CN113900406A - Control system for carrying - Google Patents
Control system for carrying Download PDFInfo
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- CN113900406A CN113900406A CN202111078427.XA CN202111078427A CN113900406A CN 113900406 A CN113900406 A CN 113900406A CN 202111078427 A CN202111078427 A CN 202111078427A CN 113900406 A CN113900406 A CN 113900406A
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- aiv
- plc
- receiving
- control system
- instruction
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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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—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
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a control system for carrying, which belongs to the technical field of carrying control systems and comprises a main controller system and an AIV control system, wherein data interaction is carried out between the main controller system and the AIV control system through a wireless network; the invention is provided with two sets of control systems, namely a main controller system and an AIV control system, data interaction is carried out between the main controller system and the AIV control system through a wireless network, the main controller system carries out control and data interaction for the AIV control system under the wireless network, and in the AIV control system, a PLC controls the actions of the AIV and a mechanical arm, thereby improving the flexibility.
Description
Technical Field
The invention relates to the technical field of transport control systems, in particular to a control system for transport.
Background
The AGV is also called an unmanned transport vehicle, an automatic navigation vehicle and a laser navigation vehicle. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on an AGV, the automatic guided vehicle can ensure that the system can automatically run along a preset route under the condition of no need of manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. The AIV, while appearing similar to an AGV, has the advantages over a conventional AGV: the self-contained control system breaks the limitation of the traditional AGV, does not need to change the external environment, and can automatically avoid obstacles to people/objects.
At present, prior art is mostly single AGV dolly, and the guiding device need be adorned in advance to work area, and AGV carries out intrinsic orbit endless motion along guiding device. The AGV requires a guiding device, can travel along a predetermined guiding path, is single and inflexible in its motion, and often does nothing to do in its cyclic reciprocating motion.
Therefore, it is desirable to design a control system for transportation.
Disclosure of Invention
The present invention is directed to a control system for transportation to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme: a control system for carrying comprises a main controller system and an AIV control system, wherein data interaction is carried out between the main controller system and the AIV control system through a wireless network.
Further, in the control system for carrying, the main controller system includes a wireless router, a switch, a main PLC and an AC + AP, the main PLC interacts with the switch through a network cable, and the switch interacts with the wireless router and the AC + AP through the network cable respectively.
Further, in the control system for carrying, the AIV control system includes a robot arm, an AIV _ PLC and an AIV, the AIV _ PLC interacts with the robot arm through an IO line, and the AIV _ PLC interacts with the AIV through a network cable.
Further, in the control system for carrying, the main PLC and the AIV _ PLC are industrial wireless APs.
Further, in the above control system for carrying, the main PLC and the AIV _ PLC perform TCP/IP communication.
Further, in the control system for carrying, the AIV _ PLC selects a model supporting multiple socket ports.
Further, in the control system for carrying, a Modbus _ RTU communication mode is selected for communication between the AIV _ PLC and the robot arm.
Furthermore, in the control system for carrying, the communication between the AIV _ PLC and the mechanical arm is a TCP/IP communication mode.
A communication control flow of a control system for carrying comprises the following steps:
s1: the master PLC opens a port;
s2: the master PLC sends an instruction;
s3: the AIV _ PLC receives an instruction;
s4: the AIV _ PLC sends the instruction to the AIV;
s5: the AIV returns an instruction to the AIV _ PLC;
s6: the AIV _ PLC receives an instruction;
s7: the AIV _ PLC sends the instruction to the main PLC;
s8: the master PLC closes the communication port.
A specific operation flow of a control system for handling comprises the following steps:
s1: a main PLC: sending the target location;
s2: AIV _ PLC: receiving a target location; sending the target location to the AIV;
s3: and (3) AIV: moving to a target position after receiving the instruction; returning to the arrival instruction after the target position is reached;
s4: AIV _ PLC: receiving an arrival instruction; sending a reach instruction to the master PLC;
s5: a main PLC: receiving an arrival instruction; sending a material taking position to arrive;
s6: AIV _ PLC: receiving the arrival of a material taking position; sending a material taking position arrival signal that an instruction is received;
s7: and (3) AIV: receiving a material taking position arrival signal and receiving an instruction; sending a material taking starting instruction;
s8: AIV _ PLC: receiving a material taking starting signal; an IO signal is output to the mechanical arm, and the mechanical arm starts to work;
s9: the mechanical arm finishes working and outputs IO signals;
s10: AIV _ PLC: receiving an IO signal after the mechanical arm works; sending a signal that the mechanical arm finishes working;
s11: a main PLC: receiving a signal that the mechanical arm finishes working; sending a discharging target position;
s12: AIV _ PLC: receiving a discharging target position; sending the target location to the AIV;
s13: and (3) AIV: receiving a material placing position signal and moving to a material placing position; the sending and discharging position is reached;
s14: AIV _ PLC: receiving that the material placing position is reached; the sending and discharging position is reached;
s15: a main PLC: receiving that the material placing position is reached; sending a material placing starting instruction;
s16: AIV _ PLC: receiving a material placing starting instruction; sending a material discharge starting IO signal to a mechanical arm;
s17: the mechanical arm starts to work and outputs IO signals after the work is finished;
s18: AIV _ PLC: receiving a signal that the mechanical arm finishes discharging; sending a signal that the mechanical arm finishes working;
s19: a main PLC: and receiving a discharging completion signal.
Compared with the prior art, the invention has the beneficial effects that:
the invention is provided with two sets of control systems, namely a main controller system and an AIV control system, data interaction is carried out between the main controller system and the AIV control system through a wireless network, the main controller system carries out control and data interaction for the AIV control system under the wireless network, and in the AIV control system, a PLC controls the actions of the AIV and a mechanical arm, thereby improving the flexibility.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of communication control according to the present invention;
FIG. 3 is a flow chart of the material taking and discharging operation of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The invention provides a technical scheme that: a control system for carrying comprises a main controller system and an AIV control system, wherein data interaction is carried out between the main controller system and the AIV control system through a wireless network.
Example two
Based on the control system for transportation provided by the first embodiment of the application, the second embodiment of the application provides another control system for transportation. The second embodiment is only a further mode of the first embodiment, and the implementation of the second embodiment does not affect the implementation of the first embodiment alone.
The second embodiment of the present invention will be further described with reference to the drawings and the following embodiments.
In contrast to the first embodiment, the present embodiment provides a specific main controller system and AIV control system.
The main controller system comprises a wireless router, a switch, a main PLC and an AC + AP, wherein the main PLC interacts with the switch through a network cable, and the switch interacts with the wireless router and the AC + AP through the network cable respectively.
The AIV control system comprises a mechanical arm, an AIV _ PLC and an AIV, wherein the AIV _ PLC interacts with the mechanical arm through an IO line, and the AIV _ PLC interacts with the AIV through a network cable.
Preferably, the main PLC and the AIV _ PLC adopt industrial wireless APs. The main PLC and the AIV _ PLC carry out TCP/IP communication. The AIV _ PLC selects a model number that supports multiple socket ports. And the communication between the AIV _ PLC and the mechanical arm adopts a Modbus _ RTU communication mode. And the communication between the AIV _ PLC and the mechanical arm adopts a TCP/IP communication mode.
1. Each part is described specifically from an electrical perspective:
1) building of wireless network
The control system depends on the wireless network to carry out TCP/IP communication, so the signal quality of the wireless network directly determines whether the communication is normal. The first layer uses a wireless router, which is used to build a local area network and set IP address and network segment. The control system must be in the same network segment to perform communication operation. The solution with AC + AP is finally decided in view of the size of the working space and the number of obstacles in the space. The number of APs depends on the environment within the plant. The plurality of APs can realize seamless connection of the wireless network, and continuous and uninterrupted network is guaranteed.
2) PLC communication in AIV control system
Since the AIV _ PLC communicates with the master PLC in the environment of a wireless network, the PLC needs to select an industrial-grade wireless AP. Thus, the AIV _ PLC can perform TCP/IP communication with the main PLC. When the AIV _ PLC selects the model, the model supporting a plurality of socket ports is selected, and the socket ports are required because the AIV _ PLC is required to carry out TCP/IP communication with the main PLC and the AIV. At least two socket ports are guaranteed. The AIV _ PLC communicates with the AIV and with the host PLC, all following the principle that sending an instruction necessitates returning an instruction. In this way a closed loop control can be achieved.
3) AIV _ PLC and robot arm communication
The AIV _ PLC and the mechanical arm only need IO control, and the PLC only needs to give a starting signal because a program of the mechanical arm exists in a controller of the mechanical arm. The mechanical arm can give simple IO signals such as the completion of the work of the PLC.
2. Controlling logical relationships
The control difficulty of the control system is that the AIV _ PLC is in data communication with the main PLC and the controller of the AIV to achieve a closed-loop control function.
All communication uses TCP/IP communication, when the main PLC communicates with the AIV _ PLC, the main PLC is used as a client, and the AIV _ PLC is used as a server. And under the same network segment, the main PLC performs communication identification according to the port number of the AIV _ PLC.
When the AIV _ PLC communicates with the controller of the AIV itself, the AIV _ PLC functions as a client and the AIV functions as a server.
The main communication control process is shown in fig. 2. And closed-loop control is carried out according to the principle that feedback instructions are required after the instructions are sent.
A communication control flow of a control system for carrying comprises the following steps:
s1: the master PLC opens a port;
s2: the master PLC sends an instruction;
s3: the AIV _ PLC receives an instruction;
s4: the AIV _ PLC sends the instruction to the AIV;
s5: the AIV returns an instruction to the AIV _ PLC;
s6: the AIV _ PLC receives an instruction;
s7: the AIV _ PLC sends the instruction to the main PLC;
s8: the master PLC closes the communication port.
A specific operation flow of a control system for handling comprises the following steps:
s1: a main PLC: sending the target location;
s2: AIV _ PLC: receiving a target location; sending the target location to the AIV;
s3: and (3) AIV: moving to a target position after receiving the instruction; returning to the arrival instruction after the target position is reached;
s4: AIV _ PLC: receiving an arrival instruction; sending a reach instruction to the master PLC;
s5: a main PLC: receiving an arrival instruction; sending a material taking position to arrive;
s6: AIV _ PLC: receiving the arrival of a material taking position; sending a material taking position arrival signal that an instruction is received;
s7: and (3) AIV: receiving a material taking position arrival signal and receiving an instruction; sending a material taking starting instruction;
s8: AIV _ PLC: receiving a material taking starting signal; an IO signal is output to the mechanical arm, and the mechanical arm starts to work;
s9: the mechanical arm finishes working and outputs IO signals;
s10: AIV _ PLC: receiving an IO signal after the mechanical arm works; sending a signal that the mechanical arm finishes working;
s11: a main PLC: receiving a signal that the mechanical arm finishes working; sending a discharging target position;
s12: AIV _ PLC: receiving a discharging target position; sending the target location to the AIV;
s13: and (3) AIV: receiving a material placing position signal and moving to a material placing position; the sending and discharging position is reached;
s14: AIV _ PLC: receiving that the material placing position is reached; the sending and discharging position is reached;
s15: a main PLC: receiving that the material placing position is reached; sending a material placing starting instruction;
s16: AIV _ PLC: receiving a material placing starting instruction; sending a material discharge starting IO signal to a mechanical arm;
s17: the mechanical arm starts to work and outputs IO signals after the work is finished;
s18: AIV _ PLC: receiving a signal that the mechanical arm finishes discharging; sending a signal that the mechanical arm finishes working;
s19: a main PLC: receiving a signal that discharging is finished;
in the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean 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 invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A control system for handling, comprising a main controller system and an AIV control system, characterized in that: and the main controller system and the AIV control system carry out data interaction through a wireless network.
2. A control system for handling according to claim 1, characterized in that: the main controller system comprises a wireless router, a switch, a main PLC and an AC + AP, wherein the main PLC is interacted with the switch through a network cable, and the switch is interacted with the wireless router and the AC + AP through the network cable respectively.
3. A control system for handling according to claim 2, characterised in that: the AIV control system comprises a mechanical arm, an AIV _ PLC and an AIV, wherein the AIV _ PLC is interacted with the mechanical arm through an IO line, and the AIV _ PLC is interacted with the AIV through a network cable.
4. A control system for handling according to claim 3, characterised in that: and the main PLC and the AIV _ PLC adopt industrial wireless APs.
5. A control system for handling according to claim 3, characterised in that: and the main PLC and the AIV _ PLC carry out TCP/IP communication.
6. A control system for handling according to claim 3, characterised in that: the AIV _ PLC selects a model supporting multiple socket ports.
7. A control system for handling according to claim 3, characterised in that: and the communication between the AIV _ PLC and the mechanical arm adopts a Modbus _ RTU communication mode.
8. A control system for handling according to claim 3, characterised in that: and the AIV _ PLC and the mechanical arm adopt a TCP/IP communication mode for communication.
9. The communication control flow of the control system for handling according to claim 1, comprising the steps of:
s1: the master PLC opens a port;
s2: the master PLC sends an instruction;
s3: the AIV _ PLC receives an instruction;
s4: the AIV _ PLC sends the instruction to the AIV;
s5: the AIV returns an instruction to the AIV _ PLC;
s6: the AIV _ PLC receives an instruction;
s7: the AIV _ PLC sends the instruction to the main PLC;
s8: the master PLC closes the communication port.
10. The specific operational procedure of a control system for handling according to claim 1, comprising the steps of:
s1: a main PLC: sending the target location;
s2: AIV _ PLC: receiving a target location; sending the target location to the AIV;
s3: and (3) AIV: moving to a target position after receiving the instruction; returning to the arrival instruction after the target position is reached;
s4: AIV _ PLC: receiving an arrival instruction; sending a reach instruction to the master PLC;
s5: a main PLC: receiving an arrival instruction; sending a material taking position to arrive;
s6: AIV _ PLC: receiving the arrival of a material taking position; sending a material taking position arrival signal that an instruction is received;
s7: and (3) AIV: receiving a material taking position arrival signal and receiving an instruction; sending a material taking starting instruction;
s8: AIV _ PLC: receiving a material taking starting signal; an IO signal is output to the mechanical arm, and the mechanical arm starts to work;
s9: the mechanical arm finishes working and outputs IO signals;
s10: AIV _ PLC: receiving an IO signal after the mechanical arm works; sending a signal that the mechanical arm finishes working;
s11: a main PLC: receiving a signal that the mechanical arm finishes working; sending a discharging target position;
s12: AIV _ PLC: receiving a discharging target position; sending the target location to the AIV;
s13: and (3) AIV: receiving a material placing position signal and moving to a material placing position; the sending and discharging position is reached;
s14: AIV _ PLC: receiving that the material placing position is reached; the sending and discharging position is reached;
s15: a main PLC: receiving that the material placing position is reached; sending a material placing starting instruction;
s16: AIV _ PLC: receiving a material placing starting instruction; sending a material discharge starting IO signal to a mechanical arm;
s17: the mechanical arm starts to work and outputs IO signals after the work is finished;
s18: AIV _ PLC: receiving a signal that the mechanical arm finishes discharging; sending a signal that the mechanical arm finishes working;
s19: a main PLC: and receiving a discharging completion signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078427.XA CN113900406A (en) | 2021-09-15 | 2021-09-15 | Control system for carrying |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111078427.XA CN113900406A (en) | 2021-09-15 | 2021-09-15 | Control system for carrying |
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| CN113900406A true CN113900406A (en) | 2022-01-07 |
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| CN202111078427.XA Pending CN113900406A (en) | 2021-09-15 | 2021-09-15 | Control system for carrying |
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| CN214062511U (en) * | 2020-08-18 | 2021-08-27 | 北京鑫华源机械制造有限责任公司 | Wireless split type intelligent automobile transfer robot control system |
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|---|---|---|---|---|
| CN101817182A (en) * | 2010-03-30 | 2010-09-01 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| US20160266578A1 (en) * | 2015-03-10 | 2016-09-15 | John Bean Technologies Corporation | Automated guided vehicle system |
| US20160373963A1 (en) * | 2015-06-19 | 2016-12-22 | Fortinet, Inc. | Automatically deployed wireless network |
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