CN113341816A - Automatic dock AGV energy-saving control method and system - Google Patents
Automatic dock AGV energy-saving control method and system Download PDFInfo
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- CN113341816A CN113341816A CN202110657907.5A CN202110657907A CN113341816A CN 113341816 A CN113341816 A CN 113341816A CN 202110657907 A CN202110657907 A CN 202110657907A CN 113341816 A CN113341816 A CN 113341816A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000008859 change Effects 0.000 claims description 2
- 238000004134 energy conservation Methods 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 3
- 238000007792 addition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses an automatic wharf AGV energy-saving control method and system, wherein a wharf operating system calculates and issues instructions, the AGV automatically executes startup and shutdown operation, calculates the operation time of all operation instructions according to ship tasks, matches the operation instructions with the AGV to determine the operation time of each AGV, and issues a shutdown instruction to the AGV when the time difference between the operation time of the AGV and the current time is greater than a first set difference value, and the AGV waits for dispatching tasks in a shutdown state, so that the technical effect of automatically shutting down the AGV which does not need to be dispatched temporarily is realized, the idle energy consumption is saved, and the technical problem that the energy consumption is high when the conventional AGV waits for dispatching tasks when starting is solved.
Description
Technical Field
The invention belongs to the technical field of automatic wharfs, and particularly relates to an automatic wharf AGV energy-saving control method and system.
Background
In the automatic terminal, the system automatically controls the AGV to run, and when the AGV is dispatched with a job task is the result automatically calculated by the system, so that the automatic calculation cannot be manually predicted.
Thus, for all AGVs, the boot wait state must be maintained that can be dispatched at all times, regardless of whether the system will dispatch the task to it. But also the parking waiting state, and the energy consumption of the starting waiting state is more than 2 times of that of the shutdown waiting state.
In the existing automatic wharf, the on/off control of the AGV is manually operated, and the mode is complex in on/off operation due to the fact that the input quantity of the AGV is large, so that the AGV is normally shut down all at one time when the wharf does not carry out loading and unloading operations, the operation mode tends to increase the energy consumption of the AGV in the idle waiting and dispatching operation period, and the development trend of emission reduction and efficiency enhancement of the automatic wharf is not met.
Disclosure of Invention
The invention aims to provide an automatic terminal AGV energy-saving control method and system, which are used for controlling an AGV which does not need to be dispatched temporarily to wait for dispatching a task in a shutdown waiting state by combining calculation of an automatic terminal AGV operation instruction time, effectively reducing energy consumption of the AGV when the AGV is idle and solving the technical problem of high energy consumption of the conventional AGV when starting to wait for dispatching the task.
The invention is realized by adopting the following technical scheme:
an energy-saving control method for an AGV (automatic guided vehicle) of an automatic dock is provided, which comprises the following steps: step 1) the wharf operating system calculates the operation time of all operation instructions according to the target operation efficiency of the ship; step 2) matching the operation instruction with the AGV to obtain the operation time of each AGV; step 3) comparing the operation time of each AGV with the current time to obtain a time difference; and 4) issuing a shutdown instruction to the corresponding AGV when the time difference is larger than the first set difference value.
Further, the method further comprises: step 5) when the time difference is smaller than a second set difference value, issuing a starting instruction to the corresponding AGV; wherein the second set difference is less than the first set difference.
Further, the method further comprises: step 6), setting a refreshing frequency; repeating the step 3 according to the set refreshing frequency; step 4 is performed with a refreshed time difference.
The utility model provides an automatic change pier AGV energy-saving control system, includes pier operating system and a plurality of AGV, pier operating system includes: the operation time calculation unit is used for calculating the operation time of all the operation instructions according to the target operation efficiency of the ship; the AGV operation time determining unit is used for matching the operation instruction with the AGV to obtain the operation time of each AGV; the time difference calculating unit is used for comparing the operation time of each AGV with the current time to obtain a time difference; and the AGV control unit is used for issuing a shutdown instruction to the corresponding AGV when the time difference is greater than the first set difference value.
Further, the AGV control unit is further configured to: when the time difference is smaller than a second set difference value, issuing a starting instruction to the corresponding AGV; wherein the second set difference is less than the first set difference.
Further, the dock operating system further includes: the refreshing unit is used for setting refreshing frequency and controlling the time difference calculating unit to calculate the time difference according to the set refreshing frequency; and controlling the AGV control unit to compare the refreshed time difference with a first set difference value, and issuing a shutdown instruction to the corresponding AGV when the time difference is greater than the first set difference value.
Compared with the prior art, the invention has the advantages and positive effects that: the invention provides an automatic wharf AGV energy-saving control method and system, wherein a wharf operating system calculates and issues instructions, the AGV automatically executes startup and shutdown operation, calculates the operation time of all operation instructions according to ship tasks, matches the operation instructions with the AGV to determine the operation time of each AGV, and issues a shutdown instruction to the AGV when the time difference between the operation time of the AGV and the current time is greater than a first set difference value, and the AGV waits for dispatching tasks in a shutdown state, so that the AGV which is not required to be dispatched temporarily is automatically shut down, the technical effect of saving the energy consumption when the AGV is idle is achieved, and the technical problem that the energy consumption is high when the existing AGV waits for dispatching tasks when starting is solved.
Furthermore, the method of issuing the starting instruction to the AGV when the time difference is smaller than the second set difference value is adopted, so that the AGV is started before the operation instruction is dispatched, and waits for dispatching in the starting state, thereby avoiding missing the dispatching of the task in the shutdown state.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flowchart of an AGV energy saving control method for an automated dock according to the present invention;
fig. 2 is a system architecture diagram of an AGV energy-saving control system for an automated dock according to the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The AGV energy-saving control method for the automatic wharf is applied to the automatic wharf, and is automatically executed by the AGV after a wharf operating system calculates and dispatches an instruction, and concretely comprises the following steps as shown in figure 1:
step S1: and the wharf operating system calculates the operation time of all the operation instructions according to the target operation efficiency of the ship.
After the operation plan of the ship is formulated, a wharf operating system (hereinafter referred to as TOS) calculates the operation time of all operation instructions for the containers to be loaded and unloaded according to the target operation efficiency of the ship.
Step 2S: and matching the operation instruction with the AGV to obtain the operation time of each AGV.
After the TOS calculates the operation time of all the operation instructions, the operator can configure corresponding AGV resources according to the ship workload and the planned operation time.
And the TOS matches the operation command with the AGVs to obtain the operation time t1, t2 and t3 … … planned by each AGV.
Step S3: and comparing the operation time of each AGV with the current time to obtain a time difference.
The working time t1, t2, t3 … … of each AGV is compared with the current time t0 to obtain time differences Δ t1, Δ t2, Δ t3 … ….
And step S4, issuing a shutdown instruction to the corresponding AGV when the time difference is greater than the first set difference value.
Configurable parameters are set in the TOS: and a first set difference a is calculated, all the time differences calculated in step S3 are traversed, and when any time difference Δ ti is greater than the first set difference a, the TOS issues a shutdown instruction to the corresponding AGV.
The corresponding AGV receives a shutdown instruction, controls the AGV to shut down and waits for a dispatching operation instruction in a shutdown state; therefore, the automatic shutdown of the AGV which does not need to be dispatched temporarily is realized, the technical effect of saving the energy consumption of the AGV when the AGV is idle is achieved, and the technical problem that the energy consumption is high when the conventional AGV starts to wait for dispatching tasks is solved.
Step S5: and when the time difference is smaller than a second set difference value, issuing a starting instruction to the corresponding AGV.
Here, the second setting difference is smaller than the first setting difference; the method adopts the means of issuing the starting instruction to the AGV when the time difference is smaller than the second set difference value, so that the AGV is started before the operation instruction is dispatched, waits for dispatching in the starting state, and avoids missing the dispatching of the task in the shutdown state.
In some embodiments of the present invention, in step S6, a refresh frequency is set, step S3 is repeated according to the set refresh frequency to obtain a new time difference sequence, and step S4 is performed using the refreshed time difference.
In some embodiments of the present invention, the TOS adjusts the operation time of the operation command according to the actual operation efficiency of the ship and the field operation condition, and re-executes steps S2 to S4 according to the adjusted operation time.
Based on the above-mentioned AGV energy-saving control method for the automatic dock, the corresponding execution system for the energy-saving method provided by the present invention, as shown in fig. 2, includes a dock operating system 1 and a plurality of AGVs 2, specifically, the dock operating system 1 includes an operating time calculating unit 11, an AGV operating time determining unit 12, a time difference calculating unit 13 and an AGV control unit 14; the working time calculation unit 11 is used for calculating the working time of all the working instructions according to the target working efficiency of the ship; the AGV operation time determining unit 12 is configured to match the operation instruction with the AGVs to obtain operation time of each AGV; the time difference calculating unit 13 is configured to compare the operation time of each AGV with the current time to obtain a time difference; the AGV control unit 14 is configured to issue a shutdown instruction to the corresponding AGV when the time difference is greater than the first setting difference.
In some embodiments of the present invention, the AGV control unit 14 is further configured to: when the time difference is smaller than a second set difference value, issuing a starting instruction to the corresponding AGV; wherein the second set difference is less than the first set difference.
Further, the dock operating system of the present invention further includes a refresh unit 15, configured to set a refresh frequency, and control the time difference calculation unit 13 to calculate the time difference according to the set refresh frequency; and controlling the AGV control unit 14 to compare the refreshed time difference with the first set difference, and issuing a shutdown instruction to the corresponding AGV when the time difference is greater than the first set difference.
The specific process of performing energy saving control by the system has been described in detail in the energy saving control method, and is not described herein again.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (6)
1. An automatic dock AGV energy-saving control method is characterized by comprising the following steps:
step 1) the wharf operating system calculates the operation time of all operation instructions according to the target operation efficiency of the ship;
step 2) matching the operation instruction with the AGV to obtain the operation time of each AGV;
step 3) comparing the operation time of each AGV with the current time to obtain a time difference;
and 4) issuing a shutdown instruction to the corresponding AGV when the time difference is larger than the first set difference value.
2. The automated dock AGV energy saving control method of claim 1, further comprising:
step 5) when the time difference is smaller than a second set difference value, issuing a starting instruction to the corresponding AGV;
wherein the second set difference is less than the first set difference.
3. The automated dock AGV energy saving control method of claim 1, further comprising:
step 6), setting a refreshing frequency; repeating the step 3 according to the set refreshing frequency; step 4 is performed with a refreshed time difference.
4. Automatic change pier AGV energy-saving control system, including pier operating system and a plurality of AGV, its characterized in that, pier operating system includes:
the operation time calculation unit is used for calculating the operation time of all the operation instructions according to the target operation efficiency of the ship;
the AGV operation time determining unit is used for matching the operation instruction with the AGV to obtain the operation time of each AGV;
the time difference calculating unit is used for comparing the operation time of each AGV with the current time to obtain a time difference;
and the AGV control unit is used for issuing a shutdown instruction to the corresponding AGV when the time difference is greater than the first set difference value.
5. The automated dock AGV energy saving control system of claim 4, wherein the AGV control unit is further configured to:
when the time difference is smaller than a second set difference value, issuing a starting instruction to the corresponding AGV;
wherein the second set difference is less than the first set difference.
6. The automated dock AGV energy conservation control system of claim 4, wherein the dock operating system further comprises:
the refreshing unit is used for setting refreshing frequency and controlling the time difference calculating unit to calculate the time difference according to the set refreshing frequency; and controlling the AGV control unit to compare the refreshed time difference with a first set difference value, and issuing a shutdown instruction to the corresponding AGV when the time difference is greater than the first set difference value.
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| CN202110657907.5A CN113341816A (en) | 2021-06-11 | 2021-06-11 | Automatic dock AGV energy-saving control method and system |
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| CN202110657907.5A CN113341816A (en) | 2021-06-11 | 2021-06-11 | Automatic dock AGV energy-saving control method and system |
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| CN110445138A (en) * | 2019-08-14 | 2019-11-12 | 青岛港国际股份有限公司 | Automatic dock AGV energy-saving control method and device |
| CN110950094A (en) * | 2019-12-03 | 2020-04-03 | 青岛港国际股份有限公司 | Automatic dock seaside advanced machine inspection system |
| CN111031597A (en) * | 2019-12-27 | 2020-04-17 | 福州聚英智能科技有限公司 | AGV low-power-consumption standby communication circuit and working method thereof |
| CN111179457A (en) * | 2018-11-09 | 2020-05-19 | 许文亮 | Inspection system and inspection method for industrial equipment |
| CN111277047A (en) * | 2020-01-19 | 2020-06-12 | 上海快仓智能科技有限公司 | Power supply control device, system and AGV car |
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2021
- 2021-06-11 CN CN202110657907.5A patent/CN113341816A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205809696U (en) * | 2016-04-25 | 2016-12-14 | 山东临工工程机械有限公司 | Cross-country heavy duty AGV |
| CN109425117A (en) * | 2017-07-21 | 2019-03-05 | 青岛经济技术开发区海尔热水器有限公司 | A kind of intelligence of water heater exempts from method of controlling operation thereof and water heater |
| CN111179457A (en) * | 2018-11-09 | 2020-05-19 | 许文亮 | Inspection system and inspection method for industrial equipment |
| CN110445138A (en) * | 2019-08-14 | 2019-11-12 | 青岛港国际股份有限公司 | Automatic dock AGV energy-saving control method and device |
| CN110950094A (en) * | 2019-12-03 | 2020-04-03 | 青岛港国际股份有限公司 | Automatic dock seaside advanced machine inspection system |
| CN111031597A (en) * | 2019-12-27 | 2020-04-17 | 福州聚英智能科技有限公司 | AGV low-power-consumption standby communication circuit and working method thereof |
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Application publication date: 20210903 |