CN114137924A - Assembly production system - Google Patents
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- CN114137924A CN114137924A CN202111441036.XA CN202111441036A CN114137924A CN 114137924 A CN114137924 A CN 114137924A CN 202111441036 A CN202111441036 A CN 202111441036A CN 114137924 A CN114137924 A CN 114137924A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention belongs to the technical field of agricultural machinery production, and particularly relates to an assembly production system which comprises a magnetic track, an assembly trolley, a positioning system and a control system; the magnetic track comprises magnetic lines of force laid along the production line; the assembly trolley is an AGV trolley and comprises a magnetic navigation unit, a position unit and a processing unit; the magnetic navigation unit is used for matching with the magnetic lines of force to identify a path; the position unit is communicated with a positioning system, and the positioning system is used for acquiring the real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system; a plurality of running paths are prestored in the control system, and the control system is used for inputting the actual running paths of the assembly trolleys and sending navigation signals to the processing unit in combination with the real-time positioning of the assembly trolleys; the processing unit is used for controlling the assembly trolley to run according to the navigation signal. This application can also avoid production efficiency to reduce by a wide margin because of conveyer's problem when promoting the extending capability.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery production, and particularly relates to an assembly production system.
Background
In the field of agricultural machinery production and processing, when an agricultural machinery is assembled and debugged, the prior art sets a processing station and a debugging station by taking a conveyor belt as a transportation line. The advantages are that the technology of the production line is mature, and the design and installation can be directly applied to the mature assembly line scheme.
However, because the assembly line in the existing assembly production system adopts the conveyor belt type assembly line design, when the productivity of the assembly line cannot meet the current demand, the extension of the assembly line is very troublesome, the assembly line is usually required to be newly added 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. Besides, in the existing conveyor belt type assembly line, once a certain part of the conveying device has a problem, the whole assembly line needs to be suspended, and the whole assembly line can be restarted after the problem is processed, so that the production efficiency can be greatly reduced.
Disclosure of Invention
The invention aims to provide an assembly production system, which can improve the expansion capacity and avoid the problem that the production efficiency is greatly reduced due to the problem of a conveying device.
The basic scheme provided by the invention is as follows:
an assembly production system comprises a magnetic track, an assembly trolley, a positioning system and a control system;
the magnetic track comprises magnetic lines of force laid along the production line; the assembly trolley is an AGV trolley and comprises a magnetic navigation unit, a position unit and a processing unit; the magnetic navigation unit is used for matching with the magnetic lines of force to identify a path; the position unit is communicated with a positioning system, and the positioning system is used for acquiring the real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system; a plurality of running paths are prestored in the control system, and the control system is used for inputting the actual running paths of the assembly trolleys and sending navigation signals to the processing unit in combination with the real-time positioning of the assembly trolleys; the processing unit is used for controlling the assembly trolley to run according to the navigation signal.
Basic scheme theory of operation and beneficial effect:
in the prior art, the AGV trolley is used as a logistics transport vehicle, and is not used as a substitute functional product of a production line. In the system, the AVG trolley is creatively and directly used as an assembly trolley to load a material device for production assembly, so that the AVG trolley plays a role in conveying a conveyor belt while playing a role in loading the material device.
Because this system directly carries out the transportation of material through the assembly platform truck, if the productivity of current assembly line can not satisfy actual demand, because the core of assembly line is assembly platform truck and magnetic force track in this application, the assembly platform truck directly produce or order can, and the magnetic force track then only need specifically set up according to the specific overall arrangement in the residual space in workshop. Even if the residual space in the workshop is not particularly square, as long as the assembly trolley can pass through and the station can be set, the assembly line can be expanded, and the newly-added magnetic track can be distributed in the modes of branch lines, turnouts and the like. Compared with the prior art that a new assembly line needs to be designed, the assembly line has good expandability and can adapt to the actual spatial layout of a workshop. When the system is in operation, a positioning system (e.g., a bluetooth indoor positioning system) communicates with a position unit (e.g., a bluetooth unit) of the assembly trolley and acquires the current position of the assembly trolley in real time. And the control system can send a navigation signal to the assembly trolleys by combining the current positions of the assembly trolleys, and even if the routes have a turnout, the assembly trolleys can be ensured to run along the preset route.
On the other hand, the system uses the assembly trolley to transport the assembly materials, and in other words, the assembly trolley plays a role of a transmission device in the traditional assembly line. When a conveying device has a problem, namely a certain trolley has a problem, the trolley with the problem is directly moved to the outside of the magnetic track to be overhauled. The other trolleys do not cause any influence, and the production line can still continue to run. Although the whole assembly efficiency can still be slightly influenced due to the reduction of the assembly trolleys, compared with the condition that the whole assembly line is suspended in the prior art, the abnormal handling capacity of the transportation device is greatly improved. The efficiency stability of assembly box has been promoted.
In addition, existing production lines, even when not in use, remain with the entire line, are very space consuming and messy. In this application, an assembly platform truck for carrying out device transport can be with its scattered different places of parking in the workshop when not using, perhaps park in special parking interval, and the assembly line only need leave the magnetic force track (promptly the magnetic line of force) on road surface can. Under the daily condition, the space to the workshop can be more nimble to only the assembly line on the ground, it is very clean and tidy.
In conclusion, the expansion capability is improved, and meanwhile, the problem that the production efficiency is greatly reduced due to the conveying device can be avoided.
Further, the production line comprises an assembly line and a debugging line; the debugging line comprises a main line segment and a branch segment, and the starting point and the end point of the branch segment are both positioned on the main line segment; the branch section is provided with a plurality of branch sections, and each branch section is provided with a debugging station; a calling unit is arranged on the debugging station and is communicated with the control system; the calling unit is used for sending a calling signal to the control system; and the control system is used for carrying out debugging path planning on the assembly trolley closest to the debugging line on the assembly line after receiving the calling signal, so that the debugging station reached by the assembly trolley is the debugging station corresponding to the calling signal.
Has the advantages that: with the arrangement, one debugging line can be provided with a plurality of debugging stations. After a certain debugging station debugs one piece of equipment, when the equipment is in an idle state, a worker on the debugging station can send a calling signal to the control system through a calling unit on the debugging station, the control system can plan the path of a subsequent assembly trolley about to enter a debugging line, and the assembly trolley is sent to the debugging station corresponding to the calling signal, so that the product debugging orderliness on a production line is ensured.
Besides, by adopting the mode (parallel debugging of a plurality of debugging stations) and combining the characteristic of strong expansibility of the magnetic track in the system, when the production efficiency is improved, the corresponding number of branch sections and debugging stations can be increased according to the production efficiency and the debugging efficiency, so that the debugging speed is matched with the assembling speed.
And further, the control system is also used for sequentially planning the path of the assembly trolley entering the debugging line subsequently according to the sequence of the received calling signals when more than one calling signal is received, and sequentially navigating the assembly trolley to the debugging station corresponding to each calling signal.
Has the advantages that: the debugging distribution mode can ensure the orderliness of debugging work.
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 assembly trolley also comprises a prompt unit; the processing unit is also used for controlling the prompting unit to send out preset prompts when obstacles exist in the deceleration range of the assembly trolley.
Has the advantages that: when there is the barrier in the speed reduction scope, processing unit can control the suggestion unit and send predetermined warning, can let the staff know the condition, in time handles the barrier, guarantees the conveying efficiency of assembly platform truck, guarantees the overall efficiency of production line today.
Further, the control system is also used for setting the deceleration range and the pause range of the assembly trolley and the barrier.
Has the advantages that: the manager can set corresponding deceleration range and pause range according to the actual stockpiling condition on the production line field, so that the obstacle avoidance function of the assembly trolley is adapted to the actual field.
Further, the control system 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 system 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 system; the processing unit is further used for sending the initial distance of the detected obstacle to the control system, and the control system is further used for recording the initial distance and an initial position corresponding to the initial distance;
the control system 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 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, if so, calling the corresponding minimum distance and the corresponding turning angle by the control system to perform driving analysis; if the minimum distance is greater than the safe distance, the control system 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 system 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 system sends an original speed running signal to the current processing unit; if the angle is larger than the safe turning angle, the control system 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. With the system, 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 system. 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 system, and the control system 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 system calls the corresponding minimum distance and the corresponding turning angle to perform 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 system 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 system 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.
And further, the electronic billboard is communicated with the control system and used for displaying the operation guide manual.
Has the advantages that: through the operation guide manual, the corresponding guidance can be carried out on the workers on each station.
Further, there are a plurality of electronic signs.
Has the advantages that: a plurality of electronic signs can be installed on different stations, thereby simultaneously guiding the work of workers on different stations.
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
In the prior art, the AGV trolley is used as a logistics transport vehicle, and is not used as a substitute functional product of a production line. In the system, the AVG trolley is creatively and directly used as an assembly trolley to load a material device for production assembly, so that the AVG trolley plays a role in conveying a conveyor belt while playing a role in loading the material device.
As shown in fig. 1, an assembly production system includes a magnetic track, an assembly trolley, a positioning system, and a control system. In this embodiment, the control system is an industrial PC.
The magnetic track includes magnetic lines of force that are laid down along the production line. The assembly trolley is an AGV trolley and comprises a magnetic navigation unit, a position unit, a processing unit, an obstacle avoidance unit and a prompt unit. The magnetic navigation unit is used for matching with the magnetic lines of force to identify the path. The position unit is communicated with a positioning system, and the positioning system is used for acquiring the real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system. 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.
A plurality of running paths are prestored in the control system, and the specific number of the running paths can be specifically set according to the turnout of the magnetic track. The control system is used for inputting the actual running path of each assembly trolley and is also used for sending a navigation signal to the processing unit in combination with the real-time positioning of the assembly trolley. Specifically, the control system may perform identification authentication on each assembly carriage based on the number of the processing unit of each assembly carriage. The processing unit is used for controlling the assembly trolley to run according to the navigation signal.
The obstacle avoidance unit is used 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 further used for controlling the running speed of the assembly trolley according to the detection data of the obstacle, specifically, the processing unit analyzes 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 slow running speed; and if the obstacle is within the preset pause range, the processing unit controls the assembly trolley to stop running. The processing unit is also used for controlling the prompting unit to send out preset prompts when obstacles exist in the deceleration range of the assembly trolley. In this embodiment, the prompting unit is a loudspeaker, and prompts are sent out in a preset voice mode.
The control system is also used for setting the deceleration range and the pause range of the assembly trolley and the barrier. Therefore, managers can set corresponding deceleration ranges and pause ranges according to actual stacking conditions on a production line field, so that the obstacle avoidance function of the assembly trolley is adaptive to the actual field.
In this embodiment, the production line includes an assembly line and a debugging line. The debugging line comprises a main line segment and a branch segment, and the starting point and the end point of the branch segment are both positioned on the main line segment; the branch section is provided with a plurality of branch sections, and each branch section is provided with a debugging station; and a calling unit is arranged on the debugging station, the calling unit is communicated with the control system, and the calling unit is used for sending a calling signal to the control system. In this embodiment, the calling unit is an electric control button, and sends a calling signal to the control system through an electric signal generated after pressing. And the control system is used for carrying out debugging path planning on the assembly trolley closest to the debugging line on the assembly line after receiving the calling signal, so that the debugging station reached by the assembly trolley is the debugging station corresponding to the calling signal. And the control system is also used for sequentially planning the path of the assembly trolley entering the debugging line subsequently according to the sequence of the received calling signals when more than one calling signal is received, and sequentially navigating the assembly trolley to the debugging station corresponding to each calling signal. With the arrangement, one debugging line can be provided with a plurality of debugging stations. After a certain debugging station debugs one piece of equipment, when the equipment is in an idle state, a worker on the debugging station can send a calling signal to the control system through a calling unit on the debugging station, the control system can plan the path of a subsequent assembly trolley about to enter a debugging line, and the assembly trolley is sent to the debugging station corresponding to the calling signal, so that the product debugging orderliness on a production line is ensured. Besides, by adopting the mode (parallel debugging of a plurality of debugging stations) and combining the characteristic of strong expansibility of the magnetic track in the system, when the production efficiency is improved, the corresponding number of branch sections and debugging stations can be increased according to the production efficiency and the debugging efficiency, so that the debugging speed is matched with the assembling speed.
The specific implementation process is as follows:
because this system directly carries out the transportation of material through the assembly platform truck, if the productivity of current assembly line can not satisfy actual demand, because the core of assembly line is assembly platform truck and magnetic force track in this application, the assembly platform truck directly produce or order can, and the magnetic force track then only need specifically set up according to the specific overall arrangement in the residual space in workshop. Even if the residual space in the workshop is not particularly square, as long as the assembly trolley can pass through and the station can be set, the assembly line can be expanded, and the newly-added magnetic track can be distributed in the modes of branch lines, turnouts and the like. Compared with the prior art that a new assembly line needs to be designed, the assembly line has good expandability and can adapt to the actual spatial layout of a workshop. When the system is in operation, a positioning system (e.g., a bluetooth indoor positioning system) communicates with a position unit (e.g., a bluetooth unit) of the assembly trolley and acquires the current position of the assembly trolley in real time. And the control system can send a navigation signal to the assembly trolleys by combining the current positions of the assembly trolleys, and even if the routes have a turnout, the assembly trolleys can be ensured to run along the preset route.
On the other hand, the system uses the assembly trolley to transport the assembly materials, and in other words, the assembly trolley plays a role of a transmission device in the traditional assembly line. When a conveying device has a problem, namely a certain trolley has a problem, the trolley with the problem is directly moved to the outside of the magnetic track to be overhauled. The other trolleys do not cause any influence, and the production line can still continue to run. Although the whole assembly efficiency can still be slightly influenced due to the reduction of the assembly trolleys, compared with the condition that the whole assembly line is suspended in the prior art, the abnormal handling capacity of the transportation device is greatly improved. The efficiency stability of assembly box has been promoted.
In addition, existing production lines, even when not in use, remain with the entire line, are very space consuming and messy. In this application, an assembly platform truck for carrying out device transport can be with its scattered different places of parking in the workshop when not using, perhaps park in special parking interval, and the assembly line only need leave the magnetic force track (promptly the magnetic line of force) on road surface can. Under the daily condition, the space to the workshop can be more nimble to only the assembly line on the ground, it is very clean and tidy.
Because the assembly trolley is provided with the obstacle avoidance unit, 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 pause 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. And, when there is the barrier in the speed reduction scope, processing unit can control the suggestion unit and send predetermined warning, can let the staff know the condition, in time handles the barrier, guarantees the conveying efficiency of assembly platform truck, guarantees the overall efficiency of production line today.
Example two
Different from the first embodiment, the electronic billboard is further included in the embodiment, the electronic billboard is communicated with the control system, and the electronic billboard is used for displaying the operation guide manual. Through the operation guide manual, the corresponding guidance can be carried out on the workers on each station. The electronic billboard is provided with a plurality of electronic billboards which can be arranged on different stations, thereby simultaneously guiding the work of workers on different stations. The specific number of the electronic reading boards can be specifically set by a person skilled in the art according to the number of the stations required to be guided.
EXAMPLE III
Different from the first embodiment, in the present embodiment, the control system is further configured to set 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 system 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 system; the processing unit is further used for sending the initial distance of the detected obstacle to the control system, and the control system is further used for recording the initial distance and an initial position corresponding to the initial distance;
the control system 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 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, if so, calling the corresponding minimum distance and the corresponding turning angle by the control system to perform driving analysis; if the minimum distance is greater than the safe distance, the control system 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 system 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 system sends an original speed running signal to the current processing unit; if the angle is larger than the safe turning angle, the control system 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:
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. With the system, 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 system. 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 system, and the control system 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 system calls the corresponding minimum distance and the corresponding turning angle to perform 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 system 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 system 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.
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. An assembly production system, characterized by: the device comprises a magnetic track, an assembly trolley, a positioning system and a control system;
the magnetic track comprises magnetic lines of force laid along the production line; the assembly trolley is an AGV trolley and comprises a magnetic navigation unit, a position unit and a processing unit; the magnetic navigation unit is used for matching with the magnetic lines of force to identify a path; the position unit is communicated with a positioning system, and the positioning system is used for acquiring the real-time positioning of the assembly trolley through the position unit and sending the real-time positioning to the control system; a plurality of running paths are prestored in the control system, and the control system is used for inputting the actual running paths of the assembly trolleys and sending navigation signals to the processing unit in combination with the real-time positioning of the assembly trolleys; the processing unit is used for controlling the assembly trolley to run according to the navigation signal.
2. The assembly production system of claim 1, wherein: the production line comprises an assembly line and a debugging line; the debugging line comprises a main line segment and a branch segment, and the starting point and the end point of the branch segment are both positioned on the main line segment; the branch section is provided with a plurality of branch sections, and each branch section is provided with a debugging station; a calling unit is arranged on the debugging station and is communicated with the control system; the calling unit is used for sending a calling signal to the control system; and the control system is used for carrying out debugging path planning on the assembly trolley closest to the debugging line on the assembly line after receiving the calling signal, so that the debugging station reached by the assembly trolley is the debugging station corresponding to the calling signal.
3. The assembly production system of claim 2, wherein: and the control system is also used for sequentially planning the path of the assembly trolley entering the debugging line subsequently according to the sequence of the received calling signals when more than one calling signal is received, and sequentially navigating the assembly trolley to the debugging station corresponding to each calling signal.
4. The assembly production system 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.
5. The assembly production system of claim 4, 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.
6. The assembly production system of claim 5, wherein: the assembly trolley also comprises a prompt unit; the processing unit is also used for controlling the prompting unit to send out preset prompts when obstacles exist in the deceleration range of the assembly trolley.
7. The assembly production system of claim 5, wherein: the control system is also used for setting the deceleration range and the pause range of the assembly trolley and the barrier.
8. The assembly production system of claim 5, wherein: the control system 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 system 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 system; the processing unit is further used for sending the initial distance of the detected obstacle to the control system, and the control system is further used for recording the initial distance and an initial position corresponding to the initial distance;
the control system 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 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, if so, calling the corresponding minimum distance and the corresponding turning angle by the control system to perform driving analysis; if the minimum distance is greater than the safe distance, the control system 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 system 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 system sends an original speed running signal to the current processing unit; if the angle is larger than the safe turning angle, the control system 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.
9. The assembly production system of claim 1, wherein: the electronic reading board is communicated with the control system and used for displaying the operation guide manual.
10. The assembly production system of claim 9, wherein: the electronic billboard is provided with a plurality of electronic billboards.
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