CN114104630B - Control system of agricultural machinery production assembly line - Google Patents
Control system of agricultural machinery production assembly line Download PDFInfo
- Publication number
- CN114104630B CN114104630B CN202111441013.9A CN202111441013A CN114104630B CN 114104630 B CN114104630 B CN 114104630B CN 202111441013 A CN202111441013 A CN 202111441013A CN 114104630 B CN114104630 B CN 114104630B
- Authority
- CN
- China
- Prior art keywords
- assembly trolley
- control end
- assembly
- processing unit
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 83
- 238000012545 processing Methods 0.000 claims abstract description 120
- 238000001514 detection method Methods 0.000 claims description 19
- 230000009286 beneficial effect Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000009467 reduction Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of agricultural machinery production, and particularly relates to a control system of an agricultural machinery production assembly line, which 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; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit; the magnetic navigation unit is used for matching with magnetic force lines to perform path identification; 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; the control end stores an electronic map of the production line, and all driving routes are marked on the electronic map; the control end also stores the number of each assembly trolley; the control end is used for inputting the running route of the assembly trolley with each number 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. 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 assembly line.
Background
In the prior art, when the agricultural machinery is assembled and debugged, an assembly line and a debugging line are arranged by taking a conveyor belt as a transportation line. In this way, when the capacity of the assembly line cannot meet the current demand, the expansion of the assembly line is very troublesome, and a new assembly line is usually required to meet the demand, the operation process is very complex, and the position of the production workshop is very occupied. If the remaining space of the workshop is not sufficient, the installation of the newly added pipeline is very troublesome.
In order to solve the problem, the applicant provides a production system for using an AGV trolley as an assembly trolley, wherein the AGV trolley runs along with a magnetic track, and therefore, the AGV trolley plays a material loading device and simultaneously plays a conveying role of a conveying belt. When a new assembly line is needed, only new magnetic force lines are paved 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 the stations can be arranged, and the new magnetic force rail can be laid out in a branch line, a turnout way and other modes.
However, when the production system is operated, tens or even tens of assembly trolleys travel at the same time, and the assembly trolleys perform path recognition according to magnetic lines of force. In the prior art, the AGV trolley is controlled by manual remote control, but only one AGV trolley can be directionally operated by manual remote control, if the AGV trolley is manually controlled, the operation cost is too high, and operators need frequent communication, so that the time and the labor are wasted; in addition, the production line has good expansibility and low requirements on the terrain, more branches and branches usually exist, the condition of disordered production line caused by disordered operation of the assembly trolley easily occurs during production, and the stability of production efficiency is difficult to ensure.
Therefore, there is a need for a control system for an agricultural machinery production assembly line that can ensure the order of assembly trolleys on the production line and thus ensure the stability of 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 assembly trolleys on the 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 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; the number of the assembly trolleys is multiple, and the assembly trolleys are AGV trolleys; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit; the magnetic navigation unit is used for matching with magnetic force lines to perform path identification; 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;
the control end stores an electronic map of the production line, and all driving routes are marked on the electronic map; the control end also stores the number of each assembly trolley; 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, wherein the navigation signal comprises a real-time running path; 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 the driving paths are marked on the electronic map. Before the production line starts to operate, a manager can plan the driving route of each assembly trolley and then input the planned driving route into the control system.
When the assembly trolley runs, the positioning system can determine the current positioning of the assembly trolley through the position unit 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. The processing unit of the assembly trolley can control 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, how many branches and branches are on the production line, the running route of each assembly trolley is required to be planned in advance, and each assembly trolley can be ensured to automatically move according to the planned running route 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.
Further, a plurality of stations are arranged on the production line; the electronic map is also marked with the coordinate position of each station and the beat time length of each station; the control end is also used for retrieving 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 stop beat time of the assembly trolley after receiving the station processing signals.
The beneficial effects are that: therefore, when the assembly trolley sequentially passes through each station on the driving route, the control end can respectively send corresponding working signals to the assembly trolley, so that the assembly trolley automatically stops corresponding beat time on each station, and the orderly operation of the production line is ensured.
Further, 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 an advance starting signal to the processing unit of the assembly trolley positioned at the station coordinate position after receiving the release signal; the processing unit is also used for controlling the assembly trolley to continue to travel along the corresponding travel route after receiving the early starting signal.
The beneficial effects are that: by means of the arrangement, if a station person on a certain station completes the processing procedure of materials on a certain assembly table in advance, the assembly trolley can be driven out of the station in advance by pressing a release button. The processing efficiency of the production line is ensured.
Further, the control end is also used for storing and statistically analyzing the advance starting signals of the stations.
The beneficial effects are that: through the statistical analysis of the early starting signals of the stations, a manager can know the actual station processing time of each station and take the actual station processing time as a reference for optimizing the time beats.
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 obstacle.
The beneficial effects are that: in this arrangement, if there is an obstacle in the travel path of the assembly trolley, such as a material that inadvertently falls beside the magnetic belt, the processing unit may slow down or halt the travel of the assembly trolley, thereby avoiding the collision of the assembly trolley with the obstacle and causing damage to the assembly trolley or its loaded device.
Further, the controlling the running 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, the processing unit controls the assembly trolley to decelerate to a preset creep speed; if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running.
The beneficial effects are that: in such a way, when an obstacle collides with the assembly trolley, the assembly trolley is decelerated and then stopped, and the situation that the material device on the assembly trolley is thrown out due to sudden braking can be avoided due to the 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 runs by means of a deceleration passage, and the running stability of 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 safety distance is smaller than the boundary range value of the deceleration range, and the safety speed is larger than the creep speed;
the assembly trolley is also provided with an angle detection unit which is electrically connected with the processing unit and is 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 obstacle when the assembly trolley passes through the road section where the obstacle is located according to the detection data of the obstacle avoidance unit and sending the minimum distance to the control end, 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 also used for sending the initial distance of the detected obstacle to the control end, and the control end is also used for recording the initial distance and the 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 or not; if the initial distance is recorded, analyzing whether the difference value between the initial distance corresponding to the recorded initial position and the new initial distance is smaller than a preset error, and if so, calling a corresponding minimum distance and turning angle by the control end to carry out running analysis; if the minimum distance is greater than the safety distance, the control end sends an original speed running 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 safety turning angle is larger than the safety turning angle, the control end sends a safety running signal to the current processing unit, wherein the safety running signal comprises a safety speed;
the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at the current speed when the original speed driving signal is received; the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at a safe speed after receiving the safe driving signal.
The beneficial effects are that: when an obstacle is present, and in particular the obstacle does not stop the trolley, many times the obstacle is not cleaned immediately, but remains in place for a period of time. However, due to the obstacles, the following trolleys are decelerated to the creep speed and pass through the road sections with the obstacles, and the production efficiency of the production line is not affected little. When the obstacle does not stop the assembly trolley, the processing unit of the assembly trolley can send 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. The following assembly trolleys have been made to have a reference to the speed of travel when the same road segment 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 the subsequent assembly trolley encounters the same obstacle, a very similar initial distance is sent at the same initial position (the initial distance is rarely identical due to factors such as errors in signal transmission). Stated another way, if the initial distances are the same and the difference in the initial distances is less than the preset error, then a subsequent assembly trolley may be deemed to have arrived at the road segment where the obstacle is located. Therefore, the control end can call the corresponding minimum distance and turning angle to carry out running analysis, and a suggestion of running speed is provided for the subsequent assembly trolley.
If the minimum distance is greater than the safety distance, the assembly trolley can always keep a larger distance with the obstacle when passing through the road section, and even no speed reduction is performed, no influence exists, so that the control end sends an original speed running signal to the current processing unit, the subsequent assembly trolley can directly run through the road section without speed reduction, and the production efficiency of the production line is ensured.
If the minimum distance is smaller 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 larger 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 collide with an obstacle to be damaged, so that the control end sends a safe running signal to the current processing unit, and the subsequent assembly trolley can run at the safe speed through the road section. Because the safety speed is greater than the creep speed, even in this case, the passing efficiency of the assembly trolley can be increased, and the production efficiency of the production line can be 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 obstacle is located is small, and the influence of inertia is small, so that the control end sends an original speed running signal to the current processing unit, the subsequent assembly trolley does not slow down to directly run through the road section, and the production efficiency of the production line is ensured.
By the mode, the influence of the obstacle on the assembly trolley can be reduced as much as possible before the obstacle is cleaned, and the production efficiency of the production line is ensured.
Further, the system also comprises a management end; the control end is also 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.
The beneficial effects are that: in this way, the management end can analyze the existence time of the obstacles which can not stop the assembly trolley from running in real time. Although the present application can reduce the impact of such obstacles on production efficiency as much as possible, such obstacles, if left untreated for a long time, may be inadvertently touched by passers-by, such that the obstacle moves to a position where it may stop the assembly trolley from running. Therefore, when the existing time of the obstacle exceeds the preset processing time, the control end sends a processing signal to the management end, so that a manager can know the situation in time and perform corresponding processing as soon as possible.
Further, the management terminal sends out a reminder after receiving the processing signal.
The beneficial effects are that: through reminding, a manager can notice the situation and timely perform corresponding processing.
Further, the obstacle avoidance unit is a non-contact obstacle sensor.
The beneficial effects are that: compared with a contact type obstacle sensor, the sensor is more suitable for an application scene of an assembly trolley.
Drawings
Fig. 1 is a logic block diagram of a first embodiment of the present invention.
Detailed Description
The following is a further detailed description of the embodiments:
example 1
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 track comprises magnetic lines of force arranged along the production line. The specific arrangement of the magnetic lines is prevented, and a person skilled in the art can specifically set the magnetic lines according to the actual situation of the production line in the workshop. The number of the assembly trolleys is multiple, and the assembly trolleys are AGV trolleys; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit. The magnetic navigation unit is used for carrying out path identification in cooperation with magnetic force lines. 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 location unit is a bluetooth module; in other embodiments, the positioning system may also use an indoor WIFI positioning system or a UWBLOC positioning system, and accordingly, the corresponding location unit may use a WIFI module or a UWBLOC tag.
And the control end stores an electronic map of the production line, and all the driving routes are marked on the electronic map. Specifically, the electronic question chart and the marked driving route can be manufactured and stored by a technician 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 number of each assembly trolley, and specifically, the control end confirms the number of the assembly trolley through the number of the processing unit of the assembly trolley 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, wherein the navigation signal comprises a real-time running path; 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 this embodiment, a plurality of stations are provided on the production line; the number and location of the stations can be specifically set by those skilled in the art according to the space layout and capacity requirements of the production plant. The electronic map is also marked with the coordinate position of each station and the beat time length of each station. The control end is also used for retrieving 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 stop beat time of the assembly trolley after receiving the station processing signals.
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 an advance starting signal to the processing unit of the assembly trolley positioned at the station coordinate position after receiving the release signal; the processing unit is also used for controlling the assembly trolley to continue to travel along the corresponding travel route after receiving the early starting signal. In the embodiment, the release button is a foot-operated electric button, so that specific release operation of station personnel is facilitated. The control end is also used for storing and statistically analyzing the advance starting signals of each station.
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 the driving paths are marked on the electronic map. Before the production line starts to operate, a manager can plan the driving route of each assembly trolley and then input the planned driving route into the control system.
When the assembly trolley runs, the positioning system can determine the current positioning of the assembly trolley through the position unit 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. The processing unit of the assembly trolley can control 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, how many branches and branches are on the production line, the running route of each assembly trolley is required to be planned in advance, and each assembly trolley can be ensured to automatically move according to the planned running route when the production line runs formally.
The electronic map is also marked with the coordinate positions of the stations and the beat time length of the stations. When the assembly trolley sequentially passes through each station on the driving route, the control end can respectively send corresponding working signals to the assembly trolley, so that the assembly trolley automatically stops corresponding beat time on each station to ensure the orderly operation of the production line. If a station person on a certain station completes the processing procedure of the material on a certain assembly table in advance, the assembly trolley can be driven out of the station in advance by pressing a release button. The processing efficiency of the production line is ensured. In addition, the control end stores and statistically analyzes the advanced starting signals of the stations, and the manager can know the actual station processing time of each station and take the actual station processing time as a reference for optimizing the time beat.
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 further 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 obstacle. Specifically, the controlling the running 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 creep speed by the processing unit; 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 safety distance is smaller than the boundary range value of the deceleration range, and the safety speed is larger than the creep speed. The assembly trolley is further provided with an angle detection unit, and the angle detection unit is electrically connected with the processing unit and is used for detecting the turning angle during running and sending the turning angle to the processing unit. In this embodiment, the angle detecting unit is a gyroscope.
The processing unit is also used for analyzing the minimum distance between the assembly trolley and the obstacle when the assembly trolley passes through the road section where the obstacle is located according to the detection data of the obstacle avoidance unit and sending the minimum distance to the control end, 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 also used for sending the initial distance of the detected obstacle to the control end, and the control end is also used for recording the initial distance and the 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 or not; if the initial distance is recorded, analyzing whether the difference value between the initial distance corresponding to the recorded initial position and the new initial distance is smaller than a preset error, and if so, calling a corresponding minimum distance and turning angle by the control end to carry out running analysis; if the minimum distance is greater than the safety distance, the control end sends an original speed running 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 safety turning angle is larger than the safety turning angle, the control end sends a safety running signal to the current processing unit, wherein the safety running signal comprises a safety speed;
the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at the current speed when the original speed driving signal is received; the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at a 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, such as a material which falls beside the magnetic belt carelessly, the processing unit can enable the assembly trolley to slow down or stop running, so that the assembly trolley is prevented from colliding with the obstacle, and the assembly trolley or a loading device thereof is prevented from being damaged. Specifically, when the obstacle can collide with the assembly trolley, the assembly trolley can be decelerated and then stopped, and the situation that the material device on the assembly trolley is thrown out due to sudden braking can be avoided due to the 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 runs by means of a deceleration passage, and the running stability of the road section where the obstacle exists can be ensured.
It is particularly important to note that when there are obstacles, and in particular that the obstacle does not cause the trolley to come to a halt, many times the obstacle is not cleaned immediately, but rather remains in place for a period of time. However, due to the obstacles, the following trolleys are decelerated to the creep speed and pass through the road sections with the obstacles, and the production efficiency of the production line is not affected little. When the obstacle does not stop the assembly trolley, the processing unit of the assembly trolley can send 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. The following assembly trolleys have been made to have a reference to the speed of travel when the same road segment 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 the subsequent assembly trolley encounters the same obstacle, a very similar initial distance is sent at the same initial position (the initial distance is rarely identical due to factors such as errors in signal transmission). Stated another way, if the initial distances are the same and the difference in the initial distances is less than the preset error, then a subsequent assembly trolley may be deemed to have arrived at the road segment where the obstacle is located. Therefore, the control end can call the corresponding minimum distance and turning angle to carry out running analysis, and a suggestion of running speed is provided for the subsequent assembly trolley.
If the minimum distance is greater than the safety distance, the assembly trolley can always keep a larger distance with the obstacle when passing through the road section, and even no speed reduction is performed, no influence exists, so that the control end sends an original speed running signal to the current processing unit, the subsequent assembly trolley can directly run through the road section without speed reduction, and the production efficiency of the production line is ensured.
If the minimum distance is smaller 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 larger 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 collide with an obstacle to be damaged, so that the control end sends a safe running signal to the current processing unit, and the subsequent assembly trolley can run at the safe speed through the road section. Because the safety speed is greater than the creep speed, even in this case, the passing efficiency of the assembly trolley can be increased, and the production efficiency of the production line can be 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 obstacle is located is small, and the influence of inertia is small, so that the control end sends an original speed running signal to the current processing unit, the subsequent assembly trolley does not slow down to directly run through the road section, and the production efficiency of the production line is ensured.
By the mode, the influence of the obstacle on the assembly trolley can be reduced as much as possible before the obstacle is cleaned, and the production efficiency of the production line is ensured.
Example III
Unlike the second embodiment, the system also comprises a management end; in this embodiment, the management end is a smart phone loaded with a corresponding APP. The control end is also 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 terminal can analyze the existence time of the obstacles which do not stop the assembly trolley from running in real time. Although the present application can reduce the impact of such obstacles on production efficiency as much as possible, such obstacles, if left untreated for a long time, may be inadvertently touched by passers-by, such that the obstacle moves to a position where it may stop the assembly trolley from running. Therefore, when the existing time of the obstacle exceeds the preset processing time, the control end sends a processing signal to the management end, so that a manager can know the situation in time and perform corresponding processing as soon as possible. After receiving the processing signal, the management end sends out a prompt, and in this embodiment, the management end reminds in a mode of voice, text and vibration, so as to ensure that the management personnel notices the situation and carries out corresponding processing in time.
The foregoing is merely an embodiment of the present invention, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present invention, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (7)
1. A control system of an agricultural machinery production assembly line, which is characterized in that: 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; the number of the assembly trolleys is multiple, and the assembly trolleys are AGV trolleys; the assembly trolley comprises a position unit, a processing unit and a magnetic navigation unit; the magnetic navigation unit is used for matching with magnetic force lines to perform path identification; 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;
the control end stores an electronic map of the production line, and all driving routes are marked on the electronic map; the control end also stores the number of each assembly trolley; 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, wherein the navigation signal comprises a real-time running path; the processing unit is used for controlling the assembly trolley to run according to the real-time running path after receiving the navigation signal;
the assembly trolley is also provided with an obstacle avoidance unit which is used 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 obstacle;
the control of the running 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 in a preset deceleration range, the processing unit controls the assembly trolley to decelerate to a preset creep speed; if the obstacle is in 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 safety distance is smaller than the boundary range value of the deceleration range, and the safety speed is larger than the creep speed;
the assembly trolley is also provided with an angle detection unit which is electrically connected with the processing unit and is 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 obstacle when the assembly trolley passes through the road section where the obstacle is located according to the detection data of the obstacle avoidance unit and sending the minimum distance to the control end, 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 also used for sending the initial distance of the detected obstacle to the control end, and the control end is also used for recording the initial distance and the 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 or not; if the initial distance is recorded, analyzing whether the difference value between the initial distance corresponding to the recorded initial position and the new initial distance is smaller than a preset error, and if so, calling a corresponding minimum distance and turning angle by the control end to carry out running analysis; if the minimum distance is greater than the safety distance, the control end sends an original speed running 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 safety turning angle is larger than the safety turning angle, the control end sends a safety running signal to the current processing unit, wherein the safety running signal comprises a safety speed;
the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at the current speed when the original speed driving signal is received; the processing unit is also used for controlling the assembly trolley to drive through the road section where the current obstacle is located at a safe speed after receiving the safe driving signal.
2. The control system of an agricultural machine production assembly line of claim 1, wherein: a plurality of stations are arranged on the production line; the electronic map is also marked with the coordinate position of each station and the beat time length of each station; the control end is also used for retrieving 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 assembly trolley, wherein the station processing signal comprises the beat time length; the processing unit is also used for controlling the stop beat time of the assembly trolley after receiving the station processing signals.
3. The control system of an agricultural machine 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 an advance starting signal to the processing unit of the assembly trolley positioned at the station coordinate position after receiving the release signal; the processing unit is also used for controlling the assembly trolley to continue to travel along the corresponding travel route after receiving the early starting signal.
4. A control system for an agricultural machine production assembly line according to claim 3, wherein: the control end is also used for storing and statistically analyzing the advance starting signals of each station.
5. The control system for an agricultural machine production assembly line of claim 4, wherein: the system also comprises a management end; the control end is also 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.
6. The control system for an agricultural machine production assembly line of claim 5, wherein: and the management terminal sends out a prompt after receiving the processing signal.
7. The control system for an agricultural machine production assembly line of claim 6, wherein: the obstacle avoidance unit is a non-contact obstacle sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111441013.9A CN114104630B (en) | 2021-11-30 | 2021-11-30 | Control system of agricultural machinery production assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111441013.9A CN114104630B (en) | 2021-11-30 | 2021-11-30 | Control system of agricultural machinery production assembly line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114104630A CN114104630A (en) | 2022-03-01 |
| CN114104630B true CN114104630B (en) | 2024-04-09 |
Family
ID=80368436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111441013.9A Active CN114104630B (en) | 2021-11-30 | 2021-11-30 | Control system of agricultural machinery production assembly line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114104630B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137924B (en) * | 2021-11-30 | 2024-01-30 | 重庆华世丹农业装备制造有限公司 | Assembly production system |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005352855A (en) * | 2004-06-11 | 2005-12-22 | Mazda Motor Corp | Production line system |
| CN103135548A (en) * | 2012-05-02 | 2013-06-05 | 广州市远能物流自动化设备科技有限公司 | Unmanned carrying trolley and drive control system thereof |
| CN204439090U (en) * | 2014-11-17 | 2015-07-01 | 北京新能源汽车股份有限公司 | HUD (head-up display) system guiding system based on navigation system |
| CN106325270A (en) * | 2016-08-12 | 2017-01-11 | 天津大学 | Intelligent vehicle navigation system and method based on perception and autonomous calculation positioning navigation |
| CN106527260A (en) * | 2016-10-26 | 2017-03-22 | 江苏南瑞帕威尔电气有限公司 | Mid-set assembly line trolley automatic control system |
| CN106681321A (en) * | 2016-12-16 | 2017-05-17 | 盐城工学院 | RFID-based online scheduling control system of automatic guided vehicle |
| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN107091637A (en) * | 2017-06-21 | 2017-08-25 | 安徽瑞弋自动化科技有限公司 | A kind of automatic dispatching system based on magnetic navigation |
| CN107608356A (en) * | 2017-09-25 | 2018-01-19 | 芜湖智久机器人有限公司 | A kind of AGV dollies Vehicle Controller control system |
| CN109189037A (en) * | 2018-11-16 | 2019-01-11 | 浙江理工大学 | Automatic logistics system and its dispatching method in a kind of dyeing and finishing workshop |
| CN109532628A (en) * | 2018-12-22 | 2019-03-29 | 天津轮达鑫盛机械有限公司 | The workpiece turnaround system of screw tap production line |
| CN109857074A (en) * | 2019-02-02 | 2019-06-07 | 宁波吉利汽车研究开发有限公司 | Intelligent logistics system and workshop management system |
| CN110293955A (en) * | 2019-06-26 | 2019-10-01 | 重庆长安汽车股份有限公司 | A kind of U-shaped control system and the method for turning around automatically in automatic Pilot |
| CN110362077A (en) * | 2019-07-03 | 2019-10-22 | 上海交通大学 | Automatic driving vehicle urgent danger prevention decision system, method and medium |
| CN209946708U (en) * | 2019-01-29 | 2020-01-14 | 昆山众泰兴自动化设备有限公司 | Intelligent monitoring system of AGV dolly |
| CN209946707U (en) * | 2019-01-29 | 2020-01-14 | 昆山众泰兴自动化设备有限公司 | A on-vehicle control system that is used for AGV dolly of warehouse or workshop automatic transportation |
| CN111413976A (en) * | 2020-04-01 | 2020-07-14 | 安徽工业大学 | AGV control system and control method |
| CN111487936A (en) * | 2019-01-29 | 2020-08-04 | 昆山众泰兴自动化设备有限公司 | Online scheduling system of AGV dolly |
| CN211786760U (en) * | 2020-03-19 | 2020-10-27 | 浙江工业大学 | Magnetic navigation differential drive trolley control system |
-
2021
- 2021-11-30 CN CN202111441013.9A patent/CN114104630B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005352855A (en) * | 2004-06-11 | 2005-12-22 | Mazda Motor Corp | Production line system |
| CN103135548A (en) * | 2012-05-02 | 2013-06-05 | 广州市远能物流自动化设备科技有限公司 | Unmanned carrying trolley and drive control system thereof |
| CN204439090U (en) * | 2014-11-17 | 2015-07-01 | 北京新能源汽车股份有限公司 | HUD (head-up display) system guiding system based on navigation system |
| CN106325270A (en) * | 2016-08-12 | 2017-01-11 | 天津大学 | Intelligent vehicle navigation system and method based on perception and autonomous calculation positioning navigation |
| CN106527260A (en) * | 2016-10-26 | 2017-03-22 | 江苏南瑞帕威尔电气有限公司 | Mid-set assembly line trolley automatic control system |
| CN106681321A (en) * | 2016-12-16 | 2017-05-17 | 盐城工学院 | RFID-based online scheduling control system of automatic guided vehicle |
| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN107091637A (en) * | 2017-06-21 | 2017-08-25 | 安徽瑞弋自动化科技有限公司 | A kind of automatic dispatching system based on magnetic navigation |
| CN107608356A (en) * | 2017-09-25 | 2018-01-19 | 芜湖智久机器人有限公司 | A kind of AGV dollies Vehicle Controller control system |
| CN109189037A (en) * | 2018-11-16 | 2019-01-11 | 浙江理工大学 | Automatic logistics system and its dispatching method in a kind of dyeing and finishing workshop |
| CN109532628A (en) * | 2018-12-22 | 2019-03-29 | 天津轮达鑫盛机械有限公司 | The workpiece turnaround system of screw tap production line |
| CN209946708U (en) * | 2019-01-29 | 2020-01-14 | 昆山众泰兴自动化设备有限公司 | Intelligent monitoring system of AGV dolly |
| CN209946707U (en) * | 2019-01-29 | 2020-01-14 | 昆山众泰兴自动化设备有限公司 | A on-vehicle control system that is used for AGV dolly of warehouse or workshop automatic transportation |
| CN111487936A (en) * | 2019-01-29 | 2020-08-04 | 昆山众泰兴自动化设备有限公司 | Online scheduling system of AGV dolly |
| CN109857074A (en) * | 2019-02-02 | 2019-06-07 | 宁波吉利汽车研究开发有限公司 | Intelligent logistics system and workshop management system |
| CN110293955A (en) * | 2019-06-26 | 2019-10-01 | 重庆长安汽车股份有限公司 | A kind of U-shaped control system and the method for turning around automatically in automatic Pilot |
| CN110362077A (en) * | 2019-07-03 | 2019-10-22 | 上海交通大学 | Automatic driving vehicle urgent danger prevention decision system, method and medium |
| CN211786760U (en) * | 2020-03-19 | 2020-10-27 | 浙江工业大学 | Magnetic navigation differential drive trolley control system |
| CN111413976A (en) * | 2020-04-01 | 2020-07-14 | 安徽工业大学 | AGV control system and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114104630A (en) | 2022-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110424075B (en) | Intelligent doffing control system and method for upper computer of textile robot | |
| CN110899681B (en) | Off-on-board and off-board vehicle-mounted control system and method | |
| CN107966988B (en) | Control system of electric locomotive for shield machine construction | |
| CN206842284U (en) | Automated three-dimensional storage Shuttling trolley system with bar code positioning device | |
| RU2357886C2 (en) | Method and system for locomotives control | |
| CN104571110A (en) | RFID-based automatic trolley guiding method and system | |
| CN107145149A (en) | A kind of bridge type vehicle-driving device and its avoidance traveling method | |
| CN105023409A (en) | Data transmission system for automated material handling system | |
| CN102707718A (en) | Communication technique by which an autonomous guidance system controls an industrial vehicle | |
| CN114104630B (en) | Control system of agricultural machinery production assembly line | |
| CN112455984B (en) | Intelligent material transportation and storage system of mill | |
| KR101805423B1 (en) | ICT based Stereo Vision guided vehicle system for the next generation smart factory | |
| CN111367294A (en) | Laser AGV (automatic guided vehicle) scheduling control system and control method thereof | |
| CN206872296U (en) | A kind of bridge type vehicle-driving device | |
| JP6998405B2 (en) | Conveyor system method for operating the conveyor system and the flow device used in the conveyor system. | |
| CN103662724A (en) | Intelligent track vehicle control system | |
| CN110009919A (en) | It is mixed with automatic control system and its working method of the vehicle in intersection of AGV | |
| CN114137924B (en) | Assembly production system | |
| CN112829796B (en) | Train safety protection method, device and system in automatic shunting process and train | |
| CN104260756A (en) | Intelligent control device and method of underground railway turnout | |
| CN113635946B (en) | Method, equipment and storage medium for preventing train operation destination from error | |
| CN107933572A (en) | Train yard stops control system and control method automatically | |
| CN106132803B (en) | Method for handling the driving on the railway network and the railway network with train maintenance device | |
| US20060069470A1 (en) | Bi-directional absolute automated tracking system for material handling | |
| JP2009134438A (en) | Operation management system and operation management method for self-propelled carrier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |