CN114260188B - 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, setting and checking each device of each station; starting a plurality of conveyor belts to convey various cargos; the robot performs sorting tasks; the server designates an idle AGV transport tray; AGV transport tray up and down stairs; the AGVs loaded with the pallets transport the pallets to the designated transport destinations. The intelligent scheduling method and the intelligent scheduling system can effectively solve the problems of low intelligent scheduling efficiency and low automation level of multi-station and multi-equipment 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 transportation and carrying regulation and control method.
Background
With the development of technology, logistics automation is continuously advanced, the application proportion of AGVs and robots is gradually improved, but the following problems are also faced:
1. how to get through the physical limits of various devices such as AGVs, robots and the like, and unified intelligent scheduling;
2. how to optimize the multi-station and multi-equipment cooperation, the efficiency is improved, and the fault tolerance is reduced.
Disclosure of Invention
The invention aims to provide a multi-station and multi-equipment transportation and carrying regulation and control method which is used for overcoming 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 multi-equipment intelligent transportation and handling regulation and control method, comprising the following steps:
1) Initializing and checking each device of each station, wherein the initializing and checking comprises initializing and checking the kinematic parameters of each device of each station, and checking the state of each device of each station;
2) Starting a plurality of conveyor belts to convey various cargos, and sending and feeding back the states of the conveyor belts by the server;
3) The robot executes the sorting task, judges whether an idle robot exists, executes the sorting program if the idle robot exists, and puts the sorting program into a tray of a designated intelligent pallet fork according to the judged goods type, otherwise, the server gives an instruction of suspending all conveyor belts until the idle robot exists;
4) The server designates idle AGVs to transport trays, when still has a working conveyor belt, the trays in full need to be transported to a designated transmission destination, when all conveyor belts have completed a transmission task, the trays on all intelligent forks are transported to the designated transmission destination, if the tray of a certain intelligent fork needs to be transported and an idle AGV exists, the server will assign the idle AGV closest to the intelligent fork to reach the designated position, the intelligent fork will transport the tray onto the designated AGV, if no idle AGV exists, the server will comprehensively take the decision of waiting for the idle AGV, suspending all conveyor belts or ending according to the condition of the tray of the intelligent fork and whether the conveyor belt is suspended for completing the task;
5) The AGV transports the tray to go upstairs and downstairs, the server assigns the AGV loading the tray to select the appointed elevator nearby to finish the task of going upstairs and downstairs according to the idle condition of the elevator, and if the idle elevator does not exist, the server makes an instruction whether to pause all the conveyor belts according to whether the tray of the intelligent pallet fork is fully loaded or not;
6) The AGVs loading the trays convey the trays to the designated transportation destination, if the tasks exist, the tasks are continuously executed, otherwise, the AGVs are nearby selected to wait in an idle waiting area;
7) Steps 2) -6) are cyclically executed until human intervention is stopped or all pallet transport is completed.
Further, the conveyor belt in step 2) can feed back to the server the self-pause operation action due to the completion of the transmission task or the regulation of the server.
Further, in the step 3), the type of the goods is judged by means of visual recognition or weight detection.
The invention has the beneficial effects that: the intelligent scheduling method and the intelligent scheduling system can effectively solve the problems of low intelligent scheduling efficiency and low automation level of multi-station and multi-equipment in the field of logistics automation.
Drawings
FIG. 1 is a general architecture diagram of a method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of elevator hardware, control system and server interactions in an embodiment of the present invention;
FIG. 3 is a general layout of the method according to an embodiment of the invention;
fig. 4 is a general flow chart of the method according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1-2, the multi-station multi-device intelligent transportation and handling regulation and control system mainly comprises a decision layer, a server layer and a device layer.
The decision layer comprises a multi-station multi-equipment intelligent transportation and carrying regulation and control method, is responsible for carrying out unified intelligent regulation and control on transportation and carrying of the multi-station multi-equipment, aims at maximally utilizing the advantages of each equipment of each station and provides an 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 transfer between the decision layer and the equipment layer. Mainly embodied in the following two points:
1. receiving data from the equipment layer, converting the data into a unified data expression format, and storing and supplying the data to a decision layer for use;
2. and receiving an 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 finish the corresponding command.
The equipment layer mainly comprises a plurality of conveyor belts, a plurality of Automatic Guided Vehicles (AGVs), a plurality of intelligent forks, a plurality of intelligent elevators, a plurality of freedom robots and the like. The multi-conveyor belt has the functions of conveying various cargoes, starting and stopping the multi-conveyor belt at any time, and performing two-way communication with the server layer.
Each intelligent fork is provided with a designated tray, and the designated trays are numbered according to the types of the cargos, so that the designated cargos are placed on the designated trays and can be identified by the intelligent fork. The multi-intelligent pallet fork has the functions of identifying whether the pallet is fully loaded, placing the goods on the pallet, transferring the pallet to a specified AGV, bidirectionally communicating with a server and the like.
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, and is placed in a tray of a specified intelligent fork. The multiple freedom degree robots are in bidirectional communication with the server, can receive commands such as start and stop of the server and feed back the state of the multiple freedom degree robots 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 dispatching method, and can complete the unified dispatching function of multiple elevators by two-way communication between the network and a server. The electric cabinet supplies power for the sensor module, the network communication module, the elevator movement mechanism and the elevator lighting device, and is provided with a special electricity utilization protection device. The network communication module can play a role in interaction between the elevator hardware and the control system and the server. The sensor module collects various information of the elevator, and the information is supplied to elevator hardware and a control system for analysis, so that normal operation of a single elevator is ensured. And the elevator hardware and control systems communicate with each other through a network and a server, and receive unified scheduling of cloud service to complete the appointed task.
As shown in fig. 3, the device layout of the multi-station multi-device intelligent transportation and handling control method mainly describes the spatial layout relationship of each station, each device, and the like. Each station and each device can communicate with the server through a network, and on one hand, the station and the device report own state information, and on the other hand, receive instructions from the server. Except that the position of the AGV changes at any time according to the task, the rest of the equipment and stations including the AGV waiting area, the transport destination, the elevator, the transport path, the AGV, the intelligent pallet fork, the robot and the conveyor belt have little or fixed position change. Wherein the robot intelligence comes from the category of conveyor belt goods, sort it onto the tray of the assigned intelligent fork; the intelligent pallet fork can be used for firstly preparing the weight of the pallet on the intelligent pallet fork and carrying the intelligent pallet fork to a specified AGV; the AGV may transport the full pallet to a transport destination via a transport aisle, an elevator, and the like. The AGV in the inactive state will park near the AGV's free waiting area waiting for the corresponding task assignment.
As shown in fig. 4, the multi-station multi-equipment intelligent transportation and handling control method mainly transports or handles different kinds of cargoes to an appointed transportation destination through multi-station and multi-equipment. The intelligent transportation and carrying regulation and control method for the multi-station and multi-equipment mainly comprises the following steps:
1. initializing and checking each device of each station, including initializing and checking the kinematic parameters and the like of each device of each station, including checking the network condition, the self state of each device of each station and the like.
2. And opening a plurality of conveyor belts to convey various cargos, wherein the command is issued by the server and feeds back the state of the conveyor belts.
3. The robot performs sorting tasks. Judging whether an idle robot exists, if so, executing a sorting program, and placing the sorting program into a tray of a designated intelligent pallet fork according to the judged goods type, otherwise, the server gives an instruction of suspending all conveyor belts until the idle robot exists.
4. The server designates an empty AGV transport tray. The server designates the free AGV transport tray as two cases: 1. still working conveyor belts, when full pallets need to be transported to the designated transport destination; 2. all conveyor belts have completed the transfer task and then the pallets on all intelligent forks need to be transported to the designated transfer destination. If the tray of a certain intelligent fork needs to be transported and an idle AGV exists, the server assigns the idle AGV closest to the intelligent fork to reach a specified position, the intelligent fork carries the tray onto the specified AGV, and if the idle AGV does not exist, the server comprehensively adopts the decision of waiting for the idle AGV, suspending all the conveyor belts or finishing according to the condition of the tray of the intelligent fork and the condition that whether the conveyor belts are suspended due to the completion of tasks or not.
5. AGVs transport pallets up and down stairs. The server assigns AGVs loading the trays to select appointed elevators nearby according to the idle condition of the elevators, and the task of going upstairs and downstairs is completed; if no free elevator exists, the server comprehensively judges whether to suspend all the conveyor belts according to the conditions of full loading of the trays of the intelligent pallet fork and the like.
6. The AGVs loading the trays transport the trays to the designated transport destination, if there is a task, continue to execute the task, otherwise select the AGVs nearby to wait for a free waiting area.
7. Steps 2-6 are performed in a loop until the intervention is stopped manually or all pallet transport is completed.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (3)
1. The multi-station multi-equipment intelligent transportation and carrying regulation and control method is characterized by comprising the following steps of:
1) Initializing and checking each device of each station, wherein the initializing and checking comprises initializing and checking the kinematic parameters of each device of each station, and checking the state of each device of each station;
2) Starting a plurality of conveyor belts to convey various cargos, and sending and feeding back the states of the conveyor belts by the server;
3) The robot executes the sorting task, judges whether an idle robot exists, executes the sorting program if the idle robot exists, and puts the sorting program into a tray of a designated intelligent pallet fork according to the judged goods type, otherwise, the server gives an instruction of suspending all conveyor belts until the idle robot exists;
4) The server designates idle AGVs to transport trays, when still has a working conveyor belt, the trays in full need to be transported to a designated transmission destination, when all conveyor belts have completed a transmission task, the trays on all intelligent forks are transported to the designated transmission destination, if the tray of a certain intelligent fork needs to be transported and an idle AGV exists, the server will assign the idle AGV closest to the intelligent fork to reach the designated position, the intelligent fork will transport the tray onto the designated AGV, if no idle AGV exists, the server will comprehensively take the decision of waiting for the idle AGV, suspending all conveyor belts or ending according to the condition of the tray of the intelligent fork and whether the conveyor belt is suspended for completing the task;
5) The AGV transports the tray to go upstairs and downstairs, the server assigns the AGV loading the tray to select the appointed elevator nearby to finish the task of going upstairs and downstairs according to the idle condition of the elevator, and if the idle elevator does not exist, the server makes an instruction whether to pause all the conveyor belts according to whether the tray of the intelligent pallet fork is fully loaded or not;
6) The AGVs loading the trays convey the trays to the designated transportation destination, if the tasks exist, the tasks are continuously executed, otherwise, the AGVs are nearby selected to wait in an idle waiting area;
7) Steps 2) -6) are cyclically executed until human intervention is stopped or all pallet transport is completed.
2. The method of claim 1, wherein the conveyor belt in step 2) is capable of feeding back to the server an own pause in the operation due to completion of the transfer task or server regulation.
3. The method according to claim 1, wherein the type of cargo is determined in step 3) by means of visual recognition or weight detection.
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