CN114104630A - Control system of agricultural machinery production assembly line - Google Patents
Control system of agricultural machinery production assembly line Download PDFInfo
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- CN114104630A CN114104630A CN202111441013.9A CN202111441013A CN114104630A CN 114104630 A CN114104630 A CN 114104630A CN 202111441013 A CN202111441013 A CN 202111441013A CN 114104630 A CN114104630 A CN 114104630A
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G54/00—Non-mechanical conveyors not otherwise provided for
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Abstract
The invention belongs to the technical field of agricultural machinery production, and particularly relates to a control system of an agricultural machinery production general assembly line, which comprises a magnetic track, an assembly trolley, a positioning system and a control end, wherein the magnetic track is arranged on the assembly trolley; the magnetic force track comprises magnetic force lines arranged along the production line; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit; the magnetic navigation unit is used for matching with the magnetic lines of force to identify a path; the positioning system is used for determining the positioning of the assembly trolley through the position unit and sending the positioning to the control end; an electronic map of the production line is stored in the control end, and all driving routes are marked on the electronic map; the control end is also internally stored with the serial numbers of all the assembly trolleys; the control end is used for inputting the running route of each numbered assembly trolley and sending a navigation signal to the processing unit of the assembly trolley according to the running route and the current location of the assembly trolley. The system can ensure the order of the assembly trolley on the production line, and further ensure the stability of the production efficiency.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery production, and particularly relates to a control system of an agricultural machinery production general assembly line.
Background
In the prior art, when the agricultural machinery is assembled and debugged, a conveying belt is used as a conveying line to set an assembly line and a debugging line. In such a way, when the capacity of the assembly line can not meet the current demand, the assembly line is very troublesome to expand, a new assembly line is usually required to meet the demand, the operation process is very complicated, and the assembly line occupies a production workshop very much. The installation of the newly added pipeline can also be very cumbersome if the remaining space in the plant is not already sufficient.
In order to solve the problems, the applicant provides a production system for using an AGV trolley as an assembly trolley, wherein the AGV trolley runs by matching with a magnetic track, so that the AVG trolley plays a role in conveying a conveying belt while playing a role in loading materials. When a new assembly line is needed, only new magnetic force lines need to be laid on the ground of a workshop, even if the residual space of the workshop is not particularly square, the assembly line can be expanded as long as the assembly trolley can pass through and can be provided with stations, and the layout of the new magnetic force track can be further expanded through branch lines, turnouts and other modes.
However, the production system is operated while tens or even tens of assembly vehicles are running, and the assembly vehicles perform path recognition based on the magnetic lines of force. In the prior art, the AGV is usually controlled by manual remote control, but the manual remote control can only directionally operate one AGV, if the manual remote control is adopted, the operation cost is too high, and the operators need to communicate frequently, so that time and labor are wasted; in addition, the production line has good expansibility and low requirements on terrain, so that a plurality of branches and branches are usually present, the operation disorder of the assembly trolley is easy to occur during production, the order disorder of the production line is caused, and the stability of the production efficiency is difficult to ensure.
Therefore, a control system of an assembly line for agricultural machinery is needed, which can ensure the order of the assembly trolley on the production line, and further ensure the stability of the production efficiency.
Disclosure of Invention
The invention aims to provide a control system of an agricultural machinery production assembly line, which can ensure the order of an assembly trolley on a production line and further ensure the stability of production efficiency.
The basic scheme provided by the invention is as follows:
a control system of an agricultural machinery production general assembly line comprises a magnetic track, an assembly trolley, a positioning system and a control end; the magnetic force track comprises magnetic force lines arranged along the production line; a plurality of assembly trolleys are provided, and each assembly trolley is an AGV trolley; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit; the magnetic navigation unit is used for matching with the magnetic lines of force to identify a path; the positioning system is used for determining the positioning of the assembly trolley through the position unit and sending the positioning to the control end;
an electronic map of the production line is stored in the control end, and all driving routes are marked on the electronic map; the control end is also internally stored with the serial numbers of all the assembly trolleys; the control end is used for inputting the running route of each numbered assembly trolley and sending a navigation signal to the processing unit of the assembly trolley according to the running route of the assembly trolley and the current positioning of the assembly trolley, and the navigation signal comprises a real-time running path; and the processing unit is used for controlling the assembly trolley to run according to the real-time running path after receiving the navigation signal.
Basic scheme theory of operation and beneficial effect:
by using the system, the electronic map of the production line is stored in the control end, and all driving paths are marked on the electronic map. Before the production line starts to operate, managers can plan the running routes of all the assembly trolleys and then input the planned running routes into a control system.
When the assembly trolley runs, the positioning system can determine the current positioning of the assembly trolley through the position unit of the assembly trolley and send the current positioning to the control end, and then the control end can send a navigation signal to the processing unit of the assembly trolley according to the running route of the assembly trolley and the current positioning of the assembly trolley, so that the assembly trolley can run along the planned running route. And the processing unit of the assembly trolley controls the assembly trolley to run according to the real-time running path, so that the running route of the assembly trolley is ensured to be consistent with the planned running route.
Therefore, by using the system, no matter how many assembly trolleys are, and how many branches and branches of the production line are, the assembly trolleys can automatically move according to the planned running route only by planning the running route of each assembly trolley in advance when the production line runs formally. In conclusion, the system can ensure the order of the assembly trolley on the production line, and further ensure the stability of the production efficiency.
Furthermore, a plurality of stations are arranged on the production line; the coordinate position of each station and the beat duration of each station are marked on the electronic map; the control end is also used for calling the beat time length of a certain station when the positioning of the assembly trolley reaches the coordinate position of the station, and sending a station processing signal to the processing unit of the transfer trolley, wherein the station processing signal comprises the beat time length; the processing unit is also used for controlling the time length of the stopping beat of the assembling trolley after receiving the station processing signal.
Has the advantages that: therefore, when the assembly trolley passes through each station in sequence on the driving route, the control end can send corresponding working and processing signals to the assembly trolley respectively, and the assembly trolley is enabled to stop automatically at each station for a corresponding time length so as to ensure the orderly operation of the production line.
Furthermore, a release button is arranged on the station and is communicated with the control end; the release button is used for sending a release signal to the control end; the control end is also used for sending a pre-starting signal to a processing unit of the assembly trolley positioned at the station coordinate position after receiving the release signal; and the processing unit is also used for controlling the assembly trolley to continuously run along the corresponding running route after receiving the early starting signal.
Has the advantages that: with the arrangement, if the working procedure of the materials on the assembly table is completed in advance by the staff at the station, the assembly trolley can be advanced to move out of the station by pressing the release button. The processing efficiency of the production line is ensured.
Furthermore, the control end is also used for storing and statistically analyzing the early starting signals of all the stations.
Has the advantages that: through the statistical analysis of the early starting signals of all the stations, managers can know the actual station processing time of all the stations and use the actual station processing time as the reference for optimizing the time and the tempo.
Further, the assembly trolley is also provided with an obstacle avoidance unit for detecting obstacles and sending detection data to the processing unit; the processing unit is also used for controlling the running speed of the assembly trolley according to the detection data of the obstacles.
Has the advantages that: with the arrangement, if an obstacle exists on the running path of the assembly trolley, such as the object accidentally falling to the side of the magnetic belt, the processing unit can decelerate or stop running the assembly trolley, so that the assembly trolley is prevented from colliding with the obstacle, and the assembly trolley or a device loaded by the assembly trolley is prevented from being damaged.
Further, the controlling the traveling speed of the assembly trolley according to the detection data of the obstacle includes analyzing a distance between the obstacle and the assembly trolley, and if the obstacle is within a preset deceleration range, controlling the assembly trolley to decelerate to a preset slow traveling speed by the processing unit; and if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running.
Has the advantages that: in such a way, when the barrier collides with the assembly trolley, the assembly trolley decelerates firstly and then stops, and the situation that the material device on the assembly trolley is thrown away due to sudden braking can be avoided due to natural transition. In addition, in this way, when the obstacle is only close to the magnetic track and does not collide with the assembly trolley, the assembly trolley travels by decelerating, and the traveling stability on the road section where the obstacle exists can be ensured.
Further, the control end is also used for setting a safe distance, a safe speed and a safe turning angle; the safe distance is smaller than the boundary range value of the deceleration range, and the safe speed is larger than the crawling speed;
the assembly trolley is also provided with an angle detection unit which is electrically connected with the processing unit and used for detecting the turning angle during running and sending the turning angle to the processing unit; the processing unit is also used for analyzing the minimum distance between the assembly trolley and the barrier when the assembly trolley passes through the road section where the barrier is located according to the detection data of the barrier avoiding unit and sending the minimum distance to the control end when the assembly trolley passes through the road section, and analyzing the turning angle of the assembly trolley when the assembly trolley passes through the road section according to the data of the angle detection unit and sending the turning angle to the control end; the processing unit is further used for sending the initial distance of the detected obstacle to the control end, and the control end is further used for recording the initial distance and an initial position corresponding to the initial distance;
the control end is also used for recording the corresponding processing unit as the current processing unit when receiving the new initial distance and analyzing whether the initial position corresponding to the new initial distance is recorded; if the vehicle-mounted vehicle; if the minimum distance is greater than the safe distance, the control end sends an original speed driving signal to the current processing unit; if the minimum distance is smaller than or equal to the safe distance, the control end analyzes whether the turning angle is larger than the safe turning angle, and if the minimum distance is smaller than or equal to the safe turning angle, the control end sends an original speed running signal to the current processing unit; if the angle is larger than the safe turning angle, the control end sends a safe driving signal to the current processing unit, and the safe driving signal comprises a safe speed;
the processing unit is also used for controlling the assembly trolley to drive the current road section where the obstacle is located at the current speed when the original speed driving signal is received; and the processing unit is also used for controlling the assembly trolley to drive the current road section where the obstacle is located at the safe speed after receiving the safe driving signal.
Has the advantages that: when an obstacle is present, in particular one that does not cause the trolley to pause, many times the obstacle is not immediately cleaned, but remains in place for a period of time. However, due to the existence of the obstacles, the subsequent trolleys are decelerated to a slow speed to pass through the road section with the obstacles, and the production efficiency of the production line is not affected slightly. When the system is used, when the obstacle does not stop the assembly trolley, the processing unit of the assembly trolley sends the minimum distance and the turning angle between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located to the control end. Subsequent assembly trolleys have been made to have a reference for the speed of travel when the same road section encounters the same obstacle.
Specifically, the processing unit sends the initial distance of the detected obstacle to the control end, and the control end records the initial distance and the initial position corresponding to the initial distance. By this initial distance and initial position, the position of the obstacle can be locked. When subsequent assembly trolleys encounter the same obstacle, very similar initial distances are transmitted at the same initial position (the initial distances are rarely exactly the same due to errors in signal transmission, etc.). Put another way, if the initial distances are the same and the difference between the initial distances is less than the preset error, it can be determined that the subsequent assembly trolley has come to the road section where the obstacle is located. Therefore, the control end calls the corresponding minimum distance and the corresponding turning angle to carry out running analysis, and provides a running speed suggestion for the subsequent assembly trolley.
If the minimum distance is greater than the safe distance, the assembly trolley can always keep a larger distance with the barrier when passing through the road section, and influence can not exist even if the assembly trolley does not decelerate.
If the minimum distance is less than or equal to the safe distance, the turning condition of the road section needs to be known, because inertia exists during turning, if the turning angle is greater than the safe turning angle, the influence of the inertia is great, and if the running speed is high during passing, the assembly trolley (or a device in the state of the assembly trolley) can be collided with an obstacle and damaged, so that the control end sends a safe running signal to the current processing unit, and the subsequent assembly trolley runs through the road section at the safe speed. Because the safe speed is higher than the slow running speed, even under the condition, the passing efficiency of the assembly trolley can be improved, and the production efficiency of the production line is ensured as much as possible. If the turning angle is smaller than or equal to the safe turning angle, the turning angle of the road section where the barrier is located is very small, and the influence of inertia is very small, so that the control end sends an original speed running signal to the current processing unit, the subsequent assembly trolley directly runs through the road section without speed reduction, and the production efficiency of a production line is ensured.
By the mode, the influence of the obstacles on the assembly trolley can be reduced as far as possible before the obstacles are cleaned, and the production efficiency of a production line is ensured.
Further, the system also comprises a management end; the control end is further used for analyzing the position of the obstacle according to the initial position and the initial distance, analyzing the existing time length of the obstacle when the obstacle at the same position is received, and sending a processing signal to the management end if the existing time length exceeds the preset processing time length.
Has the advantages that: in this way, the management side can analyze the existence time of the obstacles which do not stop the running of the assembly trolley in real time. Although the present application can reduce the influence of such obstacles on the production efficiency as much as possible, if such obstacles are not treated for a long time, there is a possibility that a passer-by may inadvertently touch the obstacle, so that the obstacle moves to a position where the assembly carriage stops operating. Therefore, when the existing time of the obstacles exceeds the preset processing time, the control end sends a processing signal to the management end, so that the management personnel can know the situation in time and perform corresponding processing as soon as possible.
Furthermore, the management end sends out a prompt after receiving the processing signal.
Has the advantages that: through reminding, managers can be made to notice the situation and carry out corresponding treatment in time.
Further, the obstacle avoidance unit is a non-contact obstacle sensor.
Has the advantages that: compared with a contact type obstacle sensor, the method is more suitable for the application scene of the assembly trolley.
Drawings
Fig. 1 is a logic block diagram of a first embodiment of the invention.
Detailed Description
The following is further detailed by the specific embodiments:
example one
As shown in fig. 1, a control system of an agricultural machinery production assembly line comprises a magnetic track, an assembly trolley, a positioning system and a control end. In this embodiment, the control terminal is an industrial PC.
The magnetic force track includes magnetic lines of force disposed along the production line. The specific arrangement of the magnetic lines prevents the specific setting of the technical personnel in the field according to the actual situation of the production line in the workshop. A plurality of assembly trolleys are provided, and each assembly trolley is an AGV trolley; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit. The magnetic navigation unit is used for matching with the magnetic lines of force to identify the path. The positioning system is used for determining the positioning of the assembly trolley through the position unit and sending the positioning to the control end. In this embodiment, the positioning system is an indoor bluetooth positioning system, and the position unit is a bluetooth module; in other embodiments, the positioning system may also use an indoor WIFI positioning system or UWBLOC positioning system, and correspondingly, the corresponding location unit may use a WIFI module or UWBLOC tag.
The control end is internally stored with an electronic map of the production line, and all driving routes are marked on the electronic map. Specifically, the electronic question map and the marked driving route can be manufactured and stored by technical personnel according to the actual arrangement condition of the production line. When the layout of the production line changes, technicians can update the electronic map synchronously. The control end also stores the serial numbers of the assembly trolleys, and particularly, the control end confirms the serial numbers of the assembly trolleys through the serial numbers of the processing units of the assembly trolleys communicated with the control end. The control end is used for inputting the running route of each numbered assembly trolley and sending a navigation signal to the processing unit of the assembly trolley according to the running route of the assembly trolley and the current positioning of the assembly trolley, and the navigation signal comprises a real-time running path; and the processing unit is used for controlling the assembly trolley to run according to the real-time running path after receiving the navigation signal.
In the embodiment, a production line is provided with a plurality of stations; the number and location of the stations can be specifically configured by those skilled in the art according to the spatial layout of the production plant and the capacity requirement. The coordinate position of each station and the beat duration of each station are marked on the electronic map. The control end is also used for calling the beat time length of a certain station when the positioning of the assembly trolley reaches the coordinate position of the station, and sending a station processing signal to the processing unit of the transfer trolley, wherein the station processing signal comprises the beat time length; the processing unit is also used for controlling the time length of the stopping beat of the assembling trolley after receiving the station processing signal.
A release button is arranged on the station and is communicated with the control end; the release button is used for sending a release signal to the control end; the control end is also used for sending a pre-starting signal to a processing unit of the assembly trolley positioned at the station coordinate position after receiving the release signal; and the processing unit is also used for controlling the assembly trolley to continuously run along the corresponding running route after receiving the early starting signal. In this embodiment, the release button is pedal-type electricity button, and like this, the station personnel's of being convenient for concrete release operation more. The control end is also used for storing and statistically analyzing the early starting signals of all the stations.
The specific implementation process is as follows:
by using the system, the electronic map of the production line is stored in the control end, and all driving paths are marked on the electronic map. Before the production line starts to operate, managers can plan the running routes of all the assembly trolleys and then input the planned running routes into a control system.
When the assembly trolley runs, the positioning system can determine the current positioning of the assembly trolley through the position unit of the assembly trolley and send the current positioning to the control end, and then the control end can send a navigation signal to the processing unit of the assembly trolley according to the running route of the assembly trolley and the current positioning of the assembly trolley, so that the assembly trolley can run along the planned running route. And the processing unit of the assembly trolley controls the assembly trolley to run according to the real-time running path, so that the running route of the assembly trolley is ensured to be consistent with the planned running route.
Therefore, by using the system, no matter how many assembly trolleys are, and how many branches and branches of the production line are, the assembly trolleys can automatically move according to the planned running route only by planning the running route of each assembly trolley in advance when the production line runs formally.
The coordinate positions of all the stations and the beat time of all the stations are marked on the electronic map. When the assembly trolley passes through each station in sequence on the driving route, the control end can respectively send corresponding working and processing signals to the assembly trolley, so that the assembly trolley automatically stops corresponding beat time length on each station to ensure the orderly operation of the production line. If the station personnel on a certain station finish the processing procedure of the material on a certain assembly table in advance, the assembly trolley can be advanced to move out of the station by pressing the release button. The processing efficiency of the production line is ensured. Besides, the control end can also store, count and analyze the early starting signals of all the stations, and managers can know the actual station processing time of all the stations and use the actual station processing time as the reference for optimizing the time and the rhythm.
The system can ensure the order of the assembly trolley on the production line, and further ensure the stability of the production efficiency.
Example two
Different from the first embodiment, the assembly trolley is also provided with an obstacle avoidance unit for detecting obstacles and sending detection data to the processing unit; in this embodiment, the obstacle avoidance unit is a laser obstacle sensor.
The processing unit is also used for controlling the running speed of the assembly trolley according to the detection data of the obstacles. Specifically, the controlling the traveling speed of the assembly trolley according to the detection data of the obstacle includes analyzing the distance between the obstacle and the assembly trolley, and if the obstacle is within a preset deceleration range, controlling the assembly trolley to decelerate to a preset slow traveling speed by the processing unit; and if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running.
The control end is also used for setting a safe distance, a safe speed and a safe turning angle; the safe distance is smaller than the boundary range value of the deceleration range, and the safe speed is larger than the crawling speed. The assembly trolley is also provided with an angle detection unit which is electrically connected with the processing unit and used for detecting the turning angle during running and sending the turning angle to the processing unit. In this embodiment, the angle detection unit is a gyroscope.
The processing unit is also used for analyzing the minimum distance between the assembly trolley and the barrier when the assembly trolley passes through the road section where the barrier is located according to the detection data of the barrier avoiding unit and sending the minimum distance to the control end when the assembly trolley passes through the road section, and analyzing the turning angle of the assembly trolley when the assembly trolley passes through the road section according to the data of the angle detection unit and sending the turning angle to the control end; the processing unit is further used for sending the initial distance of the detected obstacle to the control end, and the control end is further used for recording the initial distance and an initial position corresponding to the initial distance;
the control end is also used for recording the corresponding processing unit as the current processing unit when receiving the new initial distance and analyzing whether the initial position corresponding to the new initial distance is recorded; if the vehicle-mounted vehicle; if the minimum distance is greater than the safe distance, the control end sends an original speed driving signal to the current processing unit; if the minimum distance is smaller than or equal to the safe distance, the control end analyzes whether the turning angle is larger than the safe turning angle, and if the minimum distance is smaller than or equal to the safe turning angle, the control end sends an original speed running signal to the current processing unit; if the angle is larger than the safe turning angle, the control end sends a safe driving signal to the current processing unit, and the safe driving signal comprises a safe speed;
the processing unit is also used for controlling the assembly trolley to drive the current road section where the obstacle is located at the current speed when the original speed driving signal is received; and the processing unit is also used for controlling the assembly trolley to drive the current road section where the obstacle is located at the safe speed after receiving the safe driving signal.
The specific implementation process is as follows:
if an obstacle exists on the running path of the assembly trolley, if the obstacle accidentally falls on the material beside the magnetic belt, the processing unit can decelerate or stop running the assembly trolley, so that the assembly trolley is prevented from colliding with the obstacle, and the assembly trolley or a device loaded by the assembly trolley is prevented from being damaged. Specifically, when the barrier can collide with the assembly trolley, the assembly trolley can decelerate and stop, and the situation that the material device on the assembly trolley is thrown away due to sudden braking can be avoided due to natural transition. In addition, in this way, when the obstacle is only close to the magnetic track and does not collide with the assembly trolley, the assembly trolley travels by decelerating, and the traveling stability on the road section where the obstacle exists can be ensured.
It is important to note that when an obstacle is present, and in particular the obstacle does not cause the trolley to pause, many times the obstacle is not immediately cleared, but remains in place for a period of time. However, due to the existence of the obstacles, the subsequent trolleys are decelerated to a slow speed to pass through the road section with the obstacles, and the production efficiency of the production line is not affected slightly. When the system is used, when the obstacle does not stop the assembly trolley, the processing unit of the assembly trolley sends the minimum distance and the turning angle between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located to the control end. Subsequent assembly trolleys have been made to have a reference for the speed of travel when the same road section encounters the same obstacle.
Specifically, the processing unit sends the initial distance of the detected obstacle to the control end, and the control end records the initial distance and the initial position corresponding to the initial distance. By this initial distance and initial position, the position of the obstacle can be locked. When subsequent assembly trolleys encounter the same obstacle, very similar initial distances are transmitted at the same initial position (the initial distances are rarely exactly the same due to errors in signal transmission, etc.). Put another way, if the initial distances are the same and the difference between the initial distances is less than the preset error, it can be determined that the subsequent assembly trolley has come to the road section where the obstacle is located. Therefore, the control end calls the corresponding minimum distance and the corresponding turning angle to carry out running analysis, and provides a running speed suggestion for the subsequent assembly trolley.
If the minimum distance is greater than the safe distance, the assembly trolley can always keep a larger distance with the barrier when passing through the road section, and influence can not exist even if the assembly trolley does not decelerate.
If the minimum distance is less than or equal to the safe distance, the turning condition of the road section needs to be known, because inertia exists during turning, if the turning angle is greater than the safe turning angle, the influence of the inertia is great, and if the running speed is high during passing, the assembly trolley (or a device in the state of the assembly trolley) can be collided with an obstacle and damaged, so that the control end sends a safe running signal to the current processing unit, and the subsequent assembly trolley runs through the road section at the safe speed. Because the safe speed is higher than the slow running speed, even under the condition, the passing efficiency of the assembly trolley can be improved, and the production efficiency of the production line is ensured as much as possible. If the turning angle is smaller than or equal to the safe turning angle, the turning angle of the road section where the barrier is located is very small, and the influence of inertia is very small, so that the control end sends an original speed running signal to the current processing unit, the subsequent assembly trolley directly runs through the road section without speed reduction, and the production efficiency of a production line is ensured.
By the mode, the influence of the obstacles on the assembly trolley can be reduced as far as possible before the obstacles are cleaned, and the production efficiency of a production line is ensured.
EXAMPLE III
Different from the second embodiment, the system further comprises a management end; in this embodiment, the management end is a smart phone loaded with a corresponding APP. The control end is further used for analyzing the position of the obstacle according to the initial position and the initial distance, analyzing the existing time length of the obstacle when the obstacle at the same position is received, and sending a processing signal to the management end if the existing time length exceeds the preset processing time length. And the management terminal sends out a prompt after receiving the processing signal.
With this arrangement, the management side can analyze the existence time of the obstacles which do not stop the running of the assembly trolley in real time. Although the present application can reduce the influence of such obstacles on the production efficiency as much as possible, if such obstacles are not treated for a long time, there is a possibility that a passer-by may inadvertently touch the obstacle, so that the obstacle moves to a position where the assembly carriage stops operating. Therefore, when the existing time of the obstacles exceeds the preset processing time, the control end sends a processing signal to the management end, so that the management personnel can know the situation in time and perform corresponding processing as soon as possible. After receiving the processing signal, the management end sends a prompt, and in this embodiment, the management end prompts in a mode of adding vibration to voice and characters so as to ensure that a manager notices the situation and timely performs corresponding processing.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. The utility model provides a control system of agricultural machinery production assembly line which characterized in that: the device comprises a magnetic track, an assembly trolley, a positioning system and a control end; the magnetic force track comprises magnetic force lines arranged along the production line; a plurality of assembly trolleys are provided, and each assembly trolley is an AGV trolley; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit; the magnetic navigation unit is used for matching with the magnetic lines of force to identify a path; the positioning system is used for determining the positioning of the assembly trolley through the position unit and sending the positioning to the control end;
an electronic map of the production line is stored in the control end, and all driving routes are marked on the electronic map; the control end is also internally stored with the serial numbers of all the assembly trolleys; the control end is used for inputting the running route of each numbered assembly trolley and sending a navigation signal to the processing unit of the assembly trolley according to the running route of the assembly trolley and the current positioning of the assembly trolley, and the navigation signal comprises a real-time running path; and the processing unit is used for controlling the assembly trolley to run according to the real-time running path after receiving the navigation signal.
2. The control system of an agricultural production assembly line of claim 1, wherein: a plurality of stations are arranged on the production line; the coordinate position of each station and the beat duration of each station are marked on the electronic map; the control end is also used for calling the beat time length of a certain station when the positioning of the assembly trolley reaches the coordinate position of the station, and sending a station processing signal to the processing unit of the transfer trolley, wherein the station processing signal comprises the beat time length; the processing unit is also used for controlling the time length of the stopping beat of the assembling trolley after receiving the station processing signal.
3. The control system of an agricultural production assembly line of claim 2, wherein: a release button is arranged on the station and is communicated with the control end; the release button is used for sending a release signal to the control end; the control end is also used for sending a pre-starting signal to a processing unit of the assembly trolley positioned at the station coordinate position after receiving the release signal; and the processing unit is also used for controlling the assembly trolley to continuously run along the corresponding running route after receiving the early starting signal.
4. The control system of an agricultural production assembly line of claim 3, wherein: the control end is also used for storing and statistically analyzing the early starting signals of all the stations.
5. The control system of an agricultural production assembly line of claim 1, wherein: the assembly trolley is also provided with an obstacle avoidance unit for carrying out obstacle detection and sending detection data to the processing unit; the processing unit is also used for controlling the running speed of the assembly trolley according to the detection data of the obstacles.
6. The control system of an agricultural production assembly line of claim 5, wherein: the controlling the traveling speed of the assembly trolley according to the detection data of the obstacle comprises analyzing the distance between the obstacle and the assembly trolley, and if the obstacle is within a preset deceleration range, controlling the assembly trolley to decelerate to a preset slow traveling speed by the processing unit; and if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running.
7. The control system of an agricultural production assembly line of claim 6, wherein: the control end is also used for setting a safe distance, a safe speed and a safe turning angle; the safe distance is smaller than the boundary range value of the deceleration range, and the safe speed is larger than the crawling speed;
the assembly trolley is also provided with an angle detection unit which is electrically connected with the processing unit and used for detecting the turning angle during running and sending the turning angle to the processing unit; the processing unit is also used for analyzing the minimum distance between the assembly trolley and the barrier when the assembly trolley passes through the road section where the barrier is located according to the detection data of the barrier avoiding unit and sending the minimum distance to the control end when the assembly trolley passes through the road section, and analyzing the turning angle of the assembly trolley when the assembly trolley passes through the road section according to the data of the angle detection unit and sending the turning angle to the control end; the processing unit is further used for sending the initial distance of the detected obstacle to the control end, and the control end is further used for recording the initial distance and an initial position corresponding to the initial distance;
the control end is also used for recording the corresponding processing unit as the current processing unit when receiving the new initial distance and analyzing whether the initial position corresponding to the new initial distance is recorded; if the vehicle-mounted vehicle; if the minimum distance is greater than the safe distance, the control end sends an original speed driving signal to the current processing unit; if the minimum distance is smaller than or equal to the safe distance, the control end analyzes whether the turning angle is larger than the safe turning angle, and if the minimum distance is smaller than or equal to the safe turning angle, the control end sends an original speed running signal to the current processing unit; if the angle is larger than the safe turning angle, the control end sends a safe driving signal to the current processing unit, and the safe driving signal comprises a safe speed;
the processing unit is also used for controlling the assembly trolley to drive the current road section where the obstacle is located at the current speed when the original speed driving signal is received; and the processing unit is also used for controlling the assembly trolley to drive the current road section where the obstacle is located at the safe speed after receiving the safe driving signal.
8. The control system of an agricultural production assembly line of claim 7, wherein: the system also comprises a management end; the control end is further used for analyzing the position of the obstacle according to the initial position and the initial distance, analyzing the existing time length of the obstacle when the obstacle at the same position is received, and sending a processing signal to the management end if the existing time length exceeds the preset processing time length.
9. The control system of an agricultural production assembly line of claim 8, wherein: and the management terminal sends out a prompt after receiving the processing signal.
10. The control system of an agricultural production assembly line of claim 9, wherein: the obstacle avoidance unit is a non-contact obstacle sensor.
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