CN115108259A - Composite transportation equipment control method, device, equipment and storage medium - Google Patents
Composite transportation equipment control method, device, equipment and storage medium Download PDFInfo
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- CN115108259A CN115108259A CN202210894986.6A CN202210894986A CN115108259A CN 115108259 A CN115108259 A CN 115108259A CN 202210894986 A CN202210894986 A CN 202210894986A CN 115108259 A CN115108259 A CN 115108259A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
- B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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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]
Abstract
The invention discloses a control method, a device, equipment and a storage medium of composite transportation equipment, wherein the method is applied to the composite transportation equipment, the composite transportation equipment comprises an intelligent transportation vehicle, and an onboard goods shelf and a mechanical arm which are arranged on the intelligent transportation vehicle, and the method comprises the following steps: when a refueling instruction sent by the task management system is received, controlling the intelligent transport vehicle to move to production equipment; the control mechanical arm takes out a processed product tray in the production equipment and places the processed product tray on the airborne goods shelf, and the control mechanical arm assembles a corresponding to-be-processed product tray on the airborne goods shelf to the production equipment; when the processed product tray in the target production equipment is replaced by a to-be-processed product tray, the intelligent transport vehicle is controlled to move to the tray transfer area. The technical problem of among the prior art artifical unloading lead to production efficiency to hang down is solved, can realize unloading in the automation through compound transportation equipment when product processing is accomplished, has improved production facility's production efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a control method, a control device, control equipment and a storage medium for composite transportation equipment.
Background
At present, digit control machine tool is generally applied to the manufacturing field, for example through digit control machine tool processing metal wrist-watch shell and inner structure, processing cell-phone structure etc. when processing the product through digit control machine tool, need artifically put into the digit control machine tool with unprocessed product in, need artifical the change when the product processing is accomplished, lead to production efficiency low, partial production environment has pollution such as oil mist, noise moreover, can produce adverse effect to workman's health.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, control equipment and a storage medium of composite transportation equipment, and aims to solve the technical problem of low production efficiency caused by manual feeding and discharging in the prior art.
In order to achieve the above object, the present invention provides a method for controlling a complex transportation device, the method comprising the steps of:
when a material changing instruction sent by a task management system is received, controlling the intelligent transport vehicle to move to production equipment;
the mechanical arm is controlled to take out a processed product tray in the production equipment and place the processed product tray on the onboard shelf, and the mechanical arm is controlled to assemble a corresponding to-be-processed product tray on the onboard shelf to the production equipment;
when the processed product tray in the target production equipment is replaced by a to-be-processed product tray, the intelligent transport vehicle is controlled to move to the tray transfer area.
Optionally, the controlling the mechanical arm to take out and place the processed product tray in the production equipment on the onboard rack includes:
acquiring a safety door opening in-place signal of the production equipment read by a data acquisition system;
when the safety door is opened and the in-place signal is normal, shooting a target reference point through a vision camera to obtain a reference point picture;
carrying out image recognition on the reference point picture, and determining a positioning error between the intelligent transport vehicle and the target reference point according to a recognition result;
and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray on the onboard shelf according to the positioning error.
Optionally, the controlling the mechanical arm to take out and place the processed product tray in the production equipment on the onboard rack according to the positioning error includes:
determining corresponding error coordinate data according to the positioning error;
and updating the control coordinate data of the mechanical arm according to the error coordinate data, and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray in the onboard shelf according to the updated control coordinate data.
Optionally, when a refueling instruction sent by the task management system is received and before the intelligent transportation vehicle is controlled to move to the production equipment, the method further includes:
when a loading instruction issued by a task management system is received, determining the equipment sequence according to production equipment information sent by the task management system;
controlling the intelligent transport vehicle to sequentially move to corresponding production equipment according to the equipment sequence, and controlling the mechanical arm to assemble a material tray of a product to be processed on the onboard goods shelf to the corresponding production equipment;
and when the assembly of the material discs of the products to be processed on the onboard goods shelf is finished, controlling the intelligent transport vehicle to move to the material disc transfer area to supplement the material discs of the products to be processed.
Optionally, before determining the device sequence according to the production device information sent by the task management system when receiving a loading instruction issued by the task management system, the method further includes:
controlling the intelligent transport vehicle to move to a material tray transfer area according to a preset planning route;
controlling the mechanical arm to sequentially take out the material trays of the products to be processed from the goods shelves to be processed in the material tray transferring area according to the system configuration information;
performing product verification on the taken-out product tray to be processed, and placing the verified product tray to be processed on the onboard shelf;
and when the onboard goods shelf meets the preset state, stopping taking out the material tray of the product to be processed from the goods shelf to be processed.
Optionally, the product verification is performed on the taken-out product tray to be processed, and the product tray to be processed passing the verification is placed on the onboard shelf, including:
moving the taken out material tray of the product to be processed to a preset photographing area, and photographing by a visual camera to obtain a material tray picture of the material tray of the product to be processed;
carrying out image recognition on the tray picture, and determining product information corresponding to the to-be-processed product tray according to a recognition result;
when the product information is consistent with the product information in the system configuration information, judging that the to-be-processed product tray passes verification;
and placing the verified material discs of the products to be processed on the onboard shelf.
Optionally, when the processed product tray in the target production device is replaced by a to-be-processed product tray, the intelligent transportation vehicle is controlled to move to the tray transfer area, and the method further includes:
controlling the intelligent transport vehicle to move to an automatic charging pile in the charging tray transfer area for charging;
in the charging process of the intelligent transport vehicle, controlling a mechanical arm to place a processed product tray on the onboard goods shelf into a processed goods shelf in the tray transfer area;
and when all the processed product trays on the onboard goods shelf are placed into the processed goods shelf, controlling the mechanical arm to place the to-be-processed product trays on the to-be-processed goods shelf on the onboard goods shelf.
In addition, in order to achieve the above object, the present invention further provides a composite transportation device control apparatus for controlling a composite transportation device, where the composite transportation device includes an intelligent transportation vehicle, an onboard rack, and a robot arm, the onboard rack and the robot arm are disposed on the intelligent transportation vehicle, and the apparatus includes:
the mobile control module is used for controlling the intelligent transport vehicle to move to the production equipment when receiving a refueling instruction sent by the task management system;
the assembling module is used for controlling the mechanical arm to take out and place the processed product tray in the production equipment on the onboard goods shelf and controlling the mechanical arm to assemble the corresponding to-be-processed product tray on the onboard goods shelf to the production equipment;
and the control module is used for controlling the intelligent transport vehicle to move to the material tray transfer area when the processed product material tray in the target production equipment is replaced by a to-be-processed product material tray.
In addition, in order to achieve the above object, the present invention also provides a composite transport apparatus control apparatus, including: a memory, a processor and a compound transportation device control program stored on the memory and executable on the processor, the compound transportation device control program configured to implement the steps of the compound transportation device control method as described above.
In addition, in order to achieve the above object, the present invention further provides a storage medium having a composite transportation device control program stored thereon, which when executed by a processor implements the steps of the composite transportation device control method as described above.
The invention provides a composite transportation equipment control method applied to composite transportation equipment, wherein the composite transportation equipment comprises an intelligent transportation vehicle, an onboard goods shelf and a mechanical arm, and the onboard goods shelf and the mechanical arm are arranged on the intelligent transportation vehicle; the mechanical arm is controlled to take out a processed product tray in the production equipment and place the processed product tray on the onboard shelf, and the mechanical arm is controlled to assemble a corresponding to-be-processed product tray on the onboard shelf to the production equipment; when the processed product tray in the target production equipment is replaced by a to-be-processed product tray, the intelligent transport vehicle is controlled to move to the tray transfer area. When a material changing instruction sent by the task management system is received, the intelligent transport vehicle is controlled to move to the production equipment, the processed product trays in the production equipment are replaced by the corresponding to-be-processed product trays on the onboard goods shelf, and when the processed product trays in all the production equipment are replaced, the intelligent transport vehicle is controlled to move to the tray transfer area, so that the technical problem of low production efficiency caused by manual feeding and discharging in the prior art is solved, automatic feeding and discharging can be performed through the composite transport equipment when the product processing is completed, and the production efficiency of the production equipment is improved.
Drawings
Fig. 1 is a schematic structural diagram of a composite transportation device control device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a control method of the compound transportation equipment according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of the operation of the compound transportation device according to an embodiment of the control method of the compound transportation device of the present invention;
FIG. 4 is a flow chart illustrating a control method of the compound transportation device according to a second embodiment of the present invention;
FIG. 5 is a schematic flow chart of a control method for a compound transportation apparatus according to a third embodiment of the present invention;
fig. 6 is a block diagram showing the structure of the control device of the compound transporting apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a composite transportation device control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the complex transportation device control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the composite transportation device control apparatus and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a composite transport apparatus control program.
In the composite transport apparatus control device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the composite transport apparatus control apparatus according to the present invention may be provided in the composite transport apparatus control apparatus, which calls the composite transport apparatus control program stored in the memory 1005 through the processor 1001 and executes the composite transport apparatus control method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for controlling a compound transportation device, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the method for controlling a compound transportation device according to the present invention.
In this embodiment, the composite transportation device control method is applied to a composite transportation device, the composite transportation device includes an intelligent transportation vehicle, an onboard shelf, and a mechanical arm, the onboard shelf and the mechanical arm are disposed on the intelligent transportation vehicle, and the composite transportation device control method includes the following steps:
step S10: and when a refueling instruction sent by the task management system is received, controlling the intelligent transport vehicle to move to production equipment.
It should be noted that the execution main body of the embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, or an electronic device, a composite transportation device control device, an intelligent transportation vehicle scheduling system, etc. capable of implementing the above functions. The following distance description of the present embodiment and the following embodiments is given by taking an intelligent transportation vehicle dispatching system (called a dispatching system for short) as an example.
It can be understood that, the intelligent transport Vehicle may also be called an Automatic Guided Vehicle (AGV), the airborne goods shelf may be installed at the rear end of the loading platform of the AGV, the mechanical arm may be installed at the front end of the loading platform of the AGV, the mechanical arm may also be installed with a vision camera and an electric cylinder clamp, the electric cylinder clamp is used for clamping the product tray; the composite transportation equipment can be equipment consisting of an intelligent transportation vehicle, an onboard goods shelf and a mechanical arm, wherein the onboard goods shelf and the mechanical arm are arranged on the intelligent transportation vehicle.
It should be understood that there may be multiple production devices, after the production devices are installed, the positions of the production devices generally do not change, the intelligent transport vehicles may be controlled to move to the production devices through a pre-planned path, the distances between the production devices and the production devices may also be identified by a visual camera, the intelligent transport vehicles may be controlled to move to the production devices in sequence from near to far according to the distances, and the intelligent transport vehicles may also be controlled to move to the production devices in other ways, which is not limited herein; the task management system can be a system for production management, and can carry out operations such as production instruction issuing, equipment information configuration and the like through the task management system; the material changing instruction can be an instruction for changing a processed product tray in the production equipment into a to-be-processed product tray; the production equipment may be equipment for processing a product to be processed, for example, the production equipment may be a numerical control machine tool, a numerical control lathe, or the like.
Step S20: and controlling the mechanical arm to take out and place the processed product tray in the production equipment on the onboard shelf, and controlling the mechanical arm to assemble the corresponding to-be-processed product tray on the onboard shelf to the production equipment.
It is understood that the processed product tray may be a tray for placing the product processed by the production equipment; the material tray for the product to be processed can be a material tray for placing the product to be processed.
Step S30: when the processed product tray in the target production equipment is replaced by a to-be-processed product tray, the intelligent transport vehicle is controlled to move to the tray transfer area.
It can be understood that the tray transfer area can be an area for transferring a product tray, which is located near the production equipment, and an automatic charging pile, a shelf to be processed and a processed shelf can be arranged in the tray transfer area, wherein the automatic charging pile is used for charging the intelligent transport vehicle, the shelf to be processed is used for placing the tray to be processed, and the processed shelf is used for placing the processed tray; when the processed product tray in the target production equipment is replaced by the to-be-processed product tray, the material replacement is judged to be completed, and the intelligent transport vehicle is controlled to move to the tray transfer area.
In the concrete implementation, when the loading and unloading task is not executed, the intelligent transport vehicle is parked in a material tray transfer area to be automatically charged through an automatic charging pile, the material trays of the products to be processed on the goods shelves to be processed are placed on the goods shelves to be processed, 1 turnover goods space is reserved on the goods shelves to be processed when the material trays of the products to be processed are placed, when a dispatching system receives a material changing command sent by a task management system, the intelligent transport vehicle is controlled to sequentially move to production equipment according to a pre-planned path, when the intelligent transport vehicle moves to first production equipment, an electric cylinder clamp on a mechanical arm is controlled to take out the material trays of the processed products in the production equipment, the turnover goods space on the goods shelves to be processed is placed, the material trays of the products to be processed are assembled into the production equipment according to a positioning device arranged in the first production equipment, after the first production equipment finishes material changing, the composite transport equipment is continuously controlled to change the material of the second production equipment, and after the material change of all the production equipment is finished, controlling the intelligent transport vehicle to move to a material tray transfer area.
Further, when controlling intelligent transport vechicle to remove, the deviation probably appears in the location and leads to intelligent transport vechicle can't accurately remove to setting for the position, in order to improve the assembly precision of waiting to process the product charging tray when guaranteeing the reloading security, control the arm will processed product charging tray in the production facility takes out to place in machine carries goods shelves, includes: acquiring a safety door opening and positioning signal of the production equipment read by a data acquisition system; when the safety door is opened and the in-place signal is normal, shooting a target reference point through a vision camera to obtain a reference point picture; carrying out image recognition on the reference point picture, and determining a positioning error between the intelligent transport vehicle and the target reference point according to a recognition result; and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray on the onboard shelf according to the positioning error.
It can be understood that the data acquisition system may be a system for acquiring data in the production process of the production equipment, and the data acquired by the data acquisition system includes machine clamping information of the production equipment, an operating state of a machine, a safety door state of the machine, a machine number, a product type produced by the machine, a clamping completion start instruction, a door closing instruction, and the like; the safety door opening and positioning signal can be a signal for indicating the safety door state of the production equipment, and when the safety door opening and positioning signal is normal, the safety door opening of the production equipment is normal; the target reference point may be a reference point set near the production equipment for performing positioning error correction, and the reference point picture may be a picture including the target reference point; the image recognition of the reference point picture can be image recognition of a reference point picture by a visual camera control system; the determining of the positioning error between the intelligent transportation vehicle and the target reference point according to the recognition result may be determining position information of the target reference point in a reference point picture according to the recognition result, determining a positioning deviation of the intelligent transportation vehicle according to the position information and standard position information according to standard position information of the target reference point in a standard reference point picture.
It should be understood that, when there is a positioning error in the intelligent transportation vehicle, performing the error correction by controlling the intelligent transportation vehicle to move may reduce the material changing efficiency, in this embodiment, when there is a positioning error, the control data of the mechanical arm is updated according to the positioning error, and the mechanical arm is controlled according to the updated control data to assemble the product tray to be processed on the onboard shelf to the production equipment.
Further, in order to carry out error correction in time when there is positioning error in the intelligent transport vechicle to improve the assembly precision of waiting to process the product charging tray, according to positioning error control the arm will processed the product charging tray in the production facility takes out place in machine carries goods shelves, include: determining corresponding error coordinate data according to the positioning error; and updating the control coordinate data of the mechanical arm according to the error coordinate data, and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray in the onboard shelf according to the updated control coordinate data.
It can be understood that the error coordinate data is determined according to the positioning error, that is, the positioning error is converted into error coordinate data corresponding to each axis of the mechanical arm, and the control coordinate data can be coordinate data for controlling mechanical motion; updating the control coordinate data of the mechanical arm according to the error coordinate data can be to add the corresponding error coordinate data on the basis of the control coordinate data to obtain updated control coordinate data.
In specific implementation, referring to fig. 3, fig. 3 is a working schematic diagram of a compound transportation device, when a scheduling system receives a refueling instruction sent by a task management system, the intelligent transportation vehicle is controlled to move to a first production device according to a pre-planned path, a safety door opening and positioning signal of the first production device is obtained through a data acquisition system, when the safety door opening and positioning signal is normal, the safety door of the first production device is judged to be normally opened, a visual camera control system controls a visual camera arranged on a mechanical arm to shoot a target reference point to obtain a reference point picture, the reference point picture is identified through the visual camera control system, the position information of the target reference point in the reference point picture is determined according to an identification result, the positioning deviation of the intelligent transportation vehicle is determined according to the standard position information of the target reference point in the standard reference point picture and the position information, converting the positioning deviation into error coordinate data corresponding to the mechanical arm, adding the error coordinate data on the basis of the control coordinate data of the mechanical arm to obtain updated control coordinate data, controlling the mechanical arm to drive the electric cylinder clamp to move to the position of a processed product tray in the production equipment according to the updated control coordinate data, taking out the processed product tray through the electric cylinder clamp, placing the processed product tray on a carrier rack, taking out a corresponding product tray from the carrier rack, assembling the product tray to a tray positioning device in the first production equipment, returning the mechanical arm to the original point position after the assembly is completed, sending an assembly completion instruction to the task management system by the scheduling system, so that when the task management system receives the assembly completion instruction, controlling the first production equipment to start, continuously controlling the composite transportation equipment to change the rest production equipment by the scheduling system, and when the material change of all the production equipment is completed, and controlling the intelligent transport vehicle to move to the material tray transfer area for automatic charging.
The embodiment provides a composite transportation equipment control method applied to composite transportation equipment, the composite transportation equipment comprises an intelligent transportation vehicle, an onboard goods shelf and a mechanical arm, and the method controls the intelligent transportation vehicle to move to production equipment when receiving a refueling instruction sent by a task management system; the mechanical arm is controlled to take out a processed product tray in the production equipment and place the processed product tray on the onboard shelf, and the mechanical arm is controlled to assemble a corresponding to-be-processed product tray on the onboard shelf to the production equipment; when the processed product tray in the target production equipment is replaced by a to-be-processed product tray, the intelligent transport vehicle is controlled to move to the tray transfer area. This embodiment is when receiving the reloading instruction that task management system sent, control intelligent transport vechicle removes to production facility, the product charging tray that has processed in the production facility is changed for the product charging tray of treating that corresponds on the machine carries goods shelves, and when the product charging tray that has processed in all production facilities is changed and is accomplished, control intelligent transport vechicle removes to charging tray transfer area, the technical problem that artifical unloading leads to production efficiency to hang down among the prior art has been solved, can be through the automatic unloading of compound transportation equipment when product processing is accomplished, the production efficiency of production facility has been improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a control method for a compound transportation device according to a second embodiment of the present invention.
Based on the first embodiment, in this embodiment, before the step S10, the method further includes:
step S01: and when a loading instruction issued by a task management system is received, determining the equipment sequence according to the production equipment information sent by the task management system.
It will be understood that the loading instructions may be instructions for assembling a tray of products to be processed to the production apparatus; the production equipment information comprises an equipment number, an equipment model, an equipment identification number and the like; when the task management system only sends one piece of production equipment information each time, determining the equipment sequence according to the production equipment information sent by the task management system can be determining the equipment sequence according to the sequence of time of sending equipment numbers by the task management system; when the task management system sends a plurality of pieces of production equipment information at a time, determining the equipment order according to the production equipment information sent by the task management system may be determining the equipment order according to the order of the plurality of pieces of production equipment information set by the task management system, or determining the equipment order in other manners, which is not limited in this embodiment.
Step S02: and controlling the intelligent transport vehicle to sequentially move to the corresponding production equipment according to the equipment sequence, and controlling the mechanical arm to assemble the material tray of the product to be processed on the onboard goods shelf to the corresponding production equipment.
Step S03: and when the assembly of the material discs of the products to be processed on the onboard goods shelf is finished, controlling the intelligent transport vehicle to move to the material disc transfer area to supplement the material discs of the products to be processed.
In the specific implementation, when a loading instruction sent by a task management system is received, the equipment sequence is determined according to the time sequence of an equipment number sent by the task management system, the intelligent transport vehicle is controlled to move to first equipment according to the equipment sequence, a safety door opening and positioning signal of the first production equipment is obtained through a data acquisition system, when the safety door opening and positioning signal is positive, an electric cylinder clamp on a mechanical arm is controlled to take a corresponding material tray of a product to be processed from an on-board shelf, the mechanical arm is controlled to move to a set position, a target reference point arranged near the first production equipment is shot through a visual camera to obtain a reference point picture, the reference point picture is identified, a positioning error is determined according to an identification result, error coordinate data is determined according to the positioning error, control coordinate data of the mechanical arm is updated according to the error coordinate data, and the mechanical arm is controlled to move to a material tray positioning device in the first production equipment according to the updated control coordinate data The to-be-processed product material tray is assembled at the material tray positioning device, the mechanical arm returns to the original point, the scheduling system sends an assembly completion instruction to the task management system, so that the task management system controls the first production equipment to start, the scheduling system repeats the steps to feed the rest of the production equipment, when all the production equipment is fed, the intelligent transport vehicle is controlled to move to the material tray transfer area to automatically charge, and the to-be-processed product material tray on the to-be-processed goods shelf is placed in a corresponding goods position on the on-board goods shelf.
Further, in order to complete the feeding and the material changing in time to save time, before the step S01, the method further includes: controlling the intelligent transport vehicle to move to a material tray transfer area according to a preset planning route; controlling the mechanical arm to sequentially take out the material trays of the products to be processed from the goods shelves to be processed in the material tray transferring area according to the system configuration information; performing product verification on the taken-out material tray of the product to be processed, and placing the material tray of the product to be processed passing the verification on the onboard shelf; and when the onboard goods shelf meets the preset state, stopping taking out the material tray of the product to be processed from the goods shelf to be processed.
It is understood that the system configuration information may be correspondence information between the composite transport apparatus and the production apparatus, the product processing time, the shelf to be processed, the processed shelf, the abnormal goods shelf, and the idle charging time; the step of controlling the mechanical arm to sequentially take out the material tray of the product to be processed from the goods shelf to be processed in the material tray transfer area according to the system configuration information can be that the production equipment, the product and the goods shelf to be processed corresponding to the composite transportation equipment are determined according to the system configuration information, and the material tray of the product to be processed is taken out from the goods shelf to be processed corresponding to the composite transportation equipment; the preset state can be a preset goods position state of the onboard shelf, for example, if the preset state is that one turnover goods position is reserved, the onboard shelf is judged to meet the preset state when one remaining goods position on the onboard shelf is reserved; the number of the turnover cargo space can be set to two, three or other values according to the actual situation, and the embodiment is not limited herein.
In the specific implementation, the dispatching system controls the intelligent transport vehicle to move to a material tray transfer area according to a preset planning route, determines production equipment, a to-be-processed goods shelf and an abnormal goods shelf corresponding to the composite transport equipment according to system configuration information, controls an electric cylinder clamp on a mechanical arm to take out the to-be-processed product material tray from the to-be-processed goods shelf, places the to-be-processed product material tray in a corresponding goods position on the on-board goods shelf when product verification of the to-be-processed product material tray passes, places the to-be-processed product material tray on the abnormal goods shelf when product verification fails, and stops clamping the to-be-processed product material tray from the to-be-processed goods shelf when only one turnover goods position remains on the on-board goods shelf.
Further, in order to guarantee that the product charging tray to be processed assembled to the production equipment is a non-abnormal product, the product verification is performed on the taken product charging tray to be processed, and the product charging tray to be processed passing the verification is placed on the onboard goods shelf, including: moving the taken out material tray of the product to be processed to a preset photographing area, and photographing by a visual camera to obtain a material tray picture of the material tray of the product to be processed; carrying out image recognition on the tray picture, and determining product information corresponding to the to-be-processed product tray according to a recognition result; when the product information is consistent with the product information in the system configuration information, judging that the to-be-processed product tray passes verification; and placing the verified material discs of the products to be processed on the onboard shelf.
It can be understood that the preset photographing area can be a preset area for photographing a tray of a product to be processed; the product information comprises a product model, a product identification number and the like; the product information in the system configuration information is standard product information.
In the concrete implementation, in the initial state, all the onboard goods shelves of the composite transportation equipment are vacant, the product tray positioning device in the production equipment is vacant, the scheduling system controls the intelligent transportation vehicle to move to the automatic charging pile in the tray transfer area according to the preset planning route for charging, the mechanical arm is controlled according to the system configuration information to take out the product tray to be processed from the product tray to be processed corresponding to the composite transportation equipment, the product tray to be processed is placed in the preset photographing area, the product tray to be processed is photographed by the visual camera to obtain a tray image, the tray image is recognized, the product information corresponding to the product tray to be processed is determined according to the recognition result, when the product information is consistent with the product information in the system configuration information, the product tray to be processed is placed on the onboard goods shelves, otherwise, the product tray to be processed is placed on the corresponding abnormal product shelf, and repeatedly executing the steps until only the turnover goods space is left on the onboard goods shelf, and stopping taking out the material tray of the product to be processed.
When a loading instruction issued by a task management system is received, the present embodiment determines an equipment sequence according to production equipment information sent by the task management system; controlling the intelligent transport vehicle to sequentially move to corresponding production equipment according to the equipment sequence, and controlling the mechanical arm to assemble a material tray of a product to be processed on the onboard goods shelf to the corresponding production equipment; and when the assembly of the material discs of the products to be processed on the onboard goods shelf is finished, controlling the intelligent transport vehicle to move to the material disc transfer area to supplement the material discs of the products to be processed. According to the embodiment, the intelligent transport vehicle can be controlled to move to the corresponding production equipment according to the equipment sequence determined by the production equipment information, and after the mechanical arm is controlled to complete the assembly of the material tray to be processed, the intelligent transport vehicle is controlled to move to the material tray transfer area, so that the automatic feeding of the production equipment is realized, and the production efficiency is improved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a control method for a compound transportation device according to a third embodiment of the present invention.
Based on the foregoing embodiments, in this embodiment, after the step S30, the method further includes:
step S40: and controlling the intelligent transport vehicle to move to the automatic charging pile in the charging tray transfer area for charging.
It can be understood that after the intelligent transportation vehicle moves to the charging tray transfer area, the automatic charging pile controlling the intelligent transportation vehicle to move to the charging tray transfer area automatically charges.
Step S50: and in the charging process of the intelligent transport vehicle, the mechanical arm is controlled to place the processed product tray on the onboard goods shelf into the processed goods shelf in the tray transfer area.
It should be understood that the goods shelves to be processed and the processed goods shelves are respectively arranged on two sides of the automatic charging pile, and during charging of the intelligent transport vehicle, the mechanical arm can be controlled to clamp and place the processed product trays on the machine-mounted goods shelves on the processed goods shelves.
Step S60: and when all the processed product trays on the onboard goods shelf are placed into the processed goods shelf, controlling the mechanical arm to place the to-be-processed product trays on the to-be-processed goods shelf on the onboard goods shelf.
In concrete implementation, when the intelligent transport vehicle moves to a material tray transfer area, the intelligent transport vehicle is controlled to move to the automatic charging pile arranged in the material tray transfer area for charging, in the charging process of the intelligent transport vehicle, the mechanical arm is controlled to place a processed product material tray on the machine-mounted goods shelf on the processed goods shelf, and when the processed product material tray is placed completely, the mechanical arm is controlled to place the processed product material tray on the machine-mounted goods shelf.
The embodiment controls the intelligent transport vehicle to move to the automatic charging pile in the charging tray transfer area for charging; in the charging process of the intelligent transport vehicle, controlling a mechanical arm to place a processed product tray on the onboard goods shelf into a processed goods shelf in the tray transfer area; and when all the processed product trays on the onboard goods shelf are placed into the processed goods shelf, controlling the mechanical arm to place the to-be-processed product trays on the to-be-processed goods shelf on the onboard goods shelf. This embodiment can be automatically through filling electric pile and charge for intelligent transportation car to carry out the charging tray transfer at the in-process that charges, improved production efficiency when guaranteeing intelligent transportation car normal work.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a composite transportation device control program, and the composite transportation device control program, when executed by a processor, implements the steps of the composite transportation device control method described above.
Referring to fig. 6, fig. 6 is a block diagram of a first embodiment of a composite transportation device control apparatus according to the present invention, where the composite transportation device control apparatus is configured to control a composite transportation device, the composite transportation device includes an intelligent transportation vehicle, an onboard rack, and a robot arm, and the onboard rack and the robot arm are disposed on the intelligent transportation vehicle.
As shown in fig. 6, the control device for a compound transportation apparatus according to an embodiment of the present invention includes:
the mobile control module 10 is used for controlling the intelligent transport vehicle to move to the production equipment when receiving a material changing instruction sent by the task management system;
the assembling module 20 is configured to control the mechanical arm to take out a processed product tray in the production equipment and place the processed product tray on the onboard shelf, and control the mechanical arm to assemble a corresponding to-be-processed product tray on the onboard shelf to the production equipment;
and the control module 30 is used for controlling the intelligent transport vehicle to move to the material tray transfer area when the processed product material tray in the target production equipment is replaced by a material tray to be processed.
When a refueling instruction sent by a task management system is received, the intelligent transport vehicle is controlled to move to production equipment; the mechanical arm is controlled to take out a processed product tray in the production equipment and place the processed product tray on the onboard shelf, and the mechanical arm is controlled to assemble a corresponding to-be-processed product tray on the onboard shelf to the production equipment; when the processed product tray in the target production equipment is replaced by a to-be-processed product tray, the intelligent transport vehicle is controlled to move to the tray transfer area. This embodiment is when receiving the reloading instruction that task management system sent, control intelligent transport vechicle removes to production facility, the product charging tray that has processed in the production facility is changed for the product charging tray of treating that corresponds on the machine carries goods shelves, and when the product charging tray that has processed in all production facilities is changed and is accomplished, control intelligent transport vechicle removes to charging tray transfer area, the technical problem that artifical unloading leads to production efficiency to hang down among the prior art has been solved, can be through the automatic unloading of compound transportation equipment when product processing is accomplished, the production efficiency of production facility has been improved.
Based on the first embodiment of the control device for the compound transportation equipment, a second embodiment of the control device for the compound transportation equipment is provided.
In this embodiment, the assembling module 20 is further configured to obtain an emergency exit opening and positioning signal of the production equipment read by a data acquisition system; when the safety door is opened and the in-place signal is normal, shooting a target reference point through a vision camera to obtain a reference point picture; carrying out image recognition on the reference point picture, and determining a positioning error between the intelligent transport vehicle and the target reference point according to a recognition result; and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray on the onboard shelf according to the positioning error.
The assembling module 20 is further configured to determine corresponding error coordinate data according to the positioning error; and updating the control coordinate data of the mechanical arm according to the error coordinate data, and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray in the onboard shelf according to the updated control coordinate data.
The mobile control module 10 is further configured to determine an equipment sequence according to the production equipment information sent by the task management system when receiving a loading instruction issued by the task management system; controlling the intelligent transport vehicle to sequentially move to corresponding production equipment according to the equipment sequence, and controlling the mechanical arm to assemble a material tray of a product to be processed on the onboard goods shelf to the corresponding production equipment; and when the assembly of the material discs of the products to be processed on the onboard goods shelf is finished, controlling the intelligent transport vehicle to move to the material disc transfer area to supplement the material discs of the products to be processed.
The movement control module 10 is further configured to control the intelligent transportation vehicle to move to the material tray transfer area according to a preset planned route; controlling a mechanical arm to sequentially take out the trays of the products to be processed from the shelves to be processed in the tray transferring area according to system configuration information; performing product verification on the taken-out material tray of the product to be processed, and placing the material tray of the product to be processed passing the verification on the onboard shelf; and when the onboard goods shelf meets the preset state, stopping taking out the material tray of the product to be processed from the goods shelf to be processed.
The movement control module 10 is further configured to move the taken-out product tray to be processed to a preset photographing area, and obtain a tray picture of the product tray to be processed through photographing by a visual camera; carrying out image recognition on the tray picture, and determining product information corresponding to the to-be-processed product tray according to a recognition result; when the product information is consistent with the product information in the system configuration information, judging that the to-be-processed product tray passes verification; and placing the verified product tray to be processed on the onboard shelf.
The control module 30 is further configured to control the intelligent transport vehicle to move to the automatic charging pile in the charging tray transfer area for charging; in the charging process of the intelligent transport vehicle, controlling a mechanical arm to place a processed product tray on the onboard goods shelf into a processed goods shelf in the tray transfer area; and when all the processed product trays on the onboard goods shelf are placed into the processed goods shelf, controlling the mechanical arm to place the to-be-processed product trays on the to-be-processed goods shelf on the onboard goods shelf.
Other embodiments or specific implementation manners of the control device of the composite transportation equipment of the present invention may refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method of composite transportation equipment is characterized in that the control method of composite transportation equipment is applied to the composite transportation equipment, the composite transportation equipment comprises an intelligent transportation vehicle, an airborne goods shelf and a mechanical arm, the airborne goods shelf and the mechanical arm are arranged on the intelligent transportation vehicle, and the control method of composite transportation equipment comprises the following steps:
when a material changing instruction sent by a task management system is received, controlling the intelligent transport vehicle to move to production equipment;
the mechanical arm is controlled to take out a processed product tray in the production equipment and place the processed product tray on the onboard shelf, and the mechanical arm is controlled to assemble a corresponding to-be-processed product tray on the onboard shelf to the production equipment;
when the processed product tray in the target production equipment is replaced by a to-be-processed product tray, the intelligent transport vehicle is controlled to move to the tray transfer area.
2. The method of claim 1, wherein said controlling said robotic arm to remove and place a tray of processed product in said production facility on said on-board shelf comprises:
acquiring a safety door opening and positioning signal of the production equipment read by a data acquisition system;
when the safety door is opened and the in-place signal is normal, shooting a target reference point through a vision camera to obtain a reference point picture;
performing image recognition on the reference point picture, and determining a positioning error between the intelligent transport vehicle and the target reference point according to a recognition result;
and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray on the onboard shelf according to the positioning error.
3. The method according to claim 2, wherein said controlling the robotic arm to remove and place the processed product tray in the production facility on the on-board shelf based on the positioning error comprises:
determining corresponding error coordinate data according to the positioning error;
and updating the control coordinate data of the mechanical arm according to the error coordinate data, and controlling the mechanical arm to take out the processed product tray in the production equipment and place the processed product tray in the onboard shelf according to the updated control coordinate data.
4. The method of any one of claims 1-3, wherein prior to controlling the intelligent transport vehicle to move to a production facility upon receiving a refuel command sent by a task management system, further comprising:
when a loading instruction issued by a task management system is received, determining the equipment sequence according to production equipment information sent by the task management system;
controlling the intelligent transport vehicle to sequentially move to corresponding production equipment according to the equipment sequence, and controlling the mechanical arm to assemble a material tray of a product to be processed on the onboard goods shelf to the corresponding production equipment;
and when the assembly of the material discs of the products to be processed on the onboard goods shelf is finished, controlling the intelligent transport vehicle to move to the material disc transfer area to supplement the material discs of the products to be processed.
5. The method of claim 4, wherein before determining the device sequence according to the production device information sent by the task management system when receiving a loading instruction issued by the task management system, the method further comprises:
controlling the intelligent transport vehicle to move to a material tray transfer area according to a preset planning route;
controlling the mechanical arm to sequentially take out the material trays of the products to be processed from the goods shelves to be processed in the material tray transferring area according to the system configuration information;
performing product verification on the taken-out material tray of the product to be processed, and placing the material tray of the product to be processed passing the verification on the onboard shelf;
and when the onboard goods shelf meets the preset state, stopping taking out the material tray of the product to be processed from the goods shelf to be processed.
6. The method of claim 5, wherein the performing product validation on the removed product trays to be processed and placing validated product trays to be processed on the on-board shelf comprises:
moving the taken out material tray of the product to be processed to a preset photographing area, and photographing by a visual camera to obtain a material tray picture of the material tray of the product to be processed;
carrying out image recognition on the tray picture, and determining product information corresponding to the to-be-processed product tray according to a recognition result;
when the product information is consistent with the product information in the system configuration information, judging that the to-be-processed product tray passes verification;
and placing the verified material discs of the products to be processed on the onboard shelf.
7. The method according to claim 1, wherein after controlling the intelligent transportation vehicle to move to the tray transfer area when the processed product tray in the target production equipment is replaced by the product tray to be processed, the method further comprises:
controlling the intelligent transport vehicle to move to an automatic charging pile in the charging tray transfer area for charging;
in the charging process of the intelligent transport vehicle, controlling a mechanical arm to place a processed product tray on the onboard goods shelf into a processed goods shelf in the tray transfer area;
and when all the processed product trays on the onboard goods shelf are placed into the processed goods shelf, controlling the mechanical arm to place the to-be-processed product trays on the to-be-processed goods shelf on the onboard goods shelf.
8. The utility model provides a compound transportation equipment controlling means, its characterized in that, compound transportation equipment controlling means is used for controlling compound transportation equipment, compound transportation equipment includes intelligent transport vechicle, airborne goods shelves and arm, airborne goods shelves with the arm set up in on the intelligent transport vechicle, the device includes:
the mobile control module is used for controlling the intelligent transport vehicle to move to the production equipment when receiving a refueling instruction sent by the task management system;
the assembling module is used for controlling the mechanical arm to take out and place the processed product tray in the production equipment on the onboard goods shelf and controlling the mechanical arm to assemble the corresponding to-be-processed product tray on the onboard goods shelf to the production equipment;
and the control module is used for controlling the intelligent transport vehicle to move to the material tray transfer area when the processed product material tray in the target production equipment is replaced by a to-be-processed product material tray.
9. A compound transport equipment control apparatus, characterized in that the apparatus comprises: a memory, a processor, and a compound transportation device control program stored on the memory and executable on the processor, the compound transportation device control program configured to implement the steps of the compound transportation device control method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a composite transportation apparatus control program which, when executed by a processor, implements the steps of the composite transportation apparatus control method according to any one of claims 1 to 7.
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