CN113734682B

CN113734682B - AGV (automatic guided vehicle) carrying, receiving and transmitting small-area operation method

Info

Publication number: CN113734682B
Application number: CN202111088293.XA
Authority: CN
Inventors: 剡天旭; 马勉之; 杨丽芳
Original assignee: Huatian Technology Nanjing Co Ltd
Current assignee: Huatian Technology Nanjing Co Ltd
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2023-06-02
Anticipated expiration: 2041-09-16
Also published as: CN113734682A

Abstract

The invention relates to the technical field of AGV control, in particular to an AGV transport transceiving small-area operation method. Comprising the following steps: s1, an AGV unloads materials in a full material unloading area and then in an AGV waiting area; s2, the AGV arrives at an AGV departure area, whether a skip is detected, if the skip is detected, the AGV loads materials to go to a full material waiting area, if no skip is detected, the AGV returns to the AGV waiting area, and then the AGV departure area is reached after receiving an instruction; s3, the AGVs which go to the full-load waiting area return to the transfer warehouse through the warehouse-in place and the aisle, wherein the sharing area, the full-load unloading area, the AGV waiting area and the AGV departure area are arranged in a rectangular mode, and a square-shaped loop is formed; the warehouse entry is positioned at the side of the shared area, and the corridor is connected with the warehouse entry. The AGV operation method has the beneficial effects that the AGV can operate with high efficiency under the condition of small occupied area by perfecting the whole operation flow.

Description

AGV (automatic guided vehicle) carrying, receiving and transmitting small-area operation method

Technical Field

The invention relates to the technical field of AGV control, in particular to an AGV transport transceiving small-area operation method.

Background

AGV transport is widely and deeply applied to various industries such as post offices, chemical industry, port wharfs and airports, is widely used mainly in warehouse industry and manufacturing industry, replaces manual transport work, and achieves transport automation.

At present, because of the limited field areas, the environment requirements are high, the cost is high, the AGV takes up and delivers goods and occupies a large area, the advantages of the AGV are weakened, the cost even has to be increased in individual special fields, and even the automatic operation project of the AGV is cancelled.

Disclosure of Invention

In order to solve the problems of the occupied area and the cost of the AGVs, the invention provides a small-area operation method for carrying, receiving and transmitting the AGVs, which comprises the following specific technical scheme:

an AGV handling, receiving and transmitting small-area operation method comprises the following steps:

s1, an AGV filled with materials runs to a full material unloading area to unload materials, and then runs to an AGV waiting area;

s2, the AGV runs to an AGV departure area, whether a skip is detected, if the skip is detected, the AGV loads materials and goes to a sharing area; if no skip is detected, the AGV returns to the AGV waiting area, receives the instruction and then goes to the AGV departure area;

s3, the AGVs which go to the full sharing area pass through the warehouse entry (2) and the aisle and then return to the AGV entrance and exit area;

the sharing area, the full material unloading area, the AGV waiting area and the AGV departure area are arranged in a rectangular mode to form a square-shaped loop; the warehouse-in place is located at the side of the shared area, and the aisle is connected with the warehouse-in place.

Further, the step S2 specifically includes:

s21, after the AGV waits in the AGV waiting area for more than the set waiting time, the AGV runs to an AGV departure area;

s22, if a skip is detected in the AGV departure area, loading materials by the AGV, and going to the sharing area; if no skip is detected in the AGV departure area, the AGV returns to the AGV waiting area again to wait for longer than the set waiting time, and then the AGV departure area is operated.

Further, in step S22, after the AGV returns to the waiting area again, the AGV sends out an audible and visual alert.

Further, the step S2 further includes:

s23, after the AGVs returning to the AGV waiting area again receive manual triggering or wait for exceeding the maximum waiting time, the AGVs arrive at an AGV departure area, and if a skip is detected, the AGVs load materials go to a sharing area; and if no skip is detected, the AGV does not load and goes to the sharing area.

Further, the AGVs include a first AGV and a second AGV, and when the first AGV reaches the AGV waiting area after the material is unloaded in the full material unloading area, the second AGV reaches the sharing area.

Further, when the first AGV arrives at the AGV departure area and detects that the skip returns to the AGV waiting area, the second AGV enters the full material unloading area to unload materials.

Further, when the first AGV detects a skip car and loads material to the shared area in the AGV departure area, the second AGV enters the AGV waiting area.

Further, the AGVs further comprise a third AGV, and when the second AGV arrives at the sharing area, the third AGV arrives at the passageway and enters the warehouse after the first AGV arrives at the passageway.

Further, when the second AGV enters the AGV waiting area, the third AGV enters the sharing area.

Further, the method comprises the following steps:

s10-1, a first AGV filled with materials runs to a full material unloading area, materials are unloaded, then the first AGV runs to an AGV waiting area, a second AGV runs to a sharing area, and a third AGV runs to an aisle;

s10-21, the AGVs go to the sharing area, pass through the warehouse entry and the aisle and then return to the AGV entering and exiting area;

s10-2, detecting whether a skip exists or not when the first AGV arrives at an AGV departure area, if the skip exists, executing the step S10-21, and if the skip does not exist, returning the first AGV to an AGV waiting area, and enabling the second AGV to enter a full material unloading area to unload materials;

s10-3, after the first AGV waits for more than the set waiting time in the AGV waiting area, arriving at an AGV departure area, if a skip is arranged in the AGV departure area, loading materials by the first AGV, and executing the step S10-21; if no skip is in the AGV departure area, the first AGV continuously returns to the AGV waiting area and sends out an audible and visual prompt;

s10-4, after the first AGV receives the manual trigger or waits for the set waiting time period to be exceeded, the first AGV runs to an AGV departure area, whether a skip car exists or not is detected, if the skip car exists, the first AGV loads materials, and S10-21 is executed; if no skip is detected, the first AGV does not load, and step S10-21 is executed;

s10-5, enabling the second AGV to enter an AGV waiting area; the second AGV repeats steps S10-2, S10-3 and S10-4; the third AGV passes from the aisle to the shared area.

Compared with the prior art, the invention has the following beneficial effects:

1. the sharing area, the full material unloading area, the AGV waiting area and the AGV departure area form a closed loop, so that the AGV can operate with high efficiency under the condition of small occupied area.

2. After the AGV returns the AGV waiting area, the AGV sends audible and visual warning, can remind the warning staff to carry out manual triggering.

3. And the manual trigger is set, so that the risk of system outage caused by machine faults is avoided.

4. A plurality of AGVs can be operated simultaneously, and the full automation advantage of the AGVs is realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a schematic diagram of a small area operation method for AGV transport transceiving in accordance with the present invention.

Wherein: 1. an aisle; 2. warehousing; 3. a shared region; 4. a full material unloading area; 5. AGV waiting area; 6. AGV departure area; 7. AGVs enter and exit areas.

Detailed Description

The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

The following detailed description is exemplary and is intended to provide further details of the invention. Unless defined otherwise, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention.

It will be appreciated by those skilled in the art that the present invention can be carried out in other embodiments without departing from the spirit or essential characteristics thereof. Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.

Referring to fig. 1, the invention provides a small-area operation method for carrying, receiving and dispatching by an AGV, which comprises the following operation steps:

s1, a first AGV sends a full material unloading area 4, materials are unloaded, then the full material unloading area arrives at an AGV waiting area 5, a second AGV sends a shared area 3, and a third AGV sends a passageway 1.

S21, the AGVs go to the sharing area 3, pass through the warehouse-in place 2 and the aisle 1 and then return to the AGV entering and exiting area 7.

S2, the first AGV returns to the AGV departure area 6, whether a skip exists or not is detected, if the skip exists, step S21 is executed, if the skip does not exist, the first AGV returns to the AGV waiting area 5, the second AGV enters the full material unloading area 4, and the full skip is unloaded.

S3, after the first AGV waits in the AGV waiting area 5 for longer than the set waiting time, the first AGV arrives at the AGV departure area 6, whether a skip is detected, if the skip is in the AGV departure area 6, the first AGV loads materials, and the step S21 is executed; if the AGV departure area 6 is free of the skip car, the first AGV continuously returns to the AGV waiting area 5 and sends out an acousto-optic reminding to wait for manual triggering.

S4, after the first AGV receives the manual trigger or waits for the set waiting time period to be exceeded, the first AGV arrives at an AGV departure area 6, whether a skip car exists or not is detected, if the skip car exists, the first AGV loads materials, and S21 is executed; if no skip is detected, the first AGV is unloaded and S21 is executed.

S5, the second AGV enters an AGV waiting area 5; the second AGV repeats the steps S2, S3 and S4; the third AGV passes from the aisle 1 to the shared area 3.

Preferably, the set waiting time is 1-60min.

Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims

1. The small-area operation method for carrying, receiving and transmitting of the AGV is characterized by comprising the following steps of:

s1, an AGV filled with materials runs to a full material unloading area (4) to unload materials, and then runs to an AGV waiting area (5);

s2, the AGVs run to an AGV departure area (6), whether skip cars exist or not is detected, if the skip cars are detected, the AGVs load materials, and the materials go to a sharing area (3); if no skip is detected, the AGV returns to the AGV waiting area (5), receives the instruction and goes to the AGV departure area (6);

s3, the AGVs which go to the sharing area (3) pass through the warehouse entry (2) and the aisle (1) and then return to the AGV entering and exiting area (7);

the sharing area (3), the full material unloading area (4), the AGV waiting area (5) and the AGV departure area (6) are arranged in a rectangular shape to form a square-shaped loop; the warehouse-in place (2) is positioned beside the sharing area (3), and the aisle (1) is connected with the warehouse-in place (2) and the AGV business-in area (7);

the step S2 specifically includes:

s21, after the AGV waits in the AGV waiting area (5) for longer than the set waiting time, the AGV runs to the AGV departure area (6);

s22, if a skip is detected in the AGV departure area (6), loading materials by the AGV, and going to the sharing area (3); if no skip is detected in the AGV departure area (6), the AGV returns to the AGV waiting area (5) again to wait for longer than the set waiting time, and then the AGV moves to the AGV departure area (6);

in the step S22, after the AGV returns to the AGV waiting area (5) again, the AGV sends out an audible and visual reminder;

the step S2 further includes:

s23, returning the AGVs to the AGV waiting area (5) again, wherein after the AGVs receive manual triggering or wait for exceeding the maximum waiting time, the AGVs go to the AGV departure area (6), and if a skip is detected, the AGVs load materials go to the sharing area (3); if no skip is detected, the AGV is unloaded and goes to the sharing area (3).

2. The method of claim 1 wherein the AGV comprises a first AGV and a second AGV, the second AGV traveling to the shared area (3) when the first AGV travels to the full load unloading area (4) to unload material to the AGV waiting area (5).

3. The method of operating an AGV handling transceiver of claim 2 wherein the second AGV enters the full load unloading area (4) to unload material when the first AGV detects a return of the skip to the AGV waiting area (5) in the AGV departure area (6).

4. The method of operating an AGV handling transceiver of claim 2 wherein the second AGV enters the AGV waiting area (5) when the first AGV detects a skip to the AGV departure area (6) and the loaded material is traveling to the shared area (3).

5. The method of claim 2 wherein the AGV further comprises a third AGV, the third AGV entering the aisle (1) and entering the warehouse entry (2) after the first AGV exits the aisle when the second AGV enters the shared area (3).

6. The method of claim 5 wherein a third AGV enters the shared area (3) when a second AGV enters the AGV waiting area (5).