CN114260188A - Multi-station multi-equipment intelligent transportation and carrying regulation and control method - Google Patents
Multi-station multi-equipment intelligent transportation and carrying regulation and control method Download PDFInfo
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Abstract
The invention discloses a multi-station multi-equipment intelligent transportation and carrying regulation and control method, which comprises the following steps: initializing and checking each device of each station; opening a plurality of conveyor belts to convey a plurality of goods; the robot executes a sorting task; the server appoints an idle AGV to transport the tray; an AGV transports a tray to go up and down stairs; the AGV loading the pallet transports the pallet to a designated transport destination. The invention can effectively solve the problems of low efficiency and low automation level of multi-station multi-equipment intelligent scheduling in the field of logistics automation.
Description
Technical Field
The invention relates to the technical field of logistics automation, in particular to a multi-station multi-equipment only transportation and carrying regulation and control method.
Background
With the development of the technology, the logistics automation is continuously advanced, the application ratio of the AGV and the robot is gradually improved, but the following problems are also faced:
1. how to get through the physical boundaries of various devices such as an AGV and a robot, and unified intelligent scheduling;
2. how to optimize multiple stations and how to cooperate multiple devices, the efficiency is improved, and the fault tolerance rate is reduced.
Disclosure of Invention
The invention aims to provide a multi-station multi-equipment transportation and carrying regulation and control method, so as to overcome the defects in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention is realized as follows:
a multi-station and multi-equipment intelligent transportation and handling regulation and control method comprises the following steps:
1) initializing and checking each device of each station, including initializing and setting kinematic parameters of each device of each station and checking network conditions and self-state of each device of each station;
2) starting a plurality of conveyor belts to convey a plurality of goods, wherein the command is issued by a server and the states of the conveyor belts are fed back;
3) the robot executes a sorting task, judges whether an idle robot exists, executes a sorting program if the idle robot exists, and puts the robot into a tray of a designated intelligent fork according to the judged goods type, otherwise, the server issues an instruction of suspending all conveyor belts until the idle robot exists;
4) the method comprises the steps that a server appoints idle AGVs to convey trays, when still having working conveyor belts, full-load trays need to be conveyed to an appointed transmission destination, when all the conveyor belts finish transmission tasks, the trays on all intelligent forks are conveyed to the appointed transmission destination, if the trays of one intelligent fork need to be conveyed and the idle AGVs exist, the server assigns the idle AGVs closest to the intelligent forks to reach appointed positions, the intelligent forks convey the trays on the intelligent forks to the appointed AGVs, and if the idle AGVs do not exist, the server suspends the comprehensive decision of waiting for the idle AGVs, suspending all the conveyor belts or ending according to the conditions of the trays of the intelligent forks and whether the conveyor belts finish the tasks or not;
5) the AGV transports the pallet to go up and down the stairs, the server assigns the AGV which loads the pallet to select an appointed elevator nearby to complete the task of going up and down the stairs according to the idle condition of the elevator, and if no idle elevator exists, the server makes an instruction whether to suspend all the conveyor belts according to whether the pallet of the intelligent fork is fully loaded or not;
6) the AGV loading the tray conveys the tray to a specified transportation destination, if the tray has a task, the task is continuously executed, otherwise, an AGV idle waiting area is selected nearby for standby;
7) and circularly executing the steps 2) -6) until the manual intervention stops or all the pallet transportation is completed.
Further, the conveyor belt in the step 2) can feed back to the server whether the pause operation is caused by the completion of the conveying task or the regulation and control of the server.
Further, the type of the goods is judged in the step 3) through visual identification or weight detection.
The invention has the beneficial effects that: the invention can effectively solve the problems of low efficiency and low automation level of multi-station multi-equipment intelligent scheduling in the field of logistics automation.
Drawings
FIG. 1 is a general architecture diagram of the method described in an embodiment of the invention;
fig. 2 is an interaction schematic diagram of elevator hardware, a control system and a server in an embodiment of the invention;
FIG. 3 is an overall layout of the method described in an embodiment of the invention;
FIG. 4 is a general flow chart of the method described in the embodiments of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention is clearly and completely described below with reference to the drawings in the embodiments of the present invention.
As shown in fig. 1-2, the multi-station and multi-equipment intelligent transportation and handling regulation and control system mainly comprises a decision layer, a server layer and an equipment layer.
The decision layer comprises a multi-station and multi-equipment intelligent transportation and carrying regulation and control method, is responsible for carrying out unified intelligent regulation and control on the transportation and carrying of the multi-station and multi-equipment, and aims to maximally utilize the advantages of each equipment of each station and provide automation level.
The server layer mainly comprises a server, can be a local server or a cloud server, and is mainly a bridge for information transmission between the decision layer and the equipment layer. The method is mainly embodied in the following two points:
the method comprises the steps that firstly, data from an equipment layer are received, and are stored and supplied to a decision layer for use after being converted into a uniform data expression format;
and secondly, receiving the instruction from the decision layer, converting the instruction into a command which can be identified by the equipment layer, sending the command to the equipment layer, and supervising the equipment layer to complete the corresponding command.
The equipment layer mainly comprises a plurality of conveying belts, a plurality of Automatic Guided Vehicles (AGV), a plurality of intelligent forks, a plurality of intelligent elevators, a multi-degree-of-freedom robot and the like. The multi-conveyor belt has the functions of conveying various goods, starting and stopping the multi-conveyor belt at any time, performing two-way communication with a server layer and the like.
Each intelligent fork is provided with a designated pallet, and the pallets are numbered according to the goods types, so that the designated goods are placed on the designated pallets and can be identified by the intelligent forks. Many intelligent forks possess the discernment tray whether full load, the tray place the kind of goods, transport appointed AGV and with functions such as server both way communication with the tray.
The multi-degree-of-freedom robot has multiple degrees of freedom, can intelligently identify the types of goods from the conveyor belt in the working range of the robot, and can be placed into a tray of a designated intelligent fork. The multiple multi-degree-of-freedom robots are in two-way communication with the server, can receive commands such as starting and stopping of the server and feed back self states to the server.
As shown in fig. 2, the elevator hardware and control system is composed of an electric cabinet, a network communication module, a sensor module, an elevator motion mechanism, an elevator lighting device and a multi-elevator scheduling method, and can complete the unified scheduling function of multiple elevators by two-way communication between a network and a server. The electric control box supplies power to the sensor module, the network communication module, the elevator movement mechanism and the elevator lighting device and is provided with an abnormal power utilization protection device. The network communication module can be used as the interaction between the elevator hardware and the control system and the server. The sensor module collects various information of the elevator, and provides the information for analyzing the elevator hardware and the control system, so that the normal operation of a single elevator is ensured. And the elevator hardware and the control system are communicated with the server through a network to receive the unified scheduling of cloud service and complete the designated task.
As shown in fig. 3, the layout of the multi-station and multi-equipment intelligent transportation and handling control method mainly describes the spatial layout relationship of each station and each equipment. Each station and each device can communicate with the server through the network, on one hand, the state information of the station and the device is reported, and on the other hand, the station and the device receive instructions from the server. Except that the position of the AGV changes at any time according to the task, the position of other equipment and stations including an AGV waiting area, a transportation destination, an elevator, a transportation channel, the AGV, an intelligent fork, a robot and a conveying belt is small in change or fixed. Wherein the robot is intelligent from the conveyor belt cargo category and sorts it onto a pallet of designated intelligent forks; the intelligent fork can be used for preparing the weight of the pallet on the intelligent fork and transporting the pallet to a designated AGV; the AGV may transport a fully loaded pallet to a transport destination by moving the pallet up and down the transport aisle. And the AGV in the non-working state is parked in the AGV idle waiting area to wait for corresponding task allocation.
As shown in fig. 4, the multi-station and multi-equipment intelligent transportation and handling control method mainly transports or handles different kinds of goods to a designated transportation destination through multi-station and multi-equipment. The multi-station multi-equipment intelligent transportation and carrying regulation and control method mainly comprises the following steps:
1. and (3) initializing and checking each device of each station, wherein the initializing and checking comprise the initializing and the like of kinematic parameters and the like of each device of each station and the checking comprise the network condition, the self state of each device of each station and the like.
2. And starting a plurality of conveyor belts to convey a plurality of goods, and issuing and feeding back the states of the conveyor belts by the server.
3. The robot performs the sorting task. And judging whether idle robots exist, if so, executing a sorting program, and putting the sorting program into a tray of a designated intelligent fork according to the judged cargo type, otherwise, issuing an instruction of suspending all conveyor belts by the server until the idle robots exist.
4. The server designates an idle AGV to transport the tray. The server designates an idle AGV transport pallet as two cases: 1. there are still working conveyors, at which time it is necessary to transfer the loaded pallets to the designated transfer destination; 2. all the pallets on the intelligent forks need to be transferred to the designated transfer destination because all the conveyor belts have completed the transfer task. If the tray of one intelligent fork needs to be transferred and an idle AGV exists, the server assigns the idle AGV closest to the intelligent fork to reach an appointed position, the intelligent fork transfers the tray on the intelligent fork to the appointed AGV, and if the idle AGV does not exist, the server comprehensively takes the decision of waiting for the idle AGV, suspending all the conveying belts or ending according to the conditions of the tray of the intelligent fork and the conditions of whether the conveying belts are suspended due to task completion and the like.
5. The AGV transports the pallet up and down the stairs. The server assigns an AGV (automatic guided vehicle) loading the tray to select a designated elevator nearby according to the idle condition of the elevator, and completes the task of going upstairs and downstairs; if no idle elevator exists, the server comprehensively judges whether all the conveyor belts need to be suspended according to the conditions of full load of the tray of the intelligent pallet fork and the like.
6. And the AGV loading the tray conveys the tray to a specified transportation destination, if the tray has a task, the AGV continues to execute the task, and otherwise, an AGV idle waiting area is selected nearby for standby.
7. And (4) circularly executing the steps 2-6 until the manual stopping intervention or all pallet transportation is completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A multi-station and multi-equipment intelligent transportation and carrying regulation and control method is characterized by comprising the following steps:
1) initializing and checking each device of each station, including initializing and setting kinematic parameters of each device of each station and checking network conditions and self-state of each device of each station;
2) starting a plurality of conveyor belts to convey a plurality of goods, wherein the command is issued by a server and the states of the conveyor belts are fed back;
3) the robot executes a sorting task, judges whether an idle robot exists, executes a sorting program if the idle robot exists, and puts the robot into a tray of a designated intelligent fork according to the judged goods type, otherwise, the server issues an instruction of suspending all conveyor belts until the idle robot exists;
4) the method comprises the steps that a server appoints idle AGVs to convey trays, when still having working conveyor belts, full-load trays need to be conveyed to an appointed transmission destination, when all the conveyor belts finish transmission tasks, the trays on all intelligent forks are conveyed to the appointed transmission destination, if the trays of one intelligent fork need to be conveyed and the idle AGVs exist, the server assigns the idle AGVs closest to the intelligent forks to reach appointed positions, the intelligent forks convey the trays on the intelligent forks to the appointed AGVs, and if the idle AGVs do not exist, the server suspends the comprehensive decision of waiting for the idle AGVs, suspending all the conveyor belts or ending according to the conditions of the trays of the intelligent forks and whether the conveyor belts finish the tasks or not;
5) the AGV transports the pallet to go up and down the stairs, the server assigns the AGV which loads the pallet to select an appointed elevator nearby to complete the task of going up and down the stairs according to the idle condition of the elevator, and if no idle elevator exists, the server makes an instruction whether to suspend all the conveyor belts according to whether the pallet of the intelligent fork is fully loaded or not;
6) the AGV loading the tray conveys the tray to a specified transportation destination, if the tray has a task, the task is continuously executed, otherwise, an AGV idle waiting area is selected nearby for standby;
7) and circularly executing the steps 2) -6) until the manual intervention stops or all the pallet transportation is completed.
2. The method according to claim 1, wherein the conveyor belt in step 2) can feed back to the server whether the pause operation is caused by the completion of the conveying task or the regulation of the server.
3. The method according to claim 1, wherein the type of the goods is judged in step 3) by means of visual recognition or weight detection.
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| CN202111669982.XA CN114260188B (en) | 2021-12-30 | 2021-12-30 | Multi-station multi-equipment intelligent transportation and carrying regulation and control method |
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| CN202111669982.XA CN114260188B (en) | 2021-12-30 | 2021-12-30 | Multi-station multi-equipment intelligent transportation and carrying regulation and control method |
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Cited By (1)
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| CN116216075A (en) * | 2023-02-02 | 2023-06-06 | 山东零度供应链有限公司 | Tracking method based on packaging box, system and electronic equipment thereof |
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