CN114620433A

CN114620433A - Intelligent cop transport device, system and transport method based on AGV

Info

Publication number: CN114620433A
Application number: CN202210214367.8A
Authority: CN
Inventors: 张艳红; 杨善任; 赵永波; 李自景
Original assignee: WEIHAI WEIQIAO TECHNOLOGY INDUSTRIAL PARK CO LTD
Current assignee: WEIHAI WEIQIAO TECHNOLOGY INDUSTRIAL PARK CO LTD
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-06-14

Abstract

The invention discloses an intelligent cop transport device based on an AGV, which comprises a cop vehicle, wherein the cop vehicle comprises a cop vehicle body and a cop storage device; submerging a traction type AGV; a position guide device; a transportation site; a parking positioning device; a caller. The system includes a magnetic field sensor; a laser radar; a radio frequency identification sensor; a communication module; an AGV controller and a motor. The transportation method comprises the steps that when the AGV runs, a direction signal of a ground magnetic stripe is obtained through the linear Hall magnetic sensor, position and station information is obtained through the RFID sensor, after the RFID module knows that the station is reached, the bottom of the cop tube vehicle is submerged from the rear part of the cop tube vehicle, when the linear Hall magnetic sensor identifies the transverse positioning magnetic stripe, the AGV stops, the lifting traction shaft is dragged to ascend, the AGV is drilled into the traction head, and the cop tube vehicle is immediately pulled to go to a rear spinning workshop. The invention has the advantages of high efficiency, unified dispatching and synchronous operation of a plurality of transport lines, low reconstruction cost of the existing workshop and the like.

Description

Intelligent cop transport device, system and transport method based on AGV

Technical Field

The invention relates to the field of cotton spinning production, in particular to an intelligent cop transport device, an intelligent cop transport system and an intelligent cop transport method based on an AGV.

Background

In the spinning process, a spinning process and a post-spinning process are the last two steps, and in the two steps, a cop as a raw material is transported to and fro between corresponding devices of the two steps, and the steps are as follows: a spinning machine in a spinning workshop produces cop wound with fine yarn, the cop is stored in a cop vehicle, then is pulled by workers, is transported to an automatic winder in a post-spinning workshop, and then an empty cop vehicle stored in the automatic winder is pulled back to the spinning machine in the spinning workshop. There are the following disadvantages in this process:

a, the work efficiency of users is low, the weight of a cop cart is about 200kg when the cop cart is filled with materials, the speed under the condition of manual traction is limited, and the cop cart cannot be uniformly scheduled in real time, so that synchronous operation of a plurality of transport lines is realized.

And b, the spinning mill has the specific characteristics of high-temperature, high-humidity and high-noise working environment, and the human body can cause physical discomfort when engaging in manual labor in the environment for a long time. Moreover, the labor cost is high, the aging of enterprises is accelerated, and the proportion of young labor is continuously reduced, so that the application of an automatic and intelligent technology for replacing manpower is urgently needed.

The current common solutions are: and purchasing a fine network connection device with a hanging rail to realize the combination of the spinning machine and the bobbin winder. This equipment requires the spinning mill to buy and build a new production line, which is very costly. And most of the existing plants in the industry are not provided with the hanger rail and do not have the condition of hanger rail transformation.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides an intelligent cop transport device, an intelligent cop transport system and an intelligent cop transport method based on an AGV.

In order to solve the technical problems, the invention adopts the technical scheme that: an intelligent cop conveyer based on AGV includes:

a cop car for transporting a cop;

the submerging traction type AGV is matched with the cop vehicle for use and is used for drawing the cop vehicle to move;

the position guiding device is positioned on the ground and used for the submerged traction type AGV to acquire position information so as to control the motion state of the submerged traction type AGV;

a transportation station corresponding to the spinning production link; a recognition control device for a submerged traction type AGV to recognize and prompt departure, stop, connection with a cop vehicle and disconnection is arranged in the transportation station; a parking positioning device corresponding to the bobbin yarn vehicle is also arranged in the transportation station;

remotely controlling the beeper of the submerging traction type AGV.

Furthermore, a traction shaft is arranged at the top of the submerging traction type AGV, a traction head is arranged on the bobbin yarn vehicle corresponding to the traction shaft, and the traction shaft is lifted and inserted into the traction head to enable the submerging traction type AGV to pull the bobbin yarn vehicle to move.

Furthermore, the position guiding device comprises a ground magnetic strip, and a magnetic field sensor is installed on the corresponding submerging traction type AGV.

Further, the parking positioning device comprises a groove rail matched with the bobbin yarn trolley wheel.

Furthermore, the inlet and the outlet of the groove rail are both in a horn shape with the inner diameter gradually reduced from the outside of the groove rail to the inside of the groove rail.

Furthermore, the identification control device comprises a transverse positioning magnetic strip for induction identification of a magnetic field sensor arranged on the submerged traction type AGV; the system also comprises a frequency-transmission identification tag, and a frequency-transmission identification sensor is installed on the corresponding submerging traction type AGV.

An intelligent cop transport system based on AGV includes:

a magnetic field sensor for inputting magnetic field data of the transportation station;

inputting a laser radar of point cloud distance data;

a radio frequency identification sensor for inputting radio frequency identification data of the transportation station;

the communication module is used for communicating between the submerging traction type AGV and the caller;

an AGV controller and a motor.

Further, the AGV controller outputs a control signal to a vehicle body motor according to the magnetic field data and the point cloud distance data so as to control the vehicle body to turn, accelerate and decelerate; a control signal is output to the traction shaft motor according to the frequency identification data and the magnetic field data to control the traction shaft to lift; and controlling the vehicle body traveling route according to the call signal and the radio frequency identification data received by the communication module.

An intelligent cop transportation method based on AGV comprises the following steps:

s1, stopping the cop cart at a cop outlet, and loading the output cop;

s2, pushing the cop car to a corresponding nearby transportation station by a worker after the cop car is full, parking the cop car in the groove rail and informing the submerged AGV of the station where the cop car is just parked before by a calling device;

s3, the submerging traction type AGV receives the calling signal, confirms the station number, plans a route to the target station according to the current position and goes to the target station;

s4, the submerging traction type AGV obtains a direction signal of a ground magnetic stripe through a magnetic field sensor when running, obtains position and station information through a frequency transmission recognition sensor, submerges the bottom of the cop vehicle from the rear of the cop vehicle after the frequency transmission recognition sensor knows that the magnetic stripe reaches the station, stops when the magnetic field sensor recognizes a transverse positioning magnetic stripe, draws a traction shaft to ascend, drills into a traction head, and then draws the cop vehicle to move to a next process workshop station;

s5, reading the frequency identification tag during the operation of the submerged traction type AGV, stopping the AGV after the AGV reaches the station of the next flow workshop, descending the traction shaft, and automatically unloading the bobbin yarn vehicle;

s6, immediately pushing the bobbin yarn vehicle from the station by a worker in the next process workshop to produce the corresponding process; after production is finished, an empty bobbin yarn vehicle which is not loaded with bobbin yarns is left, a worker pushes the empty bobbin yarn vehicle to a station of a workshop where the empty bobbin yarn vehicle is located, and a caller is used for informing a submerging traction type AGV;

and S7, after receiving the signal, the submerging traction type AGV runs to a calling station, automatically butts an empty bobbin creel, and returns to the station of the previous workshop.

And S8, the submerging traction type AGV arrives at the station of the previous workshop, and the empty bobbin yarn vehicle is automatically unloaded.

And S9, taking the empty cop cart out of the station by the workshop worker, pushing the empty cop cart to a cop outlet, and loading the cop.

Further, the method is applied to an obstacle avoidance method comprising the following steps in the transportation process:

SI, when starting, the submerging traction type AGV is in a dormant state and does not execute tasks;

SII, after receiving a task signal sent by a caller of a worker, starting the submerged traction type AGV to run, starting a frequency-transmission recognition sensor to scan a ground label in real time, and starting a communication module to broadcast to all the submerged traction type AGVs in a workshop;

in the motion of SIII and the submerged traction type AGV, once a frequency-transmission identification landmark is scanned, the relative position in a workshop is known, and the position information is immediately broadcasted to all the submerged traction type AGVs in the workshop through a communication module;

SIV, because all the submerging traction type AGVs broadcast own position information, once the submerging traction type AGVs receive the position information of other submerging traction type AGVs, the position information is analyzed, and whether any submerging traction type AGV approaches to the intersection or not is analyzed; the intersection is easy to cause collision accidents, so that the intersection needs to be submerged between the traction type AGV to avoid;

and SV, once other submerging traction type AGVs are analyzed to approach the intersection, the submerging traction type AGVs analyze whether the other submerging traction type AGVs pass through the intersection or not and judge the time for receiving the signals, if the time for receiving the signals is later than the time for identifying and scanning the information by self frequency emission, the vehicles continue to normally run, and if the time is earlier than the time for identifying and scanning the scanned information by self frequency emission, the vehicles decelerate to pass through the intersection.

The invention takes the AGV as an executing device in the system, is designed into a submerged vehicle body, can realize automatic butt joint and automatic traction of the bobbin yarn vehicle only by slightly improving the design of the bobbin yarn vehicle, can automatically avoid obstacles and unload the bobbin yarn vehicle, and can realize the linkage of the devices of a plurality of AGVs by the coordination compound networking calling system. Therefore, the scheme of manpower and hanger rails in the prior art can be replaced, and the system has the advantages of high efficiency, unified scheduling of multiple transport lines, synchronous operation, low transformation cost of the existing workshop and the like.

Drawings

FIG. 1 is a schematic diagram of the overall configuration of a cop truck and AGV according to the present invention.

Fig. 2 is a schematic structural diagram of a standard cop car.

FIG. 3 is a northeast isometric view of a submersible traction AGV.

FIG. 4 is a southeast isometric view of a submersible traction AGV.

FIG. 5 is a northeast isometric view of the cop cart of the invention.

Fig. 6 is an enlarged view of a portion a in fig. 5.

FIG. 7 is a southeast isometric view of a cop cart in accordance with the invention.

Fig. 8 is an enlarged view of fig. 7 at B.

FIG. 9 is a flowchart of the cop transport of the present invention.

FIG. 10 is a block diagram of the system architecture of the AGV of the present invention.

Fig. 11 is a logic diagram of an avoidance method based on LoRa according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 shows an intelligent cop transportation system based on AGV, which is applied to transportation of a standard cop vehicle between a spinning machine and an automatic winder in this embodiment. Comprises a cop vehicle for transporting cops; the submerging traction type AGV is matched with the cop vehicle for use and is used for drawing the cop vehicle to move; the position guiding device is positioned on the ground and used for the submerged traction type AGV to obtain position information so as to control the motion state of the submerged traction type AGV; a transportation station corresponding to the spinning production link; a recognition control device for a submerged traction type AGV to recognize and prompt departure, stop, connection with a cop vehicle and disconnection is arranged in the transportation station; a parking positioning device corresponding to the bobbin yarn vehicle is also arranged in the transportation station; and a pager remotely controlling the submerging traction type AGV.

The bobbin yarn vehicle is a standard bobbin yarn vehicle used in the prior art, and as shown in fig. 2, the standard bobbin yarn vehicle has the size of 1000mm, the width of 1000mm and the height of 1000mm, the ground clearance of 160mm, and two universal wheels and two orientation wheels are arranged on the bottom surface.

Limited by the size of standard pipe brake, the thickness of AGV will be less than 160mm, and length is no longer than 700mm, and the width is no wider than 500mm, so the AGV size is very exquisite.

As shown in fig. 3 and 4. In appearance, the AGV is provided with a closed shell and an integrated chassis 01, a 3D-ToF laser radar 02 is arranged in the center of the head of the AGV, a LoRa communication antenna 03 is arranged on the left side, an emergency stop power-off switch 04 is arranged on the right side, a function key 05 is arranged in the center of the top of the head of the AGV, and a traction shaft 06 is arranged in the center of the top of the AGV; the two sides of the bottom of the car are provided with driving wheels 07, the front and the rear are provided with universal wheels 08, and the center of the bottom of the car is provided with a jacking motor base 09 and an RFID antenna module 10.

Correspondingly, for convenient AGV automatic traction transportation, need reform transform the standard cop car. As shown in fig. 5, 6, 7 and 8, the bottom end of the head of the bobbin creel truck is provided with a traction hook device at a position between two universal wheels, wherein the traction hook device mainly comprises a traction head 20 with a 90-degree folded angle and is used for well contacting with a traction shaft of the AGV during acceleration and steering in the traction process of the AGV; the AGV traction mechanism also comprises a vertical back plate 21 fixed between two connecting pins of the traction head and used for receiving braking force applied to the AGV by the traction shaft when the AGV decelerates. The traction shaft is inserted into the traction head in a lifting mode, so that the submerging traction type AGV can pull the bobbin yarn vehicle to move.

Simultaneously, for better and existing workshop structure combine, make things convenient for workman's operation, need stop positioner at the station position installation of parking cop car, select for use in this embodiment with cop car wheel matched with grooved rail 30, the import and the export of grooved rail are and get into the grooved rail internal diameter convergent from the grooved rail is tubaeform outward, are convenient for park and position alignment.

As shown in fig. 10, the inside of the submerging-pulling AGV includes a magnetic field sensor for inputting magnetic field data of a transportation station, and a linear hall magnetic sensor is used in this embodiment; inputting a laser radar of point cloud distance data, wherein the embodiment adopts a 3D-ToF laser radar; a radio frequency identification sensor, namely an RFID sensor, for inputting radio frequency identification data of the transportation station; a communication module for communicating between the submerged traction type AGV and the caller, wherein the embodiment adopts a LoRa communication module; and an AGV controller as a master.

The core of the system is an AGV controller, which is composed of an ARM controller chip and is the brain of the AGV. In which a real-time motion control algorithm and a path planning algorithm are run. The real-time motion control algorithm is mainly used for outputting control signals to a direct current brushless motor after algorithm operation according to ground magnetic field data input by a linear Hall magnetic sensor and point cloud distance data input by a 3D-ToF laser radar, further controlling the motion functions of the AGV such as vehicle body steering, acceleration, deceleration and the like, and controlling the lifting of a linear push rod motor according to position information obtained by an RFID sensor and the magnetic sensor, further realizing the lifting function of driving a traction shaft.

The path planning algorithm is mainly used for calculating an optimal route according to a calling signal received by the LoRa communication module and a ground position signal obtained by the RFID sensor, and then giving a result of the signal influencing motion control whether to accelerate or decelerate.

The 3D-ToF laser radar can obtain point cloud distance data in front of the AGV in running, and is mainly used for judging whether the front is provided with an obstacle or not, how far the distance is, and how the size and the shape of the obstacle are, and further judging whether the AGV needs to decelerate or stop.

The linear Hall magnetic sensor can acquire the magnetic field information of the ground magnetic stripe 40 below the AGV body, and further acquire the accurate position of the magnetic field, so as to control the running speed of the two DC brushless motors running at different speeds, and further control the motion state of the AGV.

The LoRa communication module is used for receiving signals of a caller operated by a worker and broadcast signals among AGVs (automatic guided vehicles) for path planning.

The linear push rod motor is used for executing the lifting of the traction shaft.

The direct current brushless speed reducing motor is the key for controlling the AGV movement, the direct current brushless speed reducing motor is two motors which run in a differential mode, and a motor driver outputs the control signals to the motors according to the control signals output by the AGV controller, so that actions such as acceleration, deceleration, steering and the like are achieved.

The RFID sensor is used for sensing the RFID label data of the ground, and the AGV can know the specific position of the AGV in a factory by sensing the RFID label data of the ground so as to help the operation of a path planning algorithm.

As shown in fig. 9, the transportation system of the present invention is implemented by the following steps:

a. the spinning machine in the spinning workshop can continuously produce cop in production, and the cop trolley is stopped below a cop outlet of the spinning machine to receive and load the dropped finished cop.

b. And after the spinning frame is produced, the cop vehicle is full of cop and needs to be transported to a post-spinning workshop for next production work.

c. The spinning workshop worker pushes the fully loaded cop car to a nearby station, the station is provided with a grooved rail as shown in fig. 5, the cop car can be easily and repeatedly and accurately stopped at a determined position, and the AGV can be conveniently butted in the future. After the cop car is stopped in the groove track, the worker uses a handheld LoRa beeper to inform the AGV of the station where the cop car has just been stopped in the future.

d. And the AGV receives the call signal, confirms the station number, plans a route to the target station according to the current position and goes to the target station.

e. When the AGV runs, a direction signal of a ground magnetic stripe 40 (shown in figure 5) is obtained through a linear Hall magnetic sensor, position and station information is obtained through an RFID sensor 10 (shown in figure 4), after the RFID module knows that the AGV reaches the station, the AGV enters the bottom of the cop vehicle from the rear of the cop vehicle as shown in figure 1, when the linear Hall magnetic sensor identifies a transverse positioning magnetic stripe 41 (shown in figure 5), the AGV stops, a traction lifting traction shaft 06 (shown in figure 3) rises, the AGV drills into a traction head 20 (shown in figure 5), and then the cop vehicle is immediately pulled to a rear spinning workshop.

f. When the AGV runs, the RFID tag 42 (figure 5) is read, and after the AGV reaches a station of a post-spinning workshop, the AGV stops, pulls the lifting traction shaft 06 to descend, and automatically unloads the bobbin yarn vehicle.

g. And a worker in the post-spinning workshop immediately pushes the bobbin yarn vehicle to a station of the bobbin winder to produce the bobbin winder.

h. After the production of the bobbin winder is finished, empty bobbin yarn cars without bobbin yarns are left, workers push the empty bobbin yarn cars to a post-spinning workshop station, the AGV is informed by using a handheld LoRa calling device, and the process is repeated.

i. After the AGV receives the signal, the AGV runs to a calling station, automatically butts an empty bobbin yarn car, and goes to a station of a spinning workshop.

j. And the AGV reaches a station of a spinning workshop and automatically unloads the empty bobbin yarn vehicle.

k. And (4) taking the empty bobbin yarn vehicle out of the station by a worker in the spinning workshop, pushing the empty bobbin yarn vehicle to a station of a spinning frame, and producing the spinning frame.

In the system, the communication function between the AGVs is broadcast communication technology based on the LoRa protocol, and the AGVs need to avoid collision at intersections during operation, so the AGVs are designed with a set of avoidance algorithms based on the LoRa, as shown in fig. 11.

At the beginning, the AGV is in a dormant state and no task is executed.

After receiving the task signal that workman's handheld loRa calling set sent, the AGV starts the operation, starts RFID sensor real-time scanning ground label, starts loRa broadcast function and broadcasts to all AGVs in the workshop.

Once the RFID landmark is scanned during the AGV movement, the position information is immediately broadcast to all AGVs in the plant via LoRa, which is equivalent to knowing the relative position in the plant.

Because all AGVs are broadcasting the position information of the AGVs, the position information is analyzed once the AGVs receive the position information of other AGVs, and whether the AGVs approach the intersection or not is mainly analyzed. The intersection is easy to cause collision accidents, so that the AGV needs to avoid.

Once other vehicles are analyzed to approach the intersection, the AGV analyzes whether the AGV needs to pass through the intersection or not, judges the time of receiving signals, continues to normally operate if the time of receiving signals is later than the time of information scanned by the RFID, and decelerates to pass through the intersection if the time of receiving signals is earlier than the time of information scanned by the RFID.

The above embodiments are not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make variations, modifications, additions or substitutions within the technical scope of the present invention.

Claims

1. The utility model provides an intelligence cop conveyer based on AGV which characterized in that: the method comprises the following steps:

a cop car for transporting a cop;

the submerged traction type AGV is matched with the cop vehicle for use and used for drawing the cop vehicle to move;

remotely controlling the beeper of the submerging traction type AGV.

2. The AGV-based intelligent cop transport apparatus according to claim 1, wherein: the top of sneaking into towed AGV is provided with pulls axle (06), corresponds on the cop car and pulls the axle and be provided with traction head (20), and it rises to insert makes and sneaks into towed AGV can pull the cop car and remove in the traction head to pull the axle.

3. The AGV-based intelligent cop transport apparatus according to claim 1, wherein: the position guiding device comprises a ground magnetic strip (40), and a magnetic field sensor is installed on the corresponding submerging traction type AGV.

4. The AGV-based intelligent cop transport apparatus according to claim 1, wherein: the parking positioning device comprises a grooved rail (30) matched with a bobbin creel car wheel.

5. An AGV based intelligent cop transport of claim 4, wherein: the inlet and the outlet of the groove rail are both in a horn shape by gradually reducing the inner diameter of the groove rail entering from the outside of the groove rail.

6. The AGV-based intelligent cop transport apparatus according to claim 1, wherein: the identification control device comprises a transverse positioning magnetic strip (41) for induction identification of a magnetic field sensor arranged on the submerging traction type AGV; the AGV also comprises a radio frequency identification tag (42), and a radio frequency identification sensor (10) is installed on the corresponding submerging traction type AGV.

7. The utility model provides an intelligence cop conveying system based on AGV which characterized in that: the method comprises the following steps:

inputting a laser radar of point cloud distance data;

a radio frequency identification sensor for inputting radio frequency identification data of the transportation site;

an AGV controller and a motor.

8. An AGV-based intelligent cop transport system according to claim 7, wherein: the AGV controller outputs a control signal to a vehicle body motor according to the magnetic field data and the point cloud distance data so as to control the steering, acceleration and deceleration of the vehicle body; a control signal is output to the traction shaft motor according to the frequency identification data and the magnetic field data to control the traction shaft to lift; and controlling the vehicle body traveling route according to the call signal and the radio frequency identification data received by the communication module.

9. An intelligent cop transportation method based on AGV is characterized in that: the method comprises the following steps:

s1, stopping the cop cart at a cop outlet, and loading the output cop;

s4, the direction signal of a ground magnetic stripe (40) is obtained through a magnetic field sensor when the submerging traction type AGV runs, position and station information is obtained through a frequency transmission recognition sensor (10), after the frequency transmission recognition sensor knows that the AGV reaches the station, the bottom of the cop vehicle is submerged from the rear of the cop vehicle, when the magnetic field sensor recognizes a transverse positioning magnetic stripe (41), the cop vehicle stops, a traction shaft (06) is pulled to ascend and is drilled into a traction head (20), and the cop vehicle is immediately pulled to move to the station of a next flow workshop;

s5, reading the radio frequency identification tag (42) during the operation of the submerged traction type AGV, stopping the AGV after the AGV reaches the station of the next flow workshop, descending the traction shaft (06) and automatically unloading the bobbin yarn vehicle;

s6, immediately pushing away the bobbin yarn vehicle from the station by a worker in a next process workshop to carry out production of a corresponding process; after production is finished, an empty bobbin yarn vehicle which is not loaded with bobbin yarns is left, a worker pushes the empty bobbin yarn vehicle to a station of a workshop where the empty bobbin yarn vehicle is located, and a caller is used for informing a submerging traction type AGV;

And S9, taking out the empty cop cart from the station by a workshop worker, pushing the empty cop cart to a cop outlet, and loading the cop.

10. The AGV-based intelligent cop transport method according to claim 9, wherein: the obstacle avoidance method applied to the transportation process comprises the following steps: