CN115826589B - Trolley anti-collision control method - Google Patents
Trolley anti-collision control method Download PDFInfo
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- CN115826589B CN115826589B CN202310125650.8A CN202310125650A CN115826589B CN 115826589 B CN115826589 B CN 115826589B CN 202310125650 A CN202310125650 A CN 202310125650A CN 115826589 B CN115826589 B CN 115826589B
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Abstract
The invention discloses a trolley anti-collision control method, which comprises the following steps: step 1: the control system receives at least one conveying instruction from a starting place to a destination; step 2: the control system analyzes and sorts the plurality of conveying instructions; step 3: the control system transmits the transport instructions selected after analysis and sorting to the transport trolley; step 4: the control system judges whether the current carrying trolley can carry out safe transportation or not; step 5: the carrying trolley executes the carrying task according to the judging result in the step 4, so that the current carrying instruction can be intelligently selected and executed or replaced, other instructions without path interference are executed, the waiting time of the carrying trolley is effectively reduced, and the running time of the carrying trolley is maximized.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to a trolley anti-collision control method.
Background
The current transportation rule of multiple trolleys of automatic logistics equipment comprises the following steps: the whole logistics equipment conveying range is divided into 2N-1 areas (N is the number of trolleys), and the area comprises N private areas plus (N-1) interaction areas. Each trolley is responsible for carrying in a private area, the interaction area is used for transferring materials of two adjacent trolleys, each trolley is only carried in the private area and the adjacent interaction area and cannot carry in other private areas, and when one trolley is in one interaction carrying area, the other trolley cannot enter the area.
The prior art has the following disadvantages: the carrying trolley can not be carried across areas, so that the equipment utilization rate is low; the real-time position of the other side is not known among the carrying trolleys, and certain potential safety hazards exist during movement.
Disclosure of Invention
The invention aims to provide a trolley anti-collision control method for solving the technical problems in the background art.
The invention provides a technical scheme that: the anti-collision control method for the trolley comprises the following steps of:
step 1: the control system receives at least one conveying instruction from a starting place to a destination;
step 2: the control system analyzes and sorts the plurality of conveying instructions;
step 3: the control system transmits the transport instructions selected after analysis and sorting to the transport trolley;
step 4: the control system judges whether the current carrying trolley can carry out safe transportation or not;
step 5: and (4) the carrying trolley executes the carrying task according to the judging result of the step (4).
The control system judges whether the current carrying trolley can carry out safe transportation or not, and comprises the following steps:
and judging whether the current carrying trolley has an associated safety boundary set value or not.
If the current carrying trolley does not have the safety boundary set value, the first safety boundary is set after the calculation of the current carrying instruction, the current carrying trolley goes to the destination of the carrying instruction, carries out the carrying action, and resets the first safety boundary set before the current carrying trolley reaches the destination.
The presence of the first safety margin affects the transport movement of the next trolley.
If the associated safety boundary set value exists, judging whether a destination to which the current conveying trolley is going has path interference with the first safety boundary or not.
If no path interference exists, the current carrying trolley goes to the destination of the carrying instruction to finish the carrying action;
if path interference exists, screening whether waiting instructions without path interference exist or not; if the waiting instruction is found, replacing the current conveying instruction of the current conveying trolley, ensuring that the current conveying trolley can safely go to a destination, and executing conveying action;
if path interference exists but no waiting instruction is available, comprehensively analyzing according to the position of the first safety boundary, the destination position of the current carrying instruction and the real-time position of the previous carrying trolley to obtain the waiting position to which the current carrying trolley can go.
The current carrying trolley goes to the waiting position according to the action command going to the waiting position, and the safety boundary is reset after the current carrying trolley completes the carrying task.
The current carrying trolley is reset to set a first safety boundary, the previous carrying trolley carries out real-time distance control, the current carrying trolley is avoided to reach the new safety boundary, the current carrying trolley carries out carrying action according to carrying instructions, and after the current carrying trolley reaches a destination, the first safety boundary of the current carrying trolley is reset.
The real-time distance control comprises the following steps: the real-time positions among the carrying trolleys are subjected to information interaction, so that following and avoiding carrying logic is realized under the condition of carrying intersection or interference, the safety distance among the carrying trolleys is ensured, and the carrying task is stopped in an emergency if abnormality occurs.
The step of real-time distance control further comprises:
if the current carrying trolley does not have a carrying instruction, judging whether path interference exists or not when other carrying trolleys are closer to the current carrying trolley; if yes, the current carrying trolley executes an avoidance action; if not, the device is stationary in place;
if the current carrying trolley executes the carrying instruction, when the distance from the current carrying trolley is closer to other carrying trolleys, judging whether path interference exists, if so, moving the current carrying trolley to a waiting position, waiting for avoidance of the other carrying trolleys, and continuously following movement after the avoidance of the other carrying trolleys; if not, go directly to the destination.
The safety boundary ranges from Se to Sn;
se is the distance from the high-speed state to the stop state of the trolley by friction force only when the trolley is suddenly stopped and/or the motor is locked;
Se = vt 1 – 0.5（um + uw）g t 1 ²；
wherein v: maximum speed of trolley travel;
t 1 : time t of sudden stop of trolley 1 = v/（um + uw）g；
um: friction coefficient of locking of the trolley motor;
uw: friction coefficient of trolley wheels and rails;
g: acceleration of gravity;
sn is the distance from the high-speed state to the stagnation state when the carrying trolley is controlled by the servo motor;
Sn= v t 2 – 0.5 a t 2 ²；
wherein v: maximum speed of trolley travel; t is t 2 : a stop time of the servo setting; a: a brake deceleration imparted by the servo; a=v/t 2 。
Compared with the prior art, the invention provides the trolley anti-collision control method by improving, and has the following improvement and advantages:
after a certain carrying trolley sets a safety boundary, other carrying trolleys can intelligently select to execute the current carrying instruction or replace the current carrying instruction according to the position of the safety boundary and the destination of each carrying instruction, and execute other instructions without path interference, so that the waiting time of the trolley is effectively reduced, and the running time of the trolley is maximized.
The comprehensive safety boundary position and the real-time position of the trolley are communicated with each other, so that different conveying scenes can be dealt with, the complex conveying requirements are met, the complex conveying logics such as independent conveying, follow-up conveying, avoiding conveying and the like of the conveying trolley are completed, and the conveying times of the user are maximized.
Drawings
The invention is further explained below with reference to the drawings and examples:
FIG. 1 is a first logic block diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a path of movement of a cart in an embodiment of the invention;
FIG. 3 is a second logic block diagram of an embodiment of the present invention.
Description of the embodiments
The invention aims to provide a trolley anti-collision control method for solving the problems in the background art.
The technical solutions of the embodiments of the present invention will be clearly and completely described below in detail with reference to fig. 1 to 3, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the descriptions of the "first" and "second" and the like used in the embodiments of the present invention are used for descriptive purposes only and should not be construed as indicating or implicitly indicating the number of the defined technical features, and thus, the features defining the "first" and the "second" in each embodiment of the present invention may indicate that at least one of the defined technical features is included.
The technical solutions of the embodiments of the present invention described in the present specification may be combined with each other, but it is necessary that the technical solutions are based on the fact that those skilled in the art can implement the embodiments, and when the technical solutions are combined with each other or cannot be implemented, the technical solutions should be considered as not being combined.
In a first aspect, the present invention is a cart conveyance control system comprising: the logistics storage module comprises a plurality of logistics storage sites, each logistics storage site is provided with at least two layers of storage bins, and the trolley conveying control module is arranged on the conveying trolley and used for controlling the conveying trolley to convey goods from the logistics storage sites.
The central control module comprises a starting position signal transmitting unit, a central processor and a destination signal transmitting unit, wherein the starting position signal transmitting unit is in communication connection with the central processor, and the destination signal generating unit is in communication connection with the central processor.
The carrying control system carries the step for the CPU to receive a plurality of carrying instructions sent by the starting position and the destination; the central processing unit analyzes and sorts the plurality of conveying instructions; the central processing unit sends the analyzed and tidied conveying instructions to the trolley movement control module; the trolley motion control module controls the carrying trolley to execute the carrying instruction.
In a second aspect, as shown in fig. 1-3, the present invention is a method for controlling collision of a trolley, comprising the steps of:
step 1: the control system receives at least one conveying instruction from a starting place to a destination;
step 2: the control system analyzes and sorts the plurality of conveying instructions;
step 3: the control system transmits the transport instructions selected after analysis and sorting to the transport trolley;
step 4: the control system judges whether the current carrying trolley can carry out safe transportation or not;
step 5: and (4) the carrying trolley executes the carrying task according to the judging result of the step (4).
By the control method, the trolley is not limited to the original set conveying area, and can span the area to the area of the adjacent trolley for conveying, so that the utilization rate of equipment is improved; the transportable position of the transport cart is not a dead plate setting position, but is obtained by comprehensively calculating the state of each transport cart and the path of the instruction, and the transport speed of the transport cart can be maximized.
The control system judges whether the current carrying trolley can carry out safe transportation or not, and comprises the following steps:
and judging whether the current carrying trolley has an associated safety boundary set value or not.
If the current carrying trolley does not have the safety boundary set value, the first safety boundary is set after the calculation of the current carrying instruction, the current carrying trolley goes to the destination of the carrying instruction, carrying out the carrying action, and resetting the first safety boundary set before the current carrying trolley reaches the destination, wherein the carrying movement of the next carrying trolley is influenced during the existence of the first safety boundary.
In one embodiment of the invention, if there is an associated safety boundary set point, it is determined whether there is path interference between the first safety boundary and the destination to which the current transport cart is destined.
If no path interference exists, the current carrying trolley goes to the destination of the carrying instruction to finish the carrying action;
if path interference exists, screening whether waiting instructions without path interference exist or not; if the waiting instruction is found, replacing the current conveying instruction of the current conveying trolley, ensuring that the current conveying trolley can safely go to a destination, and executing conveying action;
if path interference exists but no waiting instruction is available, comprehensively analyzing according to the position of the first safety boundary, the destination position of the current carrying instruction and the real-time position of the previous carrying trolley to obtain the waiting position to which the current carrying trolley can go.
The current carrying trolley goes to the waiting position according to the action command going to the waiting position, and the safety boundary is reset after the current carrying trolley completes the carrying task.
The current carrying trolley is reset to set a first safety boundary, the previous carrying trolley carries out real-time distance control, the current carrying trolley is avoided to reach the new safety boundary, the current carrying trolley carries out carrying action according to carrying instructions, and after the current carrying trolley reaches a destination, the first safety boundary of the current carrying trolley is reset.
The movable position of the carrying trolley is not a dead plate setting position, but is obtained through comprehensive operation according to the state of each trolley and the path of the instructions, the carrying speed of the carrying trolley can be maximized, the safety boundary refreshed in real time can ensure the safety of the carrying trolley and can also provide the safety moving range of each carrying trolley, after one safety boundary is set for one carrying trolley, other trolleys can intelligently select to execute the current carrying instruction or replace the current carrying instruction according to the position of the safety boundary and the destination of each carrying instruction, and execute other instructions without path interference, so that the waiting time of the trolley is effectively reduced, and the running time of the carrying trolley is maximized.
The real-time distance control comprises the following steps: the real-time positions among the carrying trolleys are subjected to information interaction, so that following and avoiding carrying logic is realized under the condition of carrying intersection or interference, the safety distance among the carrying trolleys is ensured, and the carrying task is stopped in an emergency if abnormality occurs.
The step of real-time distance control further comprises:
if the current carrying trolley does not have a carrying instruction, judging whether path interference exists or not when other carrying trolleys are closer to the current carrying trolley; if yes, the current carrying trolley executes an avoidance action; if not, the device is stationary in place;
if the current carrying trolley executes the carrying instruction, when the distance from the current carrying trolley is closer to other carrying trolleys, judging whether path interference exists, if so, moving the current carrying trolley to a waiting position, waiting for avoidance of the other carrying trolleys, and continuously following movement after the avoidance of the other carrying trolleys; if not, go directly to the destination.
Each carrying trolley knows the real-time position information of the other side mutually, if the real-time distance is smaller than the set safety value, a corresponding safety protection mechanism is triggered, and if the distance between the two carrying trolleys is smaller than the set safety warning distance, the two carrying trolleys stop running and generate an alarm; if the distance between the two carrying trolleys is smaller than the set safe emergency stop distance, the carrying trolleys are powered off and emergency stopped, and collision between equipment is prevented.
The comprehensive safety boundary position and the real-time position of the trolley are communicated with each other, so that different conveying scenes can be dealt with, the complex conveying requirements are met, the complex conveying logics such as independent conveying, follow-up conveying, avoiding conveying and the like of the conveying trolley are completed, and the conveying times of the user are maximized.
The safety boundary ranges from Se to Sn;
se is the distance from the high-speed state to the stop state of the trolley by friction force only when the trolley is suddenly stopped and/or the motor is locked;
Se = vt 1 – 0.5（um + uw）g t 1 ²；
wherein v: maximum speed of trolley travel;
t 1 : time t of sudden stop of trolley 1 = v/（um + uw）g；
um: friction coefficient of locking of the trolley motor;
uw: friction coefficient of trolley wheels and rails;
g: acceleration of gravity;
sn is the distance from the high-speed state to the stagnation state when the carrying trolley is controlled by the servo motor;
Sn= v t 2 – 0.5 a t 2 ²
wherein v: maximum speed of trolley travel; t is t 2 : a stop time of the servo setting; a: a brake deceleration imparted by the servo; a=v/t 2 。
The safety margin of the carrying trolley is limited in the Se-Sn range, so that the occurrence of collision accidents of the carrying trolley can be avoided, and the carrying efficiency of the carrying trolley can be ensured.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in other related arts, either directly or indirectly, which fall within the scope of the invention.
Claims (7)
1. The trolley anti-collision control method is characterized by comprising the following steps of:
step 1: the control system receives at least one conveying instruction from a starting place to a destination;
step 2: the control system analyzes and sorts the plurality of conveying instructions;
step 3: the control system transmits the transport instructions selected after analysis and sorting to the transport trolley;
step 4: the control system judges whether the current carrying trolley can carry out safe transportation or not;
step 5: the carrying trolley executes carrying tasks according to the judging result of the step 4;
the control system judges whether the current carrying trolley can carry out safe transportation or not, and comprises the following steps:
judging whether the current carrying trolley has an associated safety boundary set value or not;
if the current carrying trolley does not have the safety boundary set value, the first safety boundary is set after the calculation of the current carrying instruction, the current carrying trolley goes to the destination of the carrying instruction, carries out the carrying action, and resets the first safety boundary set before the current carrying trolley reaches the destination;
the safety boundary is in the range of Se-Sn;
se is the distance from the high-speed state to the stop state of the trolley by friction force only when the trolley is suddenly stopped and/or the motor is locked;
Se＝vt 1 -1/2(um+uw)g t 1 2 ；
wherein v: maximum speed of trolley travel;
t 1 : time t of sudden stop of trolley 1 ＝v/(um+uw)g；
um: friction coefficient of locking of the trolley motor;
uw: friction coefficient of trolley wheels and rails;
g: acceleration of gravity;
sn is the distance from the high-speed state to the stagnation state when the carrying trolley is controlled by the servo motor;
Sn＝v t 2 -1/2a t 2 2 ；
wherein v: maximum speed of trolley travel; t is t 2 : a stop time of the servo setting; a: a brake deceleration imparted by the servo; a=v/t 2 。
2. The trolley anti-collision control method according to claim 1, characterized by comprising the steps of: the presence of the first safety margin affects the transport movement of the next trolley.
3. The trolley anti-collision control method according to claim 2, characterized by: if the associated safety boundary set value exists, judging whether a destination to which the current conveying trolley is going has path interference with the first safety boundary or not.
4. A trolley anti-collision control method according to claim 3, characterized in that: if no path interference exists, the current carrying trolley goes to the destination of the carrying instruction to finish the carrying action;
if path interference exists, screening whether waiting instructions without path interference exist or not; if the waiting instruction is found, replacing the current conveying instruction of the current conveying trolley, ensuring that the current conveying trolley can safely go to a destination, and executing conveying action;
if path interference exists but no waiting instruction is available, comprehensively analyzing according to the position of the first safety boundary, the destination position of the current carrying instruction and the real-time position of the previous carrying trolley to obtain the waiting position to which the current carrying trolley can go.
5. The trolley anti-collision control method according to claim 4, wherein: the current carrying trolley goes to the waiting position according to the action command going to the waiting position, and the safety boundary is reset after the current carrying trolley completes the carrying task.
6. The trolley anti-collision control method according to claim 5, wherein: the current carrying trolley is reset to set a first safety boundary, the previous carrying trolley carries out real-time distance control, the current carrying trolley is avoided to reach the new safety boundary, the current carrying trolley carries out carrying action according to carrying instructions, and after the current carrying trolley reaches a destination, the first safety boundary of the current carrying trolley is reset.
7. The trolley anti-collision control method according to claim 6, characterized by: the real-time distance control comprises the following steps: the real-time positions among the carrying trolleys are subjected to information interaction, so that following and avoiding carrying logic is realized under the condition of carrying intersection or interference, the safety distance among the carrying trolleys is ensured, and if abnormality occurs, the carrying task is stopped in an emergency; the step of real-time distance control further comprises:
if the current carrying trolley does not have a carrying instruction, judging whether path interference exists or not when other carrying trolleys are closer to the current carrying trolley; if yes, the current carrying trolley executes an avoidance action; if not, the device is stationary in place;
if the current carrying trolley executes the carrying instruction, when the distance from the current carrying trolley is closer to other carrying trolleys, judging whether path interference exists, if so, moving the current carrying trolley to a waiting position, waiting for avoidance of the other carrying trolleys, and continuously following movement after the avoidance of the other carrying trolleys; if not, go directly to the destination.
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