm, the instructions are sent to the corresponding RGVs, and the avoidance information is sent to the RGVs to execute the avoidance task in real time through the operation avoidance algorithm; the bar code positioning system comprises a bar code and a bar code recognizer, and is used for positioning the current coordinate of the RGV in real time; the PLC control system is connected with the RGV and the client, receives an instruction sent by the client and enables the trolley to act; each RGV is provided with a sensing device, and the information of the RGV comprises the current coordinate, motion state, motion step and IP address of the RGV and is sent to the client through the PLC; each RGV trolley is provided with a PLC module, a sensing device for detecting the surrounding environment of the trolley and a communication unit for communicating the RGV with a central control system.
The motion state of the RGV comprises a motion direction and a trolley dispatching state; the task operation step refers to key nodes which are required to be passed by the trolley to complete a task, and comprises an initial stage of material taking, material feeding, material discharging and task completion.
An AGV avoidance method of an RGV avoidance control system comprises the following steps:
step 1, a client sends task execution requirements to each RGV according to an operation scheduling algorithm and a path planning algorithm;
step 2, each RGV monitors and feeds back own coordinates in real time, and the task runs, wherein the running state is sent to a client;
step 3, the client calculates whether avoidance is needed or not and which trolley is avoided, the avoidance position and other information according to the avoidance judgment rule through the task information and the self information of the trolley;
and 4, the trolley receives the avoidance information and executes an avoidance task.
The specific calculation method in the step 3 includes:
the method for calculating the avoidance of the trolley comprises the following steps: 1) the task-free trolley avoids the task RGV; 2) when all tasks are available, the moving step is that the RGV trolley which is taking materials or feeding materials is avoided by the RGV trolley which is taking materials or feeding materials; 3) when the material is taken or fed, the step of avoiding the material with a long distance and a short distance is executed;
the method for calculating the avoidance point comprises the following steps: 1) when the avoidance trolley has no task, when an application point of the next task is outside the running track range of the avoided trolley, the point is taken as an avoidance point, otherwise, the point which is the track about to run and is closest to the outside of the running track range of the avoided trolley is selected as the avoidance point; 2) when the avoidance trolley has a task, selecting a point which is the track of the avoidance trolley to run and is closest to the outside of the running track range of the avoided trolley as an avoidance point;
the method for calculating whether the running track of the RGV conflicts or not comprises the following steps: 1) when only one trolley has a task, the trolley is not in the whole running track of the trolley with the task, no conflict exists, otherwise, the conflict exists; 2) when the two trolleys have tasks, the self positions of the two trolleys are taken as starting points, the target position corresponding to the current operation step is taken as an end point, and whether the current end points of the two trolleys are positioned on the same side with the two trolleys or not is judged, if so, no conflict exists, and if not, conflict exists;
the method for calculating the clear avoidance information comprises the following steps: 1) when the current running steps of the RGV in the track are not in conflict with each other, clearing the avoidance information of all the RGV in the track; 2) when the running step of one RGV is taking materials or feeding materials and has no conflict with the running track of the current step of the other RGV, clearing the avoidance information of all RGVs in the track; 3) when the task of any one RGV is completed, the avoidance information of other vehicles except the RGV in the track is cleared.
Specification of calculation rules: the calculation factors comprise the idleness of the trolley, the position of the next application task, the priority of the current execution task, the distance between the position of the current trolley and the next step to be executed, the time of the last step, and the like; the RGV trolley in the calculation method is specially used for trolleys on the same track.
The invention has the beneficial effects that: the method is used for the industrial automation system, the information of each RGV trolley is uniformly controlled, the avoidance algorithm is used for collision detection and avoidance judgment, the avoidance position is reasonably selected and is not limited by the number of RGV stations, the RGV trolleys are reasonably avoided, and the automation efficiency is improved; because each RGV is provided with a bar code locator of a PLC module and a navigation device, the position of each trolley, the state and the task information of each trolley can be fed back in real time, and avoidance can be realized in real time; tasks of each RGV are uniformly scheduled and distributed by the client, and task paths are uniformly planned by the client, so that the conflict of the task paths of the vehicles can be predicted in advance, and the vehicles have sufficient time to respond and avoid the tasks; the avoiding method carries out real-time monitoring according to the task steps of the trolleys, so that each trolley fully utilizes the conflict-free time to work, the reciprocating motion of the trolleys is reduced, and the working efficiency is improved.
Drawings
Fig. 1 is a diagram illustrating the structure of an RGV avoidance control system.
Fig. 2 is a flow chart of an avoidance system.
FIG. 3 is a flow diagram of modules of a collision detection system.
FIG. 4 is a flow chart of the evaluation module.
FIG. 5 is a flow chart of the evaluation algorithm.
In the figure: 10-client, 21-bar code positioning system, 20-PLC control system, 30-RGV trolley, 31-RGV trolley inner PLC module, 32-RGV sensor detection device and 33-RGV inner communication unit.
Detailed Description
In order to make the objective and the efficacy achieved by the algorithm and the technical process of the present invention easier to understand, the following embodiments are specifically set forth in the RGV avoidance control system and the method thereof in conjunction with the drawings.
As shown in fig. 1: the RGV avoidance system comprises a client 10, a PLC20 and an RGV 30. The client 10 is a central control system and is used for operating a scheduling algorithm and a path planning algorithm to schedule the RGVs, sending instructions to the corresponding RGVs, and operating an avoidance algorithm to send avoidance information to the RGVs to execute avoidance tasks in real time; the PLC20 is used for connecting the client and the RGV, receiving the instruction of the client 10 and sending RGV30 information; the bar code positioning system 21 is used for positioning the current coordinates of the RGV in real time; each RGV30 is equipped with a PLC module 31, a sensing device 32 for sensing the environment around the car, and a communication unit 33 for the RGV to communicate with the central control system.
When the system is in operation, the bar code positioning system can monitor the position information of the small car RGV in real time and transmit the position information to the client through the PLC, and the avoidance system running on the client judges the small car with the largest execution cost according to the transmitted RGV position information and the task information on each RGV according to rules to avoid the small car and give an accurate avoidance position to the small car;
as shown in fig. 2: the execution process of the main flow chart calculated by the avoidance algorithm is as follows:
s2-1, obtaining trolleys in all areas, namely trolleys in each track, and performing circulating judgment on the tracks;
step S2-2, judging that only one trolley in the track or the attribute of the trolley in the track is set as not to be avoided, if so, not to be avoided, otherwise, entering step S2-3;
step S2-3, judging whether the two trolleys of the track are both in a remote dispatching mode, if not, avoiding is not needed, otherwise, entering step S2-4;
step S2-4, judging whether no task is executed, if yes, avoiding is not needed, otherwise, entering S2-5;
step S2-5, entering a collision detection system, specifically, judging whether the trolley in the track has collision as shown in figure 3, if so, entering S2-7, otherwise, entering S2-6;
step S2-6, if the trolley is in the material taking stage or the blanking stage, avoiding information of other trolleys is eliminated;
step S2-7, entering a judging system, specifically calculating a trolley needing to be avoided as shown in a figure 4, and entering S2-8;
and step S2-8, sending an avoidance task to the trolley.
As shown in fig. 3, the collision detection system performs the following process:
step S3-1, judging whether the trolley in the track is in a safe distance, if so, executing step S3-2, otherwise, entering step S3-3;
step S3-2, returning that there is conflict;
step S3-3, judging whether only one trolley in the track has a task and the other trolley is in the whole task execution track, if so, entering S3-4, otherwise, entering S3-5;
step S3-4, returning that there is conflict;
step S3-5, judging whether the two trolleys on the track have tasks, if so, entering S3-6;
step S3-6, judging whether the destinations of the two trolleys in the track are in the same direction, and the distance between the two destinations is larger than the safety distance; if yes, entering S3-7, otherwise, entering S3-8;
step S3-7, returning no conflict;
and step S3-8, returning that the conflict exists.
As shown in fig. 4, the evaluation system performs the following process:
step S4-1, judging whether only one trolley in the track has a task, if so, entering S4-2, otherwise, entering S4-3;
step S4-2, the avoided trolley is another trolley in the track, the avoiding position is outside the track range of the trolley, if a point which has a task application outside the range is the point, and if no task application point exists, the nearest point which another trolley passes through is found outside the range;
step S4-3, judging whether two trolleys in the track have tasks, if so, entering S4-4;
step S4-4, entering a judgment algorithm calculation process, obtaining avoidance information of the trolley as shown in FIG. 5, and then entering S4-5;
step S4-5, returning avoidance information;
referring to FIG. 5, the flow chart of the evaluation algorithm is as follows;
s5-1, selecting calculation indexes, the priority of the current executed task, the distance between the position of the current trolley and the next step to be executed and the time for the last step to be executed, and entering S5-2;
s5-2, performing normalization processing on the indexes of each trolley in the track, and then entering S5-3;
s5-3, setting the weight of the indexes of each trolley in the track, wherein the total weight is 1, and then entering S5-4;
step S5-4, performing weighted calculation on each trolley in the track to obtain a cost value of each trolley, wherein the larger the value is, the larger the avoidance cost is, the other trolley avoids; then entering S5-5;
step S5-5, calculating an avoidance point; supposing that a trolley A and a trolley B are arranged in the track, avoiding the trolley A by the trolley B, firstly calculating the motion range of the current step of the trolley A, and finding the closest point which the trolley B needs to pass through in the current step outside the range, wherein the point is an avoidance point; then the process goes to S5-6;
and step S5-6, returning to avoid the trolley and the avoiding information.
Claims (3)
- An RGV avoidance control system, characterized in that: the system comprises a client, a bar code positioning system, a PLC control system and a plurality of RGVs; the client is a commercial industrial personal computer, the RGVs are scheduled through the operation scheduling algorithm and the path planning algorithm, the instructions are sent to the corresponding RGVs, and the avoidance information is sent to the RGVs to execute the avoidance task in real time through the operation avoidance algorithm; the bar code positioning system comprises a bar code and a bar code recognizer, and is used for positioning the current coordinate of the RGV in real time; the PLC control system is connected with the RGV and the client, receives an instruction sent by the client and enables the trolley to act; each RGV is provided with a sensing device, and the information of the RGV comprises the current coordinate, motion state, motion step and IP address of the RGV and is sent to the client through the PLC; each RGV trolley is provided with a PLC module, a sensing device for detecting the surrounding environment of the trolley and a communication unit for communicating the RGV with a central control system.
- 2. The AGV avoidance method of the RGV avoidance control system according to claim 1, characterized by comprising the steps of:step 1, a client sends task execution requirements to each RGV according to an operation scheduling algorithm and a path planning algorithm;step 2, each RGV monitors and feeds back own coordinates in real time, and the task runs, wherein the running state is sent to a client;step 3, the client calculates whether avoidance is needed or not and which trolley is avoided, the avoidance position and other information according to the avoidance judgment rule through the task information and the self information of the trolley;and 4, the trolley receives the avoidance information and executes an avoidance task.
- 3. The AGV avoidance method of an RGV avoidance control system according to claim 2, wherein the method of calculating according to the avoidance evaluation rule in step 3 is:the method for calculating the avoidance of the trolley comprises the following steps: 1) the task-free trolley avoids the task RGV; 2) when all tasks are available, the moving step is that the RGV trolley which is taking materials or feeding materials is avoided by the RGV trolley which is taking materials or feeding materials; 3) when the material is taken or fed, the step of avoiding the material with a long distance and a short distance is executed;the method for calculating the avoidance point comprises the following steps: 1) when the avoidance trolley has no task, when an application point of the next task is outside the running track range of the avoided trolley, the point is taken as an avoidance point, otherwise, the point which is the track about to run and is closest to the outside of the running track range of the avoided trolley is selected as the avoidance point; 2) when the avoidance trolley has a task, selecting a point which is the track of the avoidance trolley to run and is closest to the outside of the running track range of the avoided trolley as an avoidance point;the method for calculating whether the running track of the RGV conflicts or not comprises the following steps: 1) when only one trolley has a task, the trolley is not in the whole running track of the trolley with the task, no conflict exists, otherwise, the conflict exists; 2) when the two trolleys have tasks, the self positions of the two trolleys are taken as starting points, the target position corresponding to the current operation step is taken as an end point, and whether the current end points of the two trolleys are positioned on the same side with the two trolleys or not is judged, if so, no conflict exists, and if not, conflict exists;the method for calculating the clear avoidance information comprises the following steps: 1) when the current running steps of the RGV in the track are not in conflict with each other, clearing the avoidance information of all the RGV in the track; 2) when the running step of one RGV is taking materials or feeding materials and has no conflict with the running track of the current step of the other RGV, clearing the avoidance information of all RGVs in the track; 3) when the task of any one RGV is completed, the avoidance information of other vehicles except the RGV in the track is cleared.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113085918A (en) * | 2021-03-31 | 2021-07-09 | 天津一重电气自动化有限公司 | Intelligent steel coil transportation system based on power supply of trolley lines |
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