CN114384873B - Intelligent cooperative control system and control method for material transportation of polymer extrusion production line - Google Patents
Intelligent cooperative control system and control method for material transportation of polymer extrusion production line Download PDFInfo
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- 239000000463 material Substances 0.000 title claims abstract description 41
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- 229920000642 polymer Polymers 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims description 41
- 238000004806 packaging method and process Methods 0.000 claims abstract description 53
- 238000007726 management method Methods 0.000 claims abstract description 14
- 239000002994 raw material Substances 0.000 claims description 35
- 238000002156 mixing Methods 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 3
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- 238000005259 measurement Methods 0.000 claims description 3
- 238000012858 packaging process Methods 0.000 claims description 3
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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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- 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
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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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
- 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
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The application provides an intelligent cooperative control system for material transportation of a polymer extrusion production line, which comprises the following components: the system comprises an MES management system and an AGV transport control system which are connected through an Ethernet, wherein the MES management system comprises an MES platform, a premix machine control system, an extruder control system and a metering packaging machine control system, and the MES management system controls the production states of the premix machine, the extruder and the packaging machine; the AGV transport control system comprises an AGV dispatching platform, an AGV control module, an AGV trolley and a transport goods shelf, wherein a scene map and a configuration identification model are established through the AGV; the MES platform and the AGV scheduling platform exchange production information and transport information, the AGV scheduling platform carries out scheduling planning of the AGV through the production information, and the MES adjusts the production state of the machine through the transport information. The system controls the operation of bottom equipment through information transmission among upper systems, realizes the control of material transportation of a polymer extrusion production line, and improves the intelligent level of extrusion material transportation.
Description
Technical Field
The application relates to the technical field of new generation information, in particular to an intelligent cooperative control system and method for material transportation of a polymer extrusion production line.
Background
With the demand and development of intelligent manufacturing, the application of artificial intelligence technology in various links of the manufacturing process is gradually becoming a trend. The intelligent manufacturing involves the integration of various automation systems, and the purposes of increasing the production capacity, improving the production efficiency and quality, reducing the consumption, ensuring the safety and the like are achieved by comprehensively utilizing control theory, electronic equipment, instruments and meters, computer software and hardware technology and other technologies to realize detection, control, optimization, scheduling, management and decision-making in the production and manufacturing process.
MES (Manufacturing Execution System ) systems and AGV (Automated Guided Vehicle, automated guided vehicle) transport systems have been widely used in various types of automated production lines. However, the existing MES system is more used for monitoring the production process in real time, and lacks control on the actual production process, so that the MES system cannot change the production state in real time, and the process parameters in the production process still need to be manually changed through a field controller, so that the problems of easy error, high labor cost, large labor capacity of workers and the like are generated. The existing AGV conveying system is generally or needs a rail guided rail AGV, the problems of severe requirements on sites, large time and cost for changing paths, easy damage of the rails, path deviation and the like exist, and meanwhile, special personnel are required to be equipped on the sites for supervision and control, so that the degree of automation is not high enough.
Disclosure of Invention
The application provides an intelligent cooperative control system and a control method for material transportation of a polymer extrusion production line, which are used for controlling the material transportation of the polymer extrusion production line. The technical scheme of the application is as follows:
in a first aspect, an embodiment of the present application provides an intelligent cooperative control system for material transportation in a polymer extrusion line, including: the system comprises an MES platform, a premix machine control system, an extruder control system and a metering packaging machine control system, wherein the MES management system and the AGV transport control system are connected through Ethernet, the MES management system comprises the MES platform, the premix machine control system, the extruder control system and the metering packaging machine control system, and the AGV transport control system comprises: AGV dispatch platform, AGV control module, AGV dolly, transportation goods shelves; the AGV dispatching platform is connected with the AGV control module through the Ethernet, and the AGV control module is connected with the AGV trolley through the wireless network module; the transport goods shelf is used for loading raw materials, materials or packaged finished products transported by the AGV trolley; wherein,,
the MES platform is used for acquiring order information, production state information of the premix machine control system, the extruder control system and the metering packaging machine control system, and transportation time information fed back by the AGV scheduling platform; the system is also used for sending process parameter information and operation control instructions to the premix machine control system, the extruder control system and the metering packaging machine control system to control the operation of the premix machine, the extruder and the metering packaging machine; the process parameter information comprises the ratio of raw materials in the mixing process, mixing time, mixing pressure, mixing temperature, extruder temperature in the extrusion process, extruder operating voltage, extruder operating current, extruder screw speed, temperature in each cooling area and unit packaging weight in the packaging process; the AGV scheduling platform is also used for sending the order information and the production state information to the AGV scheduling platform; the order information comprises raw material information, a first number of a raw material warehouse, a second number of a premix machine, a third number of an extruder, a fourth number of a metering and packaging machine and a fifth number of a finished product warehouse; the production state information comprises the running states of the premix machine, the extruder and the metering packaging machine, wherein the running states comprise three states of idle state, working state and working completion, after the front materials of the premix machine, the extruder and the metering packaging machine are put into production, the running states enter the working state from idle state, and after the production is completed and the AGV scheduling platform controls the next-stage transportation, the running states enter the working state from the working state to complete; the operation control instruction is generated based on the transport completion time information fed back by the AGV scheduling platform;
the AGV scheduling platform is used for planning a transport path according to the order information and the production state information sent by the MES platform and sending the information of the transport path to the AGV control module; the AGV is also used for feeding back the transport completion time information of the AGV to the MES platform;
the AGV control module is used for controlling the AGV trolley to realize the transportation of materials or products through the transportation goods shelf according to the information of the transportation path;
the AGV dispatching platform is used for expressing the position of the transport goods shelf by establishing a bin position, and updating the bin position according to transport path information of the AGV after the AGV finishes a transport task;
the AGV dispatching platform receives the raw material information and then controls the AGV trolley to sequentially go to a corresponding raw material warehouse for loading according to the raw material proportioning table, and all raw materials are transported to the premix machine after being loaded.
In a second aspect, the embodiment of the application provides an intelligent cooperative control method for material transportation of a polymer extrusion production line, which comprises the following steps:
the MES platform receives the order information and sends the order information to the AGV scheduling platform; the order information comprises principle information, a first number of a raw material warehouse, a second number of a premix machine, a third number of an extruder, a fourth number of a metering and packaging machine and a fifth number of a finished product warehouse;
based on the first number and the second number, the AGV scheduling platform plans a first path and sends information of the first path to an AGV control module;
the AGV control module controls an AGV trolley I to transport raw materials at a raw material stock position corresponding to the first number to a premix machine position corresponding to the second number according to the information of the first path, and recovers a corresponding transport shelf; and feeding back a first transportation completion time to the MES platform;
after receiving the first transportation completion time, the MES platform sends a first technological parameter configuration table to a premix machine control system corresponding to the second number, instructs a corresponding premix machine to complete a mixing task according to the first technological parameter configuration table, and acquires first completion information fed back by the premix machine control system;
after receiving the first completion information, the MES platform sends the second number and the third number to the AGV scheduling platform;
based on the second number and the third number, the AGV scheduling platform plans a second path and sends information of the second path to an AGV control module;
the AGV control module controls a second AGV trolley to transport materials at the premix machine corresponding to the second number to the extruder corresponding to the third number according to the information of the second path, and recovers a corresponding transport shelf; and feeding back a second transportation completion time to the MES platform;
after receiving the second transportation completion time, the MES platform sends a second process parameter configuration table to the extruder control system corresponding to the third number, instructs the corresponding extruder to complete the extrusion task according to the second process parameter configuration table, and acquires second completion information fed back by the extruder control system;
after receiving the second completion information, the MES platform sends a third process parameter configuration table to a metering and packaging machine control system corresponding to the fourth number, and instructs a metering and packaging machine corresponding to the fourth number to package the materials to obtain a packaged finished product; acquiring third completion information fed back by the metering packaging machine control system;
after receiving the third completion information, the MES platform AGV scheduling platform;
based on the fourth number and the fifth number, the AGV scheduling platform plans a third path and starts information of the third path to the AGV control module;
the AGV control module controls a third AGV trolley to transport the packaged finished products at the metering packaging machine corresponding to the fourth number to the finished product stock corresponding to the fifth number according to the information of the third path, and recovers the corresponding transport shelf; and feeding back a third transportation completion time to the MES platform.
Based on the technical scheme, the intelligent cooperative control and control method for the material transportation of the polymer extrusion line realizes the control of the material transportation of the polymer extrusion line, and human intervention is directly reduced through remote control operation. And the path navigation of the AGV module is identified by utilizing a laser radar, and is combined with GPS positioning, so that the path navigation is carried out according to the site, the accurate positioning can be realized, and the operation of the AGV trolley is ensured to be correct.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute a undue limitation on the application.
FIG. 1 is a system block diagram of an intelligent coordinated control system for material transport in a polymer extrusion line according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a production material transportation path of an intelligent cooperative control system for material transportation in a polymer extrusion line according to an embodiment of the present application.
FIG. 3 is a system control diagram of an intelligent cooperative control system for material transportation in a polymer extrusion line according to an embodiment of the present application.
FIG. 4 is a block diagram of an AGV of an embodiment of the present application.
Fig. 5 is a block diagram of a transport pallet according to an embodiment of the present application.
FIG. 6 is a flow chart of an intelligent coordinated control method for material transportation in a polymer extrusion line according to an embodiment of the present application.
Reference numerals illustrate:
1-lifting frame, 2-laser radar and 3-transportation shelf.
Detailed Description
In order to enable a person skilled in the art to better understand the technical solutions of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The embodiment of the application provides an intelligent cooperative control system for material transportation of a polymer extrusion production line, which is shown in figures 1-3 and comprises the following components: the system comprises an MES platform, a premix machine control system, an extruder control system and a metering packaging machine control system, wherein the MES management system and the AGV transport control system are connected through Ethernet, the MES management system comprises the MES platform, the premix machine control system, the extruder control system and the metering packaging machine control system, and the AGV transport control system comprises: AGV dispatch platform, AGV control module, AGV dolly, transportation goods shelves; the AGV dispatching platform is connected with the AGV control module through the Ethernet, and the AGV control module is connected with the AGV trolley through the wireless network module; the transport goods shelf is used for loading raw materials, materials or packaged finished products transported by the AGV trolley; wherein,,
the MES platform is used for acquiring order information, production state information of the premix machine control system, the extruder control system and the metering packaging machine control system, and transportation time information fed back by the AGV scheduling platform; the system is also used for sending process parameter information and operation control instructions to the premix machine control system, the extruder control system and the metering packaging machine control system to control the operation of the premix machine, the extruder and the metering packaging machine; the process parameter information comprises the ratio of raw materials in the mixing process, mixing time, mixing pressure, mixing temperature, extruder temperature in the extrusion process, extruder operating voltage, extruder operating current, extruder screw speed, temperature in each cooling area and unit packaging weight in the packaging process; the AGV scheduling platform is also used for sending the order information and the production state information to the AGV scheduling platform; the order information comprises principle information, a first number of a raw material warehouse, a second number of a premix machine, a third number of an extruder, a fourth number of a metering and packaging machine and a fifth number of a finished product warehouse; the production state information comprises the running states of the premix machine, the extruder and the metering packaging machine, wherein the running states comprise three states of idle state, working state and working completion, after the front materials of the premix machine, the extruder and the metering packaging machine are put into production, the running states enter the working state from idle state, and after the production is completed and the AGV scheduling platform controls the next-stage transportation, the running states enter the working state from the working state to complete; the operation control instruction is generated based on the transport completion time information fed back by the AGV scheduling platform;
the AGV scheduling platform is used for planning a transport path according to the order information and the production state information sent by the MES platform and sending the information of the transport path to the AGV control module; the AGV is also used for feeding back the transport completion time information of the AGV to the MES platform;
the AGV control module is used for controlling the AGV trolley to realize the transportation of materials or products through the transportation goods shelf according to the information of the transportation path;
the AGV dispatching platform is used for expressing the position of the transport goods shelf by establishing a bin position, and updating the bin position according to transport path information of the AGV after the AGV finishes a transport task;
the AGV dispatching platform receives the raw material information and then controls the AGV trolley to sequentially go to a corresponding raw material warehouse for loading according to the raw material proportioning table, and all raw materials are transported to the premix machine after being loaded.
Further, the AGV dispatch platform still connects the companion ladder through long-range I/O module control, and after the companion ladder place ahead was reached in the AGV dolly location, the companion ladder can let the AGV dolly get into to the AGV dispatch platform, carries out the elevating system again, ensures the security of dolly transportation.
As shown in fig. 2, the MES management system is connected with the AGV transport control system through the ethernet, and the MES management system sends the numbers of the raw materials, the premix compound machine, the extruder and the stock in the order information to the AGV transport control system, as shown by the marks 2, 4, 7, 8 and 9 in fig. 2, and the AGV scheduling platform determines the starting point and the end point of each transport according to the corresponding numbers; the AGV transport control system then controls the corresponding AGV trolley to complete the transport task, as indicated by the labels 3, 5, 10 in FIG. 2; during the transportation process, the AGV scheduling platform controls the elevator to cooperatively transport, as shown by a mark 6 in fig. 2; after the transportation is completed, the AGV dispatching platform system returns the time information of each transportation to the MES management system, and the MES management system records the time and starts the premix control system, the extruder control system and the finished product metering packaging machine control system according to the arrival time.
The MES platform is connected with the premix machine control system, the extruder control system and the finished product metering and packaging machine control system through wireless network modules, and sends order information and a technological parameter configuration table to the premix machine control system, the extruder control system and the finished product metering and packaging machine control system, and the premix machine control system, the extruder control system and the finished product metering and packaging machine control system can return production information to the MES platform.
After the AGV dispatching platform receives the production information sent by the MES platform, confirming the starting point and the end point of the transportation of the AGV trolley, calculating by adopting an improved smooth A-x algorithm to obtain an optimal planning path, and sending the transportation information to an AGV controller; the AGV dispatch platform stores the goods shelf position as a warehouse position, and the dispatch platform can update the warehouse position according to the transportation information after each transportation is completed.
The AGV scheduling platform of the embodiment adopts an improved smooth A algorithm to plan paths, after the starting point and the finishing point are selected, the current starting point is used as a father node, the candidate nodes are expanded according to the form of 3-2 quadrants, the valuation function f (m) of each expansion candidate point is calculated, the expansion candidate nodes meeting the standard are selected as new expansion nodes to be listed into a path coordinate set, the obtained optimal expansion candidate nodes are used as father nodes of the next generation to be circularly calculated until the finishing point is reached, a plurality of path plans are obtained, the total length, the number of candidate points and the number of path turning points are added into an evaluation index to analyze the planned paths, the paths with the minimum combination of the three paths are selected as optimal paths, and the adopted evaluation function is shown as (1):
where f (m) is the valuation function of the extended node m to the target point, g (m) represents the actual cost of the extended node m to the starting point, g (x) is the known cost of the extended node m to the starting point, σ represents the conversion coefficient of the turn number into the cost, cos θ m-1 A cosine function value representing a steering angle, D representing a distance between a previous node and its extension node, (x) m ,y m ) Representing the coordinates of an AGV expansion node m, selecting Manhattan distance as the estimated cost of a heuristic function h (m), (x) e ,y e ) Representing the coordinates of the AGV target point E.
The path planning algorithm adopted by the AGV dispatching platform is an improved smooth A algorithm, a Cartesian coordinate system environment is constructed according to the AGV driving characteristics, on the basis of a traditional A algorithm model, invalid candidate points are removed by introducing 3-2 quadrants and route turning numbers, meanwhile, the path turning numbers are introduced into an algorithm valuation function, smooth paths are obtained by reducing the turning numbers, the operation efficiency is improved, compared with the traditional A algorithm, the improved method can greatly reduce the search points and the turning numbers, and meanwhile, the phenomenon that a system falls into local optimum due to subjective factors can be effectively avoided by adopting a selection strategy with minimum time as a target.
Before the AGV control module controls the AGV trolley, a scene map and a configuration identification model are required to be established. So as to carry out path planning based on the scene map and improve the positioning accuracy by configuring the recognition model.
In one embodiment, the AGV scheduling platform employs a modified smooth A-algorithm to plan the path.
In one embodiment, the AGV controller controls the AGV to scan the production environment through the laser radar to build a scene map, and then adds map information such as stations, paths and the like to the scene map.
As one possible implementation manner, the AGV control module establishes a scene map through a laser radar set on the AGV trolley, and the method for establishing the scene map is as follows:
estimating the position and the posture of the AGV trolley in the motion through a laser radar, and simultaneously constructing a scene map by combining with a FastSLAM (Fast Simultaneous Localization and Mapping, quick synchronous positioning and map construction) algorithm, wherein the important point is to ensure the integrity of the position information of a premix machine, an elevator, an extruder and a metering packaging machine;
when the AGV control module is combined with the FastSLAM algorithm to construct a scene map, the FastSLAM algorithm is adopted to decompose the SLAM problem into two parts of path solving and map construction of an AGV trolley according to the Bayesian network and the assumption independence among features, and the decomposition process can be represented by a formula (2):
wherein: of x-AGV trolleysPose state quantity; m-map estimation; a measurement of the z-sensor; u-control amount of AGV trolley movement; the number of feature points in the map at time t-N. p (x) 1:t |z 1:t ,u 1:t ) Part is a posterior of AGV trolley path, p (m j |x 1:t ,z 1:t ,u 1:t ) The part is the estimation of the AGV trolley pose, and is usually obtained by a bottom layer odometer;
adding a site on a scene map, wherein the site is a point in the scene map, and the information of the site comprises an ID (identity), coordinates, angles and a site type, wherein the ID is tag information and is a unique mark of the site; the coordinates are coordinate information of sites in a site map; the angle is a deflection angle between the pose of the AGV trolley after reaching the specified pose of the station and a set horizontal line; the stations comprise four types of general stations, stop points, charging points and working points;
adding a path on the scene map, wherein the path exists between two stations and corresponds to the running track of the AGV, and the path comprises the direction and speed attributes: the direction represents the direction in which the AGV trolley can travel between two stations; the speed represents the speed at which the AGV trolley travels the path.
In one embodiment, the AGV control module configures the identification model from the field measured data and then sends the identification model information to the AGV trolley, which performs the specific operation according to the identification model. The field measurement includes: and measuring the data of the length, width and height of each of the premix machine, the extruder, the metering packaging machine, the transport goods shelf and the AGV trolley body, and acquiring an identification model according to the data of the length, width and height.
In one embodiment, the AGV performs positioning recognition based on the recognition model, including:
and the laser radar is used for collecting point cloud data in real time, matching the point cloud data with the target recognition model, and confirming the positioning accuracy according to the matching result, so that the AGV trolley positioning accuracy is improved.
In an embodiment, the AGV trolley is further configured to complete positioning of the AGV trolley itself based on a scanning result of the laser radar, and is specifically configured to:
collecting laser beams reflected by a premix machine, an extruder, a metering packaging machine, a transportation shelf and the surrounding environment through a laser radar, so as to obtain point cloud data;
and calculating the change information of the distance and the gesture of the laser radar in relative movement at different moments by comparing two pieces of point cloud data at different moments, and acquiring the positioning information of the AGV trolley based on the change information of the distance and the gesture of the relative movement.
As shown in fig. 4, the AGV trolley is loaded with a laser radar 2, a motor, a lifting frame 1 and other devices, and the motor is in driving connection with the lifting frame 1 to lift the transport shelf; the laser radar 2 is used for constructing a scene map and positioning, and the motor and the jacking frame 1 are used for jacking the transport goods shelf; laser radar 2 gathers the laser beam by premix machine, extruder, companion ladder, goods shelves and surrounding environment reflection for the AGV, through the matching and the comparison to two point clouds at different moment, calculates laser radar relative motion's distance and the change of gesture, has just also accomplished the location of AGV.
In order to ensure the stability of the goods in the transportation process, as shown in fig. 5, a plurality of rounded rectangular grooves 3 are formed in the bottom of the transportation shelf, and a plurality of rounded rectangular protrusions matched with the plurality of rounded rectangular grooves 3 are formed on the upper surface of the jacking frame. AGV dolly is earlier through goods shelves discernment model file accurate positioning transport goods shelves position, reaches transport goods shelves bottom after, makes jack-up frame embedding transport goods shelves bottom correspond in the recess through the inside motor operation of dolly.
The intelligent cooperative control system for the material transportation of the polymer extrusion production line realizes the control of the material transportation of the polymer extrusion production line, and directly reduces human intervention through remote control operation. And the path navigation of the AGV module is identified by utilizing a laser radar, and is combined with GPS positioning, so that the path navigation is carried out according to the site, the accurate positioning can be realized, and the operation of the AGV trolley is ensured to be correct.
Corresponding to the intelligent cooperative control system for material transportation of the polymer extrusion line, the embodiment of the application also provides an intelligent cooperative control method for material transportation of the polymer extrusion line, as shown in fig. 6, comprising the following steps:
the MES platform receives the order information and sends the order information to the AGV scheduling platform; the order information comprises principle information, a first number of a raw material warehouse, a second number of a premix machine, a third number of an extruder, a fourth number of a metering and packaging machine and a fifth number of a finished product warehouse;
based on the first number and the second number, the AGV scheduling platform plans a first path and sends information of the first path to an AGV control module;
the AGV control module controls an AGV trolley I to transport raw materials at a raw material stock position corresponding to the first number to a premix machine position corresponding to the second number according to the information of the first path, and recovers a corresponding transport shelf; and feeding back a first transportation completion time to the MES platform;
after receiving the first transportation completion time, the MES platform sends a first technological parameter configuration table to a premix machine control system corresponding to the second number, instructs a corresponding premix machine to complete a mixing task according to the first technological parameter configuration table, and acquires first completion information fed back by the premix machine control system;
after receiving the first completion information, the MES platform sends the second number and the third number to the AGV scheduling platform;
based on the second number and the third number, the AGV scheduling platform plans a second path and sends information of the second path to an AGV control module;
the AGV control module controls a second AGV trolley to transport materials at the premix machine corresponding to the second number to the extruder corresponding to the third number according to the information of the second path, and recovers a corresponding transport shelf; and feeding back a second transportation completion time to the MES platform;
after receiving the second transportation completion time, the MES platform sends a second process parameter configuration table to the extruder control system corresponding to the third number, instructs the corresponding extruder to complete the extrusion task according to the second process parameter configuration table, and acquires second completion information fed back by the extruder control system;
after receiving the second completion information, the MES platform sends a third process parameter configuration table to a metering and packaging machine control system corresponding to the fourth number, and instructs a metering and packaging machine corresponding to the fourth number to package the materials to obtain a packaged finished product; acquiring third completion information fed back by the metering packaging machine control system;
after receiving the third completion information, the MES platform AGV scheduling platform;
based on the fourth number and the fifth number, the AGV scheduling platform plans a third path and starts information of the third path to the AGV control module;
the AGV control module controls a third AGV trolley to transport the packaged finished products at the metering packaging machine corresponding to the fourth number to the finished product stock corresponding to the fifth number according to the information of the third path, and recovers the corresponding transport shelf; and feeding back a third transportation completion time to the MES platform.
Raw materials begin to transport to the premix machine through AGV dolly No. one from the raw materials stock department of second building, transport to the extruder through the companion ladder by No. two AGV dollies after the premix, extrude and accomplish and carry out finished product encapsulation, rethread No. three AGV dollies transport to finished product stock department.
The intelligent cooperative control method for the material transportation of the polymer extrusion production line realizes the control of the material transportation of the polymer extrusion production line, and directly reduces human intervention through remote control operation. And the path navigation of the AGV module is identified by utilizing a laser radar, and is combined with GPS positioning, so that the path navigation is carried out according to the site, the accurate positioning can be realized, and the operation of the AGV trolley is ensured to be correct.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. The specification and examples are to be regarded in an illustrative manner only.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (9)
1. An intelligent cooperative control system for material transportation of a polymer extrusion production line, which is characterized by comprising: the system comprises an MES platform, a premix machine control system, an extruder control system and a metering packaging machine control system, wherein the MES management system and the AGV transport control system are connected through Ethernet, the MES management system comprises the MES platform, the premix machine control system, the extruder control system and the metering packaging machine control system, and the AGV transport control system comprises: AGV dispatch platform, AGV control module, AGV dolly, transportation goods shelves; the AGV dispatching platform is connected with the AGV control module through the Ethernet, and the AGV control module is connected with the AGV trolley through the wireless network module; the transport goods shelf is used for loading raw materials, materials or packaged finished products transported by the AGV trolley; wherein,,
the MES platform is used for acquiring order information, production state information of the premix machine control system, the extruder control system and the metering packaging machine control system, and transportation time information fed back by the AGV scheduling platform; the system is also used for sending process parameter information and operation control instructions to the premix machine control system, the extruder control system and the metering packaging machine control system to control the operation of the premix machine, the extruder and the metering packaging machine; the process parameter information comprises the ratio of raw materials in the mixing process, mixing time, mixing pressure, mixing temperature, extruder temperature in the extrusion process, extruder operating voltage, extruder operating current, extruder screw speed, temperature in each cooling area and unit packaging weight in the packaging process; the AGV scheduling platform is also used for sending the order information and the production state information to the AGV scheduling platform; the order information comprises raw material information, a first number of a raw material warehouse, a second number of a premix machine, a third number of an extruder, a fourth number of a metering and packaging machine and a fifth number of a finished product warehouse; the production state information comprises the running states of the premix machine, the extruder and the metering packaging machine, wherein the running states comprise three states of idle state, working state and working completion, after the front materials of the premix machine, the extruder and the metering packaging machine are put into production, the running states enter the working state from idle state, and after the production is completed and the AGV scheduling platform controls the next-stage transportation, the running states enter the working state from the working state to complete; the operation control instruction is generated based on the transport completion time information fed back by the AGV scheduling platform;
the AGV scheduling platform is used for planning a transport path according to the order information and the production state information sent by the MES platform and sending the information of the transport path to the AGV control module; the AGV is also used for feeding back the transport completion time information of the AGV to the MES platform;
the AGV control module is used for controlling the AGV trolley to realize the transportation of materials or products through the transportation goods shelf according to the information of the transportation path;
the AGV dispatching platform is used for expressing the position of the transport goods shelf by establishing a bin position, and updating the bin position according to transport path information of the AGV after the AGV finishes a transport task;
the AGV dispatching platform receives the raw material information and then controls the AGV trolley to sequentially go to a corresponding raw material warehouse for loading according to the raw material proportioning table, and all raw materials are transported to the premix machine after being loaded.
2. The system of claim 1 wherein the AGV control module is further configured to establish a scene map via a lidar disposed on the AGV cart; when the AGV control module establishes a scene map through the laser radar arranged on the AGV trolley, the AGV control module is specifically used for:
estimating the pose of the laser radar in motion by the laser radar, and simultaneously constructing a scene map by combining fast synchronous positioning and map construction FastSLAM algorithm;
when the AGV control module is combined with the FastSLAM algorithm to construct a scene map, the FastSLAM algorithm is adopted to decompose the SLAM problem into two parts of path solving and map construction of an AGV trolley according to the Bayesian network and the assumption independence among features, and the decomposition process can be represented by a formula (1):
wherein: x-the pose state quantity of the AGV trolley; m-map estimation; a measurement of a z-lidar sensor; u-control amount of AGV trolley movement; the number of feature points in the map at the time t-N; p (x) 1:t |z 1:t ,u 1:t ) Part is a posterior of AGV trolley path, p (m j |x 1:t ,z 1:t ,u 1:t ) The method comprises the steps of estimating the pose of an AGV;
adding a site on a scene map, wherein the information of the site comprises an ID, coordinates, angles and a site type, and the ID is tag information and is a unique mark of the site; the coordinates are coordinate information of sites in a site map; the angle is a deflection angle between the pose of the AGV trolley after reaching the specified pose of the station and a set horizontal line; the stations comprise four types of general stations, stop points, charging points and working points.
3. The system of claim 2 wherein the AGV control module is further configured to configure an identification model and transmit the identification model to an AGV cart;
when the AGV control module configures the identification model, the AGV control module comprises: and measuring the data of the length, width and height of each of the premix machine, the extruder, the metering packaging machine, the transport goods shelf and the AGV trolley body, and acquiring an identification model according to the data of the length, width and height.
4. The system of claim 3 wherein the AGV cart is further configured to perform positioning recognition based on the recognition model, comprising:
and acquiring point cloud data in real time through the laser radar, matching the point cloud data with a target identification model, and confirming the positioning accuracy according to a matching result.
5. The system of claim 4, wherein the AGV cart is further configured to perform positioning of the AGV cart itself based on a scan of the lidar, and is specifically configured to:
collecting laser beams reflected by a premix machine, an extruder, a metering packaging machine, a transportation shelf and the surrounding environment through a laser radar, so as to obtain point cloud data;
and calculating the change information of the distance and the gesture of the laser radar in relative movement at different moments by comparing two pieces of point cloud data at different moments, and acquiring the positioning information of the AGV trolley based on the change information of the distance and the gesture of the relative movement.
6. The system of claim 5 wherein said AGV cart is further provided with a motor and a lift frame, said motor drivingly connected to said lift frame for lifting said transport pallet; the bottom of transportation goods shelves is equipped with the recess of a plurality of fillet rectangles, the upper surface of jacking frame be equipped with a plurality of fillet rectangle's of a plurality of fillet rectangle recess complex arch.
7. The system of claim 6 wherein the AGV scheduling platform adopts an improved smoothing a-algorithm to plan paths, after finishing the selection of a starting point and an end point, using a current starting point as a parent node, expanding candidate nodes in a 3-2 quadrant form, calculating a valuation function f (m) of each expanded candidate point, selecting an expanded candidate node meeting a standard as a new expanded node to be listed into a path coordinate set, then taking the obtained optimal expanded candidate node as a parent node of the next generation to perform cyclic calculation until reaching the end point, obtaining a plurality of path plans, adding the total length of the paths, the number of candidate points and the number of path turns into an evaluation index to analyze the planned paths, selecting the path with the minimum combination of the three as an optimal path, and adopting an estimated function formula (2) to represent the path:
where f (m) is the valuation function of the extended node m to the target point, g (m) represents the actual cost of the extended node m to the starting point, g (x) is the known cost of the extended node m to the starting point, σ represents the conversion coefficient of the turn number into the cost, cos θ m-1 A cosine function value representing a steering angle, D representing a distance between a previous node and its extension node, (x) m ,y m ) Representing the coordinates of an AGV expansion node m, selecting Manhattan distance as the estimated cost of a heuristic function h (m), (x) e ,y e ) Representing the coordinates of the AGV target point E.
8. The system of claim 7 wherein the AGV scheduling platform is connected to an elevator by a remote I/O module control.
9. A control method of an intelligent cooperative control system based on material transportation of a polymer extrusion line according to any one of claims 1 to 8, comprising the steps of:
the MES platform receives the order information and sends the order information to the AGV scheduling platform; the order information comprises principle information, a first number of a raw material warehouse, a second number of a premix machine, a third number of an extruder, a fourth number of a metering and packaging machine and a fifth number of a finished product warehouse;
based on the first number and the second number, the AGV scheduling platform plans a first path and sends information of the first path to an AGV control module;
the AGV control module controls an AGV trolley I to transport raw materials at a raw material stock position corresponding to the first number to a premix machine position corresponding to the second number according to the information of the first path, and recovers a corresponding transport shelf; and feeding back a first transportation completion time to the MES platform;
after receiving the first transportation completion time, the MES platform sends a first technological parameter configuration table to a premix machine control system corresponding to the second number, instructs a corresponding premix machine to complete a mixing task according to the first technological parameter configuration table, and acquires first completion information fed back by the premix machine control system;
after receiving the first completion information, the MES platform sends the second number and the third number to the AGV scheduling platform;
based on the second number and the third number, the AGV scheduling platform plans a second path and sends information of the second path to an AGV control module;
the AGV control module controls a second AGV trolley to transport materials at the premix machine corresponding to the second number to the extruder corresponding to the third number according to the information of the second path, and recovers a corresponding transport shelf; and feeding back a second transportation completion time to the MES platform;
after receiving the second transportation completion time, the MES platform sends a second process parameter configuration table to the extruder control system corresponding to the third number, instructs the corresponding extruder to complete the extrusion task according to the second process parameter configuration table, and acquires second completion information fed back by the extruder control system;
after receiving the second completion information, the MES platform sends a third process parameter configuration table to a metering and packaging machine control system corresponding to the fourth number, and instructs a metering and packaging machine corresponding to the fourth number to package the materials to obtain a packaged finished product; acquiring third completion information fed back by the metering packaging machine control system;
after receiving the third completion information, the MES platform AGV scheduling platform;
based on the fourth number and the fifth number, the AGV scheduling platform plans a third path and starts information of the third path to the AGV control module;
the AGV control module controls a third AGV trolley to transport the packaged finished products at the metering packaging machine corresponding to the fourth number to the finished product stock corresponding to the fifth number according to the information of the third path, and recovers the corresponding transport shelf; and feeding back a third transportation completion time to the MES platform.
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