CN114879614A - Flexibly manufactured AGV (automatic guided vehicle) scheduling method - Google Patents
Flexibly manufactured AGV (automatic guided vehicle) scheduling method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004519 manufacturing process Methods 0.000 claims abstract description 30
- 230000007547 defect Effects 0.000 abstract description 2
- 238000011160 research Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 4
- 230000014759 maintenance of location Effects 0.000 description 3
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- 230000033764 rhythmic process Effects 0.000 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], 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], 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], 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31002—Computer controlled agv conveys workpieces between buffer and cell
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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 invention discloses a flexible manufacturing AGV (automatic guided vehicle) scheduling method, and relates to the field of production scheduling. The invention comprises the following steps: in a road working section, whether to advance is determined according to the number of AGV; in the robot working section, the robot is communicated with the terminal through a TCP/IP protocol, and is jointly dispatched with the AGV through a signal of the robot; in the manual section, the AGV advances with a dynamic dwell time and gives the worker the authority to start and stop. Aiming at the defects of the traditional ground rail type automobile assembly line, the invention researches a flexible-manufacturing-oriented multi-AGV (automatic guided vehicle) cooperative scheduling system to replace the traditional production line.
Description
Technical Field
The invention relates to the field of production scheduling, in particular to a flexible manufacturing AGV scheduling method.
Background
Along with the gradual diversification and individuation of the demand of commodities, the flexible manufacturing system which can more conveniently change the production types and the production line structure is gradually popularized. The flexible manufacturing system is composed of an information control part, a material processing part and automation equipment, and can flexibly change processing modes according to different processing objects, so that the flexibility of the system is improved, and the benefits of enterprises are improved.
Current automobile assembling production uses a plurality of ground rails respectively at different processes usually, uses fork truck to transport between the ground rail, has that production station is fixed, the rhythm is uncontrollable, adjacent station influences, carries loaded down with trivial details scheduling problem each other, has wasted a large amount of manpower and materials. An Automated Guided Vehicle (AGV) is a transport apparatus equipped with a guide device and capable of traveling along a predetermined route. The AGV has the advantages of good adaptability, high reliability, good flexibility and the like, can realize automation and integration of the material handling process, and is widely applied to various industries.
AGV automatic transportation has been gradually adopted in manufacturing transportation and logistics storage to replace traditional modes such as fork truck transport, and the transportation logistics of these enterprises have characteristics such as lot is many, the cycle is short. At present, a plurality of enterprises introducing the AGV system have utilized the AGV and the device to realize automation in loading, transporting, unloading and the like. How to reasonably configure the AGVs, schedule the multiple AGVs in production so as to improve the utilization rate of the AGVs and reduce the operation cost becomes an important subject facing enterprises in lean improvement and intelligent transformation. The AGV dispatching algorithm can adjust the state, the speed and the like of the AGV in real time, so that the AGV can complete the transportation task safely and reliably.
Disclosure of Invention
In view of the above, the present invention researches a flexible manufacturing-oriented multiple AGV cooperative scheduling system to overcome the defects of a conventional ground rail type automobile assembly line, and designs and writes an AGV scheduling software for flexible manufacturing in combination with AGVs, instead of a conventional production line, using C # as a programming language to solve the above problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible manufacturing AGV scheduling method comprises the following steps:
in a road working section, whether to advance is determined according to the number of AGV;
in the robot working section, the robot is communicated with the terminal through a TCP/IP protocol, and is jointly dispatched with the AGV through a signal of the robot;
in the manual section, the AGV advances with a dynamic dwell time and gives the worker the authority to start and stop.
And in the section connecting part, the AGV is dispatched through the absolute position coordinates uploaded by the AGV and the running state, so that the safety and high efficiency of the dispatching of the connecting sections are ensured.
Optionally, the vehicles are controlled to move at the same time by the traffic lights in the road section, and the passing time of the AGV is controlled by speed regulation.
Optionally, the method further comprises the step of ensuring that the AGV is not on the road when the green light is achieved by using a time window method.
Optionally, the specific working method of the robot workshop section is as follows:
acquiring an AGV current position set;
if the AGV is located in the robot working section and located in the working station, starting the working station AGV when the robot allows the AGV to leave;
if the AGV is located the robot workshop section, when the station is in idle, the robot allows the AGV to enter, starts to wait for the station AGV to move to the work station.
Optionally, the robotic station only allows one AGV to be present at a time.
Optionally, the working method of the manual phase is as follows:
receiving AGV data;
judging whether the dispatching distance is reached;
if the mobile terminal is in the dispatching distance and is in the motion state, judging whether the mobile terminal is in the working state;
if the system is in the working state, scheduling is finished;
and if the mobile terminal is not in the working state, sending a follow-up signal to finish scheduling.
According to the technical scheme, compared with the prior art, the AGV dispatching method for flexible manufacturing is provided, and the purposes that the length and the position of a production line can be adjusted, the production rhythm can be adjusted, the relative position of each AGV can be known and abnormal conditions can be processed in real time are achieved through a combined adjustment and control mode of the upper computer, the AGV and other equipment. And can be linked with other devices supporting TCP/IP protocol in a communication way, and has good expansibility and flexibility.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a robot segment algorithm of the present invention;
FIG. 2 is a flow chart of a manual process algorithm of the present invention;
FIG. 3 is a flow chart of a road section algorithm of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an AGV dispatching method for flexible manufacturing, which comprises the following specific steps:
the stations of the process are communicated by the AGV, and the moving or stopping of the AGV at each station is controlled by adopting a software scheduling mode.
And the retention time of the AGV at each station is dynamically adjusted according to the off-line time of the finished vehicle, so that the retention time is ensured to be in accordance with the production time of the current vehicle type.
According to different requirements of each workshop section, different scheduling methods are designed: in the road working section, whether to advance is determined according to the number of the adjacent AGVs so as to ensure that due roads exist and normal traffic is ensured. In the robot working section, the communication with the robot is carried out through a TCP/IP protocol, and the joint scheduling is carried out through the signal of the robot and the AGV, so that the production consistency and safety are ensured. In the manual working section, the AGV advances in dynamic retention time, and gives a certain starting and stopping authority to workers, so that the flexibility of production is ensured. And in the section connecting part, certain optimization is performed according to the characteristics of two adjacent sections, so that the whole system can run more smoothly.
The manual section scheduling algorithm is shown in fig. 2. When the AGV reaches the dispatching distance, the system judges according to the state of the AGV and the like, and moves on the premise of ensuring safety.
The robotic station only allows one AGV to be present at a time, and the system will select different modes of operation depending on the specific location of the AGV. The robot station scheduling algorithm is shown in fig. 1.
The road section is a section of crossroad, and meanwhile, the AGV and the normal vehicles pass through the crossroad, so that the vehicles are controlled to pass through the traffic lights in order to prevent road congestion. Because the AGV is slow in travelling speed when normally operating, the AGV passing time is shortened by adopting speed regulation, and the normal vehicle passing is ensured by ensuring that the AGV is not on the road when a green light is ensured by combining a time window method. The road section scheduling algorithm is shown in fig. 3.
The flexible characteristic of the AGV is benefited, the length and the position of the production line can be adjusted under a reasonable scheduling method, and the production rhythm is not set with a fixed value but dynamically regulated and controlled according to the offline speed of finished products.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A flexible manufacturing AGV dispatching method is characterized by comprising the following steps:
in a road working section, whether to advance is determined according to the number of AGV;
in the robot working section, the robot is communicated with the terminal through a TCP/IP protocol, and is jointly dispatched with the AGV through a signal of the robot;
in the manual section, the AGV advances with a dynamic dwell time and gives the worker the authority to start and stop.
2. The AGV dispatching method of claim 1, wherein the road section controls vehicles to run together through a traffic light, and the AGV passing time is controlled through speed adjustment.
3. The flexible manufacturing AGV dispatching method of claim 2, further comprising using a time window method to ensure that an AGV is not on the road when the light is green.
4. The flexible manufacturing AGV dispatching method of claim 1, wherein the specific working method of the robot station is as follows:
acquiring an AGV current position set;
if the AGV is located at the robot working section and is located at the working station, the robot allows the AGV to leave;
if the AGV is located at the robot working section and the station is idle, the robot allows the AGV to enter and starts the AGV to move to the working station.
5. The flexible manufacturing AGV scheduling method of claim 1 wherein said robotic station allows only one AGV to be present at a time.
6. The flexible manufacturing AGV dispatching method of claim 1, wherein said manual stage is performed by:
receiving AGV data;
judging whether the dispatching distance is reached;
if the mobile terminal is in the dispatching distance and is in the motion state, judging whether the mobile terminal is in the working state;
if the system is in the working state, scheduling is finished;
and if the mobile terminal is not in the working state, sending a follow-up signal to finish scheduling.
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| CN202210474681.XA CN114879614A (en) | 2022-04-29 | 2022-04-29 | Flexibly manufactured AGV (automatic guided vehicle) scheduling method |
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| CN109887379A (en) * | 2018-06-04 | 2019-06-14 | 无锡铭知一智能科技有限公司 | A kind of teaching flexible manufacturing system platform |
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| WO2022012267A1 (en) * | 2020-07-17 | 2022-01-20 | 北京理工大学 | Collaboration method for multiple machining robots in hardware flexible production workshop |
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2022
- 2022-04-29 CN CN202210474681.XA patent/CN114879614A/en active Pending
Patent Citations (9)
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| CN101625569A (en) * | 2009-07-29 | 2010-01-13 | 无锡职业技术学院 | Object-oriented Petri network modeling method in flexible manufacturing system |
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| CN110009259A (en) * | 2019-04-18 | 2019-07-12 | 天津工业大学 | A kind of more AGV dispatching methods applied to Solid Warehouse in Flexible Manufacturing Workshop under two-way approach |
| CN110174111A (en) * | 2019-05-31 | 2019-08-27 | 山东华锐智能技术有限公司 | More AGV path planning algorithms of task segmented based on time window |
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