CN113526157B - AGV flexible conveying system, control method and device - Google Patents
AGV flexible conveying system, control method and device Download PDFInfo
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- CN113526157B CN113526157B CN202110684086.4A CN202110684086A CN113526157B CN 113526157 B CN113526157 B CN 113526157B CN 202110684086 A CN202110684086 A CN 202110684086A CN 113526157 B CN113526157 B CN 113526157B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
- B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
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Abstract
The application relates to an AGV flexible handling system, a control method and a device. The AGV flexible conveying system comprises a switching platform arranged in the equipment blanking area, an AGV control system connected with the switching platform and all mobile robots connected with the AGV control system; the mobile robot comprises a control device and a positioning obstacle avoidance device; under the condition that the carrying operation condition is met, the switching platform switches the platform articles and outputs a platform switching in-place signal; the AGV control system receives the platform switching in-place signal and sends a scheduling instruction to the mobile robot in a standby state; the control device indicates the action of the mobile robot according to the obtained scheduling instruction; the positioning obstacle avoidance device feeds back positioning and environment data in the action process of the mobile robot to the control device for processing so as to correct the action of the mobile robot until the carrying task of the platform object is completed. This application intelligent degree is high, can accomplish transport operation high-efficiently, accurately.
Description
Technical Field
The application relates to the technical field of logistics transport, in particular to an AGV flexible transport system, a control method and a device.
Background
With the development of automatic handling technology and the continuous deep application of industry in recent years, AGVs (Automated Guide Vehicle, automatic guided vehicles) are widely applied to logistics systems and flexible manufacturing systems, are efficient, quick and flexible, and greatly improve the production automation degree and the production efficiency.
For the automobile part production enterprises, due to the characteristics of huge number of parts, various kinds, wide involved products and the like, a large amount of part carrying operations are required in the production process, and in the implementation process, the inventor finds that at least the following problems exist in the conventional technology: at present, most of carrying is carried out in an AGV distribution mode which is mainly operated by people and is guided by magnetic strips or guide rails paved on the ground, so that the degree of automation is low, the labor cost is high, the flexibility is poor, and the part carrying process is needed to be optimized. Meanwhile, the AGVs in the industry are currently used in closed occasions with relatively fixed positions, and under an open man-machine co-fusion production environment, the traditional AGVs have limitations on path planning, safety judgment and equipment linkage.
Disclosure of Invention
In view of the foregoing, it is desirable to provide an AGV flexible transport system, a control method, and a device that can be linked to production equipment and that have a high degree of intelligence.
In order to achieve the above objective, in one aspect, an embodiment of the present application provides an AGV flexible handling system, including a switching platform disposed in a device blanking area, an AGV control system connected to the switching platform, and each mobile robot connected to the AGV control system; the mobile robot comprises a control device and a positioning obstacle avoidance device, wherein the control device is respectively connected with the AGV control system and the positioning obstacle avoidance device;
under the condition that the carrying operation condition is met, the switching platform switches the platform articles and outputs a platform switching in-place signal; the platform switch-in-place signal includes position data of the platform object;
the AGV control system receives the platform switching in-place signal and sends a scheduling instruction to the mobile robot in a standby state; the scheduling instruction comprises a target work area and a carrying work path;
the control device indicates the mobile robot to act according to the acquired scheduling instruction; the positioning obstacle avoidance device feeds back positioning and environment data in the action process of the mobile robot to the control device for processing so as to correct the action of the mobile robot until the carrying task of the platform object is completed.
In one embodiment, the platform article comprises a full cage and an empty frame; the carrying operation conditions comprise full material cage full material; the target operation area comprises an empty cage placement area and a full material placement area; the mobile robot in the standby state comprises a mobile robot currently positioned in a charging standby area;
The carrying operation path comprises a route from the charging standby area to the switching platform, a route from the switching platform to the full material placing area, a route from the full material placing area to the empty cage placing area, a route from the empty cage placing area to the switching platform, and a route from the switching platform to the charging standby area.
In one embodiment, the mobile robot is an AGV fork truck; the control device is a vehicle-mounted PLC controller; the positioning obstacle avoidance device comprises visual positioning equipment, laser navigation equipment and safety detection equipment; the visual positioning device, the laser navigation device and the safety detection device are all connected with the vehicle-mounted PLC;
the laser navigation equipment acquires distance data of the AGV fork truck relative to a preset coordinate system in the moving process, and transmits the distance data to the vehicle-mounted PLC; the visual positioning equipment detects the forking position and/or the placing position of the AGV fork truck on the platform object, and transmits the forking position and/or the placing position to the vehicle-mounted PLC; the safety detection equipment acquires barrier information around the AGV forklift and transmits the barrier information to the vehicle-mounted PLC;
the vehicle-mounted PLC controller determines a space contour image based on the distance data; and the vehicle-mounted PLC controller processes the forking position and/or the placing position to acquire deviation information, and based on the deviation information, the spatial profile image and the obstacle information, the action positioning of the AGV forklift is completed.
In one embodiment, the onboard PLC is connected to the AGV control system via Ethernet.
In one embodiment, the visual positioning device is a 3D depth camera; the laser navigation device is a laser navigator; the security detection device is a security scanner.
In one embodiment, the switching platform comprises a switching mechanism, an in-place detection switch and a photoelectric detection switch arranged at the discharge hole; the in-place detection switch is connected with the AGV control system;
the photoelectric detection switch outputs a full material signal of the discharge port under the condition that the photoelectric detection switch detects that the discharge quantity of the parts of the discharge port reaches the preset quantity;
the switching mechanism completes the switching of the platform object based on the full material signal of the discharge hole, so that the in-place detection switch determines the position data of the platform object.
In one embodiment, the switching mechanism is a cylinder; the switching platform further comprises a material frame detection switch.
An AGV flexible handling control method comprises the following steps:
receiving a platform switching in-place signal transmitted by a switching platform; the platform switch-in-place signal includes position data of the platform object; the platform switching-in-place signal is output after the platform switching is finished under the condition that the platform switching-in-place signal meets the carrying operation condition;
Sending a scheduling instruction to the mobile robot in a standby state; the scheduling instruction comprises a target work area and a carrying work path; the mobile robot comprises a control device and a positioning obstacle avoidance device; the scheduling instruction is used for instructing the control device to control the movement of the mobile robot, and is used for instructing the positioning obstacle avoidance device to feed back positioning and environment data in the movement process of the mobile robot to the control device for processing so as to correct the movement of the mobile robot until the carrying task of the platform object is completed.
An AGV flexible transport control device comprising:
the receiving module is used for receiving a platform switching in-place signal transmitted by the switching platform; the platform switch-in-place signal includes position data of the platform object; the platform switching-in-place signal is output after the platform switching is finished under the condition that the platform switching-in-place signal meets the carrying operation condition;
the scheduling module is used for sending scheduling instructions to the mobile robots in the standby state; the scheduling instruction comprises a target work area and a carrying work path; the mobile robot comprises a control device and a positioning obstacle avoidance device; the scheduling instruction is used for instructing the control device to control the movement of the mobile robot, and is used for instructing the positioning obstacle avoidance device to feed back positioning and environment data in the movement process of the mobile robot to the control device for processing so as to correct the movement of the mobile robot until the carrying task of the platform object is completed.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the AGV flexible transport control method described above.
One of the above technical solutions has the following advantages and beneficial effects:
the automatic switching device comprises a switching platform arranged in a device blanking area, an AGV control system connected with the switching platform and mobile robots connected with the AGV control system, wherein each mobile robot comprises a control device and a positioning obstacle avoidance device; based on the method, the device and the system can be combined with equipment production linkage, and when a carrying task starts, a corresponding route is intelligently selected to carry out the carrying operation according to the position of the platform object at the switching platform; when moving to the target operation area, the mobile robot can detect and judge the target storage position, orderly and accurately put the platform articles and send out signals when the platform articles are full, corresponding personnel are prompted to transfer the articles, and in the whole moving process, the mobile robot can effectively identify obstacles in the surrounding environment, so that obstacle avoidance is realized. The mobile robot calibration system can calibrate the target position, enables the mobile robot to accurately reach the designated position, and is high in automation degree, strong in stability and reliability and good in compatibility and flexibility. The intelligent logistics system can be applied to an open man-machine co-fusion production environment, performs automatic conveying tasks linked with equipment, is safe and reliable, has strong adaptability, can efficiently and accurately complete conveying operation, and constructs the intelligent logistics system.
Drawings
In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a diagram of the environment in which an AGV flexible handling system according to one embodiment is used;
FIG. 2 is a schematic diagram of the AGV flexible handling system in one embodiment;
FIG. 3 is a schematic diagram of a switching platform according to an embodiment;
FIG. 4 is a schematic diagram of a mobile robot in one embodiment;
FIG. 5 is a flow chart of an AGV flexible handling control method in one embodiment;
FIG. 6 is a flow chart of an exemplary AGV flexible handling control method according to one embodiment
FIG. 7 is a block diagram of the AGV flexible transport control in one embodiment.
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Examples of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element.
Spatially relative terms, such as "under", "below", "beneath", "under", "above", "over" and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "under" or "beneath" other elements would then be oriented "on" the other elements or features. Thus, the exemplary terms "below" and "under" may include both an upper and a lower orientation. Furthermore, the device may also include an additional orientation (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments should be understood as "electrical connection", "communication connection", and the like if there is transmission of electrical signals or data between objects to be connected.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. Also, the term "and/or" as used in this specification includes any and all combinations of the associated listed items.
At present, laser navigation AGVs in the industry are mostly used in closed occasions with relatively fixed positions; under an open man-machine co-fusion production environment, a common laser navigation AGV has certain limitations on path planning, safety judgment and equipment linkage. Moreover, the intelligent service of the traditional technology is low, and the intelligent logistics transportation requirement can not be met by linking with production equipment.
The application then provides a laser navigation AGV flexible handling system under man-machine blend production environment, and this system collects laser navigation location, visual identification, route correction, safe obstacle avoidance and intelligent handling in an organic whole. The intelligent logistics system is used for executing automatic conveying tasks linked with equipment in an open man-machine co-fusion production environment, is safe and reliable, has strong adaptability, can efficiently and accurately complete conveying operation, and is competitive in construction.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The AGV flexible handling system provided by the application can be applied to an application environment shown in FIG. 1. The switching platform 102 disposed in the equipment blanking area is connected to the AGV control system 104, and the AGV control system 104 communicates with each mobile robot 106 through a network, where the AGV control system 104 may be installed and fixed near the equipment blanking area. In one embodiment, as shown in fig. 1, the present application of the flexible conveying system for AGV may be an automatic conveying system for precision forging and blanking of inner and outer joints of a transmission shaft, where the automatic conveying system for precision forging and blanking of inner and outer joints of a transmission shaft may include an empty cage placing area, a full material placing area and a charging standby area, and further may further include a device blanking switching platform 102, an AGV control system 104 and mobile robots 106.
The empty cage placing area is used for storing an empty material frame for preparing to load the finish forging parts; the full material placing area is used for storing a full material frame (namely a full material cage) for loading the precision forging parts and waiting for the next transfer; and the charging standby area is used for charging the mobile robot and waiting from the execution of the last circulating task to the start of the next task. The mobile robot 106 in the present application may be an AGV forklift, such as a laser navigation AVG forklift; the AGV control system 104 in the present application may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and may be implemented by a separate server or a server cluster formed by a plurality of servers.
In one embodiment, as shown in FIG. 2, an AGV flexible handling system is provided, and the method is applied to the illustration of FIG. 1, and includes a switching platform 202 disposed in a blanking area of the apparatus, an AGV control system 204 coupled to the switching platform 202, and mobile robots 206 coupled to the AGV control system 204; the mobile robot 206 comprises a control device and a positioning obstacle avoidance device, wherein the control device is respectively connected with the AGV control system 204 and the positioning obstacle avoidance device;
The switching platform 202 performs switching of platform articles and outputs a platform switching-in-place signal when determining that the carrying operation condition is satisfied; the platform switch-in-place signal includes position data of the platform object;
the AGV control system 204 receives the platform switching in-place signal and sends a scheduling instruction to the mobile robot 206 in a standby state; the scheduling instruction comprises a target work area and a carrying work path;
wherein, the control device instructs the mobile robot 206 to act according to the obtained scheduling instruction; the positioning obstacle avoidance device feeds back positioning and environmental data in the motion process of the mobile robot 206 to the control device for processing so as to correct the motion of the mobile robot 206 until the carrying task of the platform object is completed.
Specifically, the AGV flexible handling system is applied to an open production workshop under a man-machine co-fusion production environment, can recognize, judge and plan to avoid the obstacle according to real-time change of the production environment, can reach safe and stable running states without the assistance of other conditions, and has obvious intelligent degree.
The switching platform 202 arranged in the equipment blanking area can be communicated with the AGV control system 204; specifically, the switching platform 202 performs switching of the platform article and outputs a platform switching-in-place signal in the case where it is determined that the conveyance operation condition is satisfied; the stage switch-in-place signal includes position data of the stage article. In one embodiment, the platform article comprises a full cage and an empty frame; the handling conditions include full cage filling.
The switching platform 202 in the application can switch between the full material cage and the empty material frame under the condition that the full material cage is full, can judge the left and right directions of the switching platform after the switching is completed, and simultaneously sends a signal to the AGV control system 204, so that the mobile robot 206 is scheduled, and the automatic carrying task of equipment linkage is executed.
In one embodiment, the switching platform 202 may include a switching mechanism, an in-place detection switch, and a photoelectric detection switch disposed at the discharge port; the in-place detection switch is connected with the AGV control system;
the photoelectric detection switch outputs a full material signal of the discharge port under the condition that the photoelectric detection switch detects that the discharge quantity of the parts of the discharge port reaches the preset quantity;
the switching mechanism completes the switching of the platform object based on the full material signal of the discharge hole, so that the in-place detection switch determines the position data of the platform object.
Specifically, the photoelectric detection switch detects the parts of the discharge hole of the equipment to reach the specified number, and then the switching platform 202 switches the full material cage from the empty material frame. In some embodiments, the photodetection switch may be implemented using a photoinduction switch, a photoelectric counter, or the like. The discharge gate photoelectric counting detects that the material cage is full, and the switching platform 202 can switch to the empty material frame position, triggers the AGV control system 204 to switch to the position signal through the platform and schedule the mobile robot 206 to fork the full material cage and put to the appointed position (for example, full material put the district), and in addition, the AGV control system 204 can schedule the mobile robot 206 to fork the empty material frame taken out from the empty material cage put the district to the appointed position of the equipment unloading switching platform 202.
In one embodiment, as shown in FIG. 3, the switching mechanism may be a cylinder; the switching platform 202 may also include a bezel detection switch.
Specifically, the device blanking switching platform 202 may include an air cylinder, a photoelectric detection switch, an in-place detection switch, a switching platform, and the like, as shown in fig. 3; after the photoelectric detection switch detects the parts at the discharge hole of the equipment to reach the specified quantity, the platform switches the full material cage and the empty material frame through the air cylinders, after the switching is completed, the in-place detection switches at the two sides judge the left and right directions of the switching platform (namely the position data of the platform articles), and simultaneously send signals to the AGV control system 204, so that the mobile robot 206 is scheduled, and the automatic carrying task of equipment linkage is executed. And the material frame detection switch can be used for outputting a material cage detection signal.
The AGV control system 204 receives the platform switching in-place signal and sends a scheduling instruction to the mobile robot 206 in a standby state; the scheduling instruction comprises a target work area and a carrying work path; that is, the AGV control system 204 in the present application may receive a device demand signal, and after receiving the device demand signal (for example, a platform switch-in-place signal output by the switch platform 202), send a scheduling instruction to the mobile robot 206 through a network, so as to schedule the mobile robot 206 to execute a handling task according to a relevant path, and accurately place the handling task at a corresponding designated position. In some embodiments, the AGV control system 204 may communicate with the switching platform 202 and the mobile robot 206, respectively, via Ethernet.
In one embodiment, the target work area may include an empty cage placement area and a full material placement area; the mobile robot in the standby state comprises a mobile robot currently positioned in a charging standby area;
the carrying operation path comprises a route from the charging standby area to the switching platform, a route from the switching platform to the full material placing area, a route from the full material placing area to the empty cage placing area, a route from the empty cage placing area to the switching platform, and a route from the switching platform to the charging standby area.
Specifically, the AGV control system 204 of the present application may schedule the mobile robot 206 in a standby state upon receiving the platform switch-to-bit signal. In the present application, the mobile robot in the standby state may include a mobile robot currently located in the charging standby area. As shown in fig. 1, the charging standby area may be used for charging the mobile robot and waiting after the execution of the previous cycle task until the start of the next task.
Further, taking the switching platform to switch the full material cage and the empty material frame, the mobile robot comprises a control device and a positioning obstacle avoidance device as an example, and the control flow of the carrying system is explained: the photoelectric counting of the discharge hole detects full material of the material cage, the switching platform is switched to the empty material frame position, and the AGV control system is triggered to switch to the in-place signal through the platform to schedule the mobile robot to fork to run the full material cage; after receiving an instruction of an AGV control system, a control device of the mobile robot instructs the mobile robot to fork a full material frame from a charging standby area to a device blanking switching platform (namely, adopts a route from the charging standby area to the switching platform); the control device instructs the mobile robot to place the full material frame at a system appointed operation position of the full material placing area according to the instruction (namely, a route from the switching platform to the full material placing area is adopted), and the mobile robot performs identification judgment through the positioning obstacle avoidance device so as to realize accurate placement; the control device instructs the mobile robot to take the empty frame to the system appointed operation position of the empty cage placing area according to the instruction (namely, adopts the route from the full material placing area to the empty cage placing area), and carries out identification judgment through the positioning obstacle avoidance device so as to realize accurate forking; the control device mobile robot fork the empty material frame to the appointed position of the equipment unloading switching platform (namely, adopts the empty cage to put the district to the switching platform), carries out recognition and judgment through the location obstacle avoidance device, realizes accurate putting, avoids putting the interference problem that the nothing in place caused. The control device instructs the mobile robot to return to the charging standby area for charging or to wait for the next task (i.e. adopt the route from the switching platform to the charging standby area).
In one embodiment, as shown in fig. 4, the mobile robot in the present application may be an AGV fork lift truck; the AGV fork truck may include a fork truck body 410. In one embodiment, as shown in fig. 4, the control device may be an in-vehicle PLC (Programmable Logic Controller ) controller 420; the positioning obstacle avoidance apparatus may include a visual positioning device 430, a laser navigation device 440, and a safety detection device 450; the visual positioning device 430, the laser navigation device 440 and the safety detection device 450 are all connected with the vehicle-mounted PLC controller 420;
the laser navigation device 440 acquires distance data of the AGV fork truck relative to a preset coordinate system in the moving process, and transmits the distance data to the vehicle-mounted PLC controller 420; the vision positioning device 430 detects the position and/or placement of the platform object by the AGV fork truck and transmits the position and/or placement to the vehicle PLC controller 420; the safety detection device 450 acquires obstacle information around the AGV forklift and transmits the obstacle information to the vehicle-mounted PLC controller 420;
the in-vehicle PLC controller 420 determines a spatial profile image based on the distance data; the onboard PLC controller 420 processes the fork position and/or the placement position to obtain deviation information, and based on the deviation information, the spatial profile image and the obstacle information, completes the action positioning of the AGV forklift.
Specifically, the laser navigation device 440 may acquire distance data under a polar coordinate system (i.e. a preset coordinate system) of a working environment in a moving process of the forklift, and the vehicle-mounted PLC controller analyzes the distance information of each scanning angle according to a related communication protocol, converts the distance information into data of an XY rectangular coordinate system, establishes a spatial profile image, and realizes coarse positioning of the AGV forklift. Further, the visual positioning device 430 can determine the X-direction deviation, Y-direction deviation and angle deviation distance information (i.e. deviation information) of the position of the target material frame when the target material frame is forked or placed relative to the fixed position, so as to correct the target material frame, realize precise positioning, and simultaneously combine with the rear safety detection device 450 to realize omnibearing safety guarantee.
In one embodiment, the onboard PLC controller 420 is connected to the AGV control system via ethernet.
Specifically, after the AGV control system receives the equipment-related in-place signal, the equipment-related in-place signal can be sent to the vehicle-mounted PLC control system through the Ethernet, so that the AGV forklift is scheduled to execute a carrying task according to related instructions.
In one embodiment, the visual positioning device 430 may be a 3D depth camera; the laser navigation device 440 may be a laser navigator; the security detection device 450 may be a security scanner.
Specifically, AGV fork truck in this application can include fork truck body, on-vehicle PLC control system, laser navigator, safety scanner and 3D depth camera, realizes AGV fork truck space location through laser navigator, and when the 3D depth camera of recycle was got and is put the realization fine positioning to the fork of part material cage, combined safety scanner to realize all-round safety guarantee.
In the application, the 3D depth camera can be matched with the safety scanners on two sides of the rear part besides visual identification and track correction, so that 360-degree omnibearing safety identification and judgment on the surrounding environment can be realized; the coverage is wide, safe and reliable. Further, the number of security scanners may be two. This application AGV fork truck can adopt the 3D depth camera of setting in AGV fork truck the place ahead, except visual positioning, still has the barrier scanning and judges the function concurrently, collocation fork truck rear both sides safety scanner (for example, safety scanner 1 and safety scanner 2), realizes the omnidirectional, the security of multi-angle, and it is changeable to detect regional shape characteristic, compares that the AGV security of current general unidirectional detection is good, the flexibility is high.
In order to further explain the scheme of the application, taking a mobile robot as an example of a laser navigation AGV forklift, the control implementation process of the application is described below: (1) the photoelectric counting of the discharge hole detects full material of the material cage, the switching platform is switched to the empty material frame position, and the AGV control system is triggered to schedule the laser navigation AGV forklift fork to walk the full material cage through the platform switching in-place signal; (2) after receiving the instruction, the laser navigation AGV forklift forks a full material frame from the charging standby area to the equipment blanking switching platform; (3) the laser navigation AGV forklift is used for placing the full material frame to a system appointed operation position of a full material placing area according to the instruction, and the 3D depth camera is used for carrying out identification and judgment so as to realize accurate placement; (4) the laser navigation AGV forklift obtains an empty material frame according to a system appointed operation position of the empty cage placing area, and performs identification and judgment through a 3D depth camera so as to realize accurate forking; (5) the laser navigation AGV fork truck is with empty material frame fork to equipment unloading switching platform mouth assigned position, carries out discernment through 3D depth camera and judges, realizes accurately putting, avoids putting the interference problem that leads to the fact in place. (6) And the laser navigation AGV forklift returns to the charging standby area to be charged or wait for the next task.
The empty cage placing area is used for storing empty material frames ready for loading precision forging parts, and the empty cage positions are judged jointly by combining an AGV control system with a 3D depth camera in front of an AGV forklift, so that accuracy of forking is guaranteed. The full material placing area is used for storing full material frames for loading finish forging parts, waiting for the next transfer, and jointly judging the positions of the full material frames by combining an AGV control system with a 3D depth camera in front of an AGV forklift so as to ensure the placing accuracy; the charging standby area is used for waiting after the AGV forklift is charged and before the next task starts after the last circulating task is executed.
Based on the method and the device, in the whole moving process, obstacles in the surrounding environment can be effectively identified, and visual obstacle avoidance is realized. After the laser navigation is initially positioned, vision judgment is carried out through the front 3D depth camera, the target position can be corrected by combining a navigation system before the AGV forklift reaches the target position, so that the AGV forklift accurately reaches the designated position, the degree of automation is high, the stability and the reliability are strong, and the compatibility and the flexibility are good.
Above, the laser navigation AGV forklift is combined with 3D vision, accurate automatic carrying is achieved through linkage of a PLC control system and equipment, and flexibility is high; the AGV flexible carrying system integrates laser navigation positioning, visual identification, path correction, safety obstacle avoidance and intelligent carrying; specifically, a PLC control system is adopted, equipment production linkage is combined, and when a carrying task starts, a corresponding route is intelligently selected according to the position of an article of a blanking platform to carry out carrying operation; when the material is moved to the full material placement area, orderly and accurate placement of the material cages is realized by visual detection and judgment of the target storage position, and a signal can be sent out when the material is full, so that corresponding personnel are prompted to transport the material; in the whole moving process, the obstacles in the surrounding environment can be effectively identified, and visual obstacle avoidance is realized. After full material is detected and judged through the system, automatic switching of the material cage and automatic carrying tasks of the AGV are realized. The platform has simple integral structure and intelligent and efficient switching.
The automatic part conveying device can be applied to a man-machine co-fusion production environment, realizes automatic part conveying by utilizing a mode of integrating a laser navigation AGV and an equipment blanking platform system, and can carry out ordered part conveying and timely path conversion according to an open field production environment; the laser navigation AGV flexible carrying system in the man-machine co-fusion production environment has the advantages of strong environment adaptability and anti-interference capability, high positioning precision, good safety, stable and reliable linkage with production equipment, good bearing capacity and simple and quick manual-automatic switching mode; meanwhile, the method is high in economical practicability and good in expansibility.
In one embodiment, as shown in fig. 5, there is provided a flexible transport control method for an AGV, which is described by taking an example that the method is applied to the AGV control system in fig. 1, and includes the following steps:
step 502, receiving a platform switching in-place signal transmitted by a switching platform; the stage switch-in-place signal includes position data of the stage article.
The platform switching-in-place signal is output after the platform switching is completed under the condition that the platform switching-in-place signal meets the carrying operation condition.
Step 504, sending a scheduling instruction to the mobile robot in a standby state; the scheduling instruction comprises a target work area and a carrying work path; the mobile robot comprises a control device and a positioning obstacle avoidance device; the scheduling instruction is used for instructing the control device to control the movement of the mobile robot, and is used for instructing the positioning obstacle avoidance device to feed back positioning and environment data in the movement process of the mobile robot to the control device for processing so as to correct the movement of the mobile robot until the carrying task of the platform object is completed.
Specifically, the AGV control system receives the equipment related in-place signal and sends the signal to the vehicle-mounted PLC control system through the Ethernet, so that the AGV forklift is scheduled to execute the carrying task according to the related instruction, and specific control logic can be shown in fig. 6. After the AGV control system receives the demand signal of the equipment, the demand signal is sent to the vehicle-mounted PLC control system through the Ethernet, and the AGV forklift is scheduled to execute the carrying task according to the relevant path and accurately placed at the corresponding designated position.
The specific implementation process of the flexible transport control method for the AGV can be described with reference to the foregoing description of the workflow of the flexible transport system for the AGV, and will not be repeated here.
According to the AGV flexible carrying control method, the PLC control system is adopted, equipment production linkage is combined through the AGV control system, and when a carrying task starts, a corresponding route is intelligently selected to execute carrying operation according to the position of the objects of the blanking platform; when the material is moved to the full material placement area, orderly and accurate placement of the material cages is realized by visual detection and judgment of the target storage position, and a signal is sent when the material is full, so that corresponding personnel are prompted to transport the material; in the whole moving process, the obstacle in the surrounding environment can be effectively identified, the visual obstacle avoidance is realized, the omnibearing safety identification judgment can be realized, the coverage is wide, and the safety and reliability are realized. Further, after full material is detected and judged through the AGV control system, automatic switching of the material cage and automatic carrying tasks of the AGV are achieved. This application overall structure is simple, switches intelligent high efficiency.
It should be understood that, although the steps in the flowcharts of fig. 5 and 6 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 5, 6 may comprise a plurality of sub-steps or phases, which are not necessarily performed at the same time, but may be performed at different times, nor does the order of execution of the sub-steps or phases necessarily follow one another, but may be performed alternately or alternately with at least a portion of the sub-steps or phases of other steps or other steps.
In one embodiment, as shown in FIG. 7, there is provided an AGV flexible transport control apparatus comprising:
a receiving module 710, configured to receive a platform switch-in-place signal transmitted by a switching platform; the platform switch-in-place signal includes position data of the platform object; the platform switching-in-place signal is output after the platform switching is finished under the condition that the platform switching-in-place signal meets the carrying operation condition;
A scheduling module 720, configured to send a scheduling instruction to the mobile robot in a standby state; the scheduling instruction comprises a target work area and a carrying work path; the mobile robot comprises a control device and a positioning obstacle avoidance device; the scheduling instruction is used for instructing the control device to control the movement of the mobile robot, and is used for instructing the positioning obstacle avoidance device to feed back positioning and environment data in the movement process of the mobile robot to the control device for processing so as to correct the movement of the mobile robot until the carrying task of the platform object is completed.
The specific limitation of the flexible transport control device of the AGV can be referred to as the limitation of the flexible transport control method of the AGV, and will not be described herein. The various modules in the AGV flexible transport control described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon which when executed by a processor performs the steps of the AGV flexible handling control method described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
In the description of the present specification, reference to the terms "some embodiments," "other embodiments," "ideal embodiments," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (9)
1. The AGV flexible carrying system is characterized by being applied to an open type production workshop based on a man-machine co-fusion production environment; the automatic conveying system for the finish forging discharging AGVs of the inner and outer joints of the transmission shaft comprises an empty cage placing area, a full material placing area and a charging standby area;
the automatic conveying system of the AGV for precision forging and blanking of the inner and outer joints of the transmission shaft further comprises a switching platform arranged in a blanking area of equipment, an AGV control system connected with the switching platform and each mobile robot connected with the AGV control system; the mobile robot comprises a control device and a positioning obstacle avoidance device, wherein the control device is respectively connected with the AGV control system and the positioning obstacle avoidance device;
the switching platform performs switching of platform articles and outputs a platform switching in-place signal under the condition that the carrying operation condition is met; the platform switch-in-place signal includes position data of the platform article; the platform article comprises a full material cage and an empty material frame; the conveying operation conditions comprise that the filling cage is full; the switching platform comprises a switching mechanism, an in-place detection switch and a photoelectric detection switch arranged at the discharge hole; the in-place detection switch is connected with the AGV control system; the photoelectric detection switch outputs a full material signal of the discharge port under the condition that the photoelectric detection switch detects that the discharge quantity of the parts of the discharge port reaches the preset quantity; the switching mechanism completes the switching of the platform object based on the full material signal of the discharge hole, so that the in-place detection switch determines the position data of the platform object;
The AGV control system receives the platform switching-in signal and sends a scheduling instruction to the mobile robot in a standby state; the scheduling instruction comprises a target work area and a carrying work path; the target operation area comprises the empty cage placement area and the full material placement area; the mobile robot in the standby state comprises a mobile robot currently located in the charging standby area;
the control device indicates the mobile robot to act according to the obtained scheduling instruction; the positioning obstacle avoidance device feeds back positioning and environment data in the action process of the mobile robot to the control device for processing so as to correct the action of the mobile robot until the carrying task of the platform object is completed.
2. The AGV flexible handling system of claim 1 wherein the AGV comprises a frame and a frame,
the carrying operation path comprises a route from the charging standby area to the switching platform, a route from the switching platform to the full material placing area, a route from the full material placing area to the empty cage placing area, a route from the empty cage placing area to the switching platform, and a route from the switching platform to the charging standby area.
3. The AGV flexible handling system of claim 1 or 2, wherein the mobile robot is an AGV fork lift truck; the control device is a vehicle-mounted PLC controller; the positioning obstacle avoidance device comprises visual positioning equipment, laser navigation equipment and safety detection equipment; the visual positioning device, the laser navigation device and the safety detection device are all connected with the vehicle-mounted PLC;
the laser navigation equipment acquires distance data of the AGV fork truck relative to a preset coordinate system in the moving process, and transmits the distance data to the vehicle-mounted PLC; the visual positioning device detects the forking position and/or the placing position of the AGV fork truck on the platform object, and transmits the forking position and/or the placing position to the vehicle-mounted PLC; the safety detection equipment acquires barrier information around the AGV forklift and transmits the barrier information to the vehicle-mounted PLC;
the vehicle-mounted PLC controller determines a space contour image based on the distance data; the vehicle-mounted PLC controller processes the forking position and/or the placing position to obtain deviation information, and completes the action positioning of the AGV forklift based on the deviation information, the space contour image and the obstacle information.
4. The AGV flexible handling system of claim 3, wherein the onboard PLC controller is connected to the AGV control system via an ethernet network.
5. The AGV flexible handling system of claim 3, wherein the visual positioning device is a 3D depth camera; the laser navigation device is a laser navigator; the security detection device is a security scanner.
6. The AGV flexible handling system of claim 1 or 2, wherein the switching mechanism is a pneumatic cylinder; the switching platform further comprises a material frame detection switch.
7. The AGV flexible carrying control method is characterized by comprising the following steps:
receiving a platform switching in-place signal transmitted by a switching platform; the platform switch-in-place signal comprises position data of a platform object; the platform switching-in-place signal is output after the platform switching is completed under the condition that the platform switching-in-place signal meets the carrying operation condition; the platform article comprises a full material cage and an empty material frame; the conveying operation conditions comprise that the filling cage is full; the switching platform comprises a switching mechanism, an in-place detection switch and a photoelectric detection switch arranged at the discharge hole; the photoelectric detection switch outputs a full material signal of the discharge port under the condition that the photoelectric detection switch detects that the discharge quantity of the parts of the discharge port reaches the preset quantity; the switching mechanism completes the switching of the platform object based on the full material signal of the discharge hole, so that the in-place detection switch determines the position data of the platform object;
Sending a scheduling instruction to the mobile robot in a standby state; the scheduling instruction comprises a target work area and a carrying work path; the target operation area comprises an empty cage placement area and a full material placement area, and the mobile robot in a standby state comprises a mobile robot currently positioned in a charging standby area; the mobile robot comprises a control device and a positioning obstacle avoidance device; the scheduling instruction is used for instructing the control device to control the movement of the mobile robot, and instructing the positioning obstacle avoidance device to feed back positioning and environment data in the movement process of the mobile robot to the control device for processing so as to correct the movement of the mobile robot until the carrying task of the platform object is completed.
8. An AGV flexible transport control apparatus comprising:
the receiving module is used for receiving a platform switching in-place signal transmitted by the switching platform; the platform switch-in-place signal comprises position data of a platform object; the platform switching-in-place signal is output after the platform switching is completed under the condition that the platform switching-in-place signal meets the carrying operation condition; the platform article comprises a full material cage and an empty material frame; the conveying operation conditions comprise that the filling cage is full; the switching platform comprises a switching mechanism, an in-place detection switch and a photoelectric detection switch arranged at the discharge hole; the photoelectric detection switch outputs a full material signal of the discharge port under the condition that the photoelectric detection switch detects that the discharge quantity of the parts of the discharge port reaches the preset quantity; the switching mechanism completes the switching of the platform object based on the full material signal of the discharge hole, so that the in-place detection switch determines the position data of the platform object;
The scheduling module is used for sending scheduling instructions to the mobile robots in the standby state; the scheduling instruction comprises a target work area and a carrying work path; the target operation area comprises an empty cage placement area and a full material placement area, and the mobile robot in a standby state comprises a mobile robot currently positioned in a charging standby area; the mobile robot comprises a control device and a positioning obstacle avoidance device; the scheduling instruction is used for instructing the control device to control the movement of the mobile robot, and instructing the positioning obstacle avoidance device to feed back positioning and environment data in the movement process of the mobile robot to the control device for processing so as to correct the movement of the mobile robot until the carrying task of the platform object is completed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of claim 7.
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| US7826919B2 (en) * | 2006-06-09 | 2010-11-02 | Kiva Systems, Inc. | Method and system for transporting inventory items |
| EP2948821B1 (en) * | 2013-01-28 | 2017-04-26 | Amazon Technologies, Inc. | Inventory system with connectable inventory holders |
| US9242799B1 (en) * | 2014-10-20 | 2016-01-26 | Amazon Technologies, Inc. | Dynamically reconfigurable inventory pods |
| CN104460628B (en) * | 2014-12-11 | 2017-06-16 | 山东大学 | A kind of intelligent flexible automated warehousing system and method |
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