CN116573322B

CN116573322B - RGV handling system and control method for RGV handling system

Info

Publication number: CN116573322B
Application number: CN202310862563.0A
Authority: CN
Inventors: 吴欣悦; 王冬莹
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2023-07-14
Filing date: 2023-07-14
Publication date: 2023-12-29
Anticipated expiration: 2043-07-14
Also published as: CN116573322A

Abstract

The invention relates to the technical field of conveying systems, and discloses an RGV conveying system and a control method of the RGV conveying system. Wherein the RGV handling system comprises: the transportation rail is connected end to end; a plurality of RGV carts disposed on the transport rail adapted to move along the transport rail; and the buffer track is connected with the transportation track and is suitable for stopping the RGV trolley on the transportation track. Shipment efficiency in the RGV handling system can be calculated according to the biggest shipment volume to avoid goods to backlog at the platform, influence shipment efficiency. If the actual shipment efficiency currently required is less than the maximum shipment efficiency, a portion of the RGV trolley can be parked in the cache track. Therefore, the RGV carrying system can reduce the abrasion caused by the idle running of the RGV trolley while ensuring the warehouse-out efficiency, save the electric quantity, reduce the blocking rate on a transportation track, and avoid the reduction of the service life of the RGV trolley caused by long-term continuous use of the RGV trolley.

Description

RGV handling system and control method for RGV handling system

Technical Field

The invention relates to the technical field of carrying systems, in particular to an RGV carrying system and a control method of the RGV carrying system.

Background

RGV (Rail Guided Vehicle ) is an unmanned intelligent vehicle capable of freely running on a fixed track, is a tie for connecting a storage shelf carrying system, is commonly used for stereoscopic warehouses in various high-density storage modes, can be designed into any length according to requirements, does not need other equipment to enter a roadway when carrying and moving goods, and has the advantages of high speed and high safety, and the running efficiency of a warehouse system can be effectively improved.

In the circular rail multi-car mode, the rail is circular (see fig. 1), a plurality of RGVs travel unidirectionally on the circular rail, and travel to the target platform to pick up goods in the order of receiving the task information. The RGV travels along the track for one week and continues to wait for other tasks to be delivered. The number of RGVs directly affects the delivery efficiency, and once the number of RGVs is too small, the goods are backlogged at the platform, which affects the delivery capacity. Once the number of RGVs is excessive, this can lead to poor device utilization and even track blockage, which can adversely affect overall system efficiency.

In general, the number of RGVs is calculated and designed according to the maximum delivery amount to meet delivery efficiency and improve productivity, which results in low equipment utilization rate, high loss, high power consumption and shortened service life of the conventional RGV handling system.

Disclosure of Invention

In view of the above, the present invention provides an RGV handling system and a control method of the RGV handling system, so as to solve the problems of low equipment utilization rate, large loss, large power consumption and shortened service life of the RGV handling system in the prior art.

In a first aspect, the present invention provides an RGV handling system comprising:

the transportation rail is connected end to end;

a plurality of RGV carts disposed on the transport rail adapted to move along the transport rail;

and the buffer track is connected with the transportation track and is suitable for stopping the RGV trolley on the transportation track.

The beneficial effects are that:

the RGV handling system of the present invention generally includes a buffer track coupled to a transport track, and an RGV trolley is adapted to rest in the buffer track. This allows the shipment efficiency within the RGV handling system to be calculated at maximum shipment volume to avoid backlog of the cargo at the platform, affecting shipment efficiency. If the actual shipment efficiency required at present is less than the biggest shipment efficiency, when leading to partial RGV dolly not to receive the task information, partial RGV dolly can dock in the buffer memory track, need not to run to avoid transportation track jam, reduced the wearing and tearing that RGV dolly run to bring from this, practiced thrift the electric quantity, reduced transportation track's jam rate, RGV dolly can shut down the rest when not transporting the task, avoided RGV dolly long-term continuous usage to lead to shortening RGV dolly's life-span.

Therefore, the RGV carrying system can reduce the abrasion caused by the idle running of the RGV trolley while ensuring the warehouse-out efficiency, save the electric quantity, reduce the blocking rate on a transportation track, and avoid the reduction of the service life of the RGV trolley caused by long-term continuous use of the RGV trolley.

In an alternative embodiment, the buffer track is an arc track, and both ends of the arc track are connected to the transportation track.

The beneficial effects are that:

this eliminates the need for changing the direction of movement of the RGV trolley entering the buffer track when exiting the buffer track, thereby reducing the risk of the RGV trolley exiting the buffer track colliding with other RGV trolleys.

In an alternative embodiment, the buffer track is connected to the outside of the transport track.

The beneficial effects are that:

this enables the length of the buffer track to be free from the interior space of the transport track, enabling a sufficient number of RGV carts to dock.

In an alternative embodiment, at least one ranging sensor is provided on each RGV trolley, the ranging sensors being provided on the front side and/or the rear side of the RGV trolley.

The beneficial effects are that:

the ranging sensor is capable of detecting the distance between two adjacent RGV carts, as well as the distance of the RGV cart from surrounding obstacles, thereby avoiding collision.

In an alternative embodiment, the transportation rail is configured in a kidney shape, and the RGV handling system further comprises:

the storehouses are arranged on two sides of the conveying track along the length direction of the conveying track;

and a plurality of logistics lines connected between the warehouse and the transportation track, wherein the buffer track is connected at one end of the transportation track.

In an alternative embodiment, multiple RGV carts are adapted to move in either a clockwise or counterclockwise direction.

In a second aspect, the present invention also provides a control method of an RGV handling system, applied to the RGV handling system of the first aspect of the present invention, the control method comprising:

sequentially sending task instructions to a plurality of RGV trolleys according to a preset signaling sequence, wherein the task instructions comprise a carrying instruction and a buffering instruction;

when a carrying task exists, sending a carrying instruction to the RGV trolley so that the RGV trolley responds to the carrying instruction to execute the carrying task;

when the carrying task does not exist, a buffer instruction is sent to the RGV trolley, and the corresponding RGV trolley is controlled to enter the buffer track.

The beneficial effects are that:

in an alternative embodiment, the plurality of RGV carts are arranged in a predetermined signaling order within the cache track in an initial state of the RGV handling system.

The beneficial effects are that:

the control method of the invention can adjust the number of RGV carrying trolleys on the transportation track based on the current ex-warehouse efficiency. When a task instruction exists, the upper computer system can send the task instruction to the RGV trolley, so that the RGV trolley can execute a carrying task according to the task instruction.

When no task instruction exists, the upper computer system can control the corresponding RGV trolley to enter the cache track. So as to ensure that the number of RGV trolleys on the transportation track always just meets the current delivery efficiency of the RGV transportation system.

Therefore, the control method of the RGV conveying system can reduce the abrasion caused by the idle running of the RGV trolley while ensuring the warehouse-out efficiency, save the electric quantity, reduce the blocking rate on a conveying track and avoid the shortening of the service life of the RGV trolley caused by long-term continuous use of the RGV trolley.

In an alternative embodiment, the control method further includes:

and after the RGV trolley finishes the carrying task, controlling the RGV trolley to enter the cache track.

The beneficial effects are that:

the RGV trolley can enter the cache track for standby for a period of time after the task execution is finished, and the next round of task instructions sent by the upper computer system are received, so that the running time of a single trolley is prevented from being too long, and the service life of the RGV trolley is shortened.

It should be noted that the step of controlling the RGV trolley to enter the buffer track is not necessary when the RGV trolley is finished performing the transfer task, and when the current delivery efficiency of the RGV transfer system is equal to the maximum efficiency, all the RGV trolleys are in a working state and do not need to enter the buffer track after the transfer task is finished.

The above steps need only be performed when the current shipment efficiency of the RGV handling system is much less than the maximum shipment efficiency.

The steps can be selected to be started by the upper computer system or in response to the caching instruction of the user.

In an alternative embodiment, at least one ranging sensor is disposed on each RGV cart, the ranging sensors being disposed on a front side and/or a rear side of the RGV cart, the control method further comprising:

continuously acquiring a detection result of a ranging sensor;

and controlling the corresponding RGV trolley to avoid the obstacle based on the detection result of the ranging sensor.

The beneficial effects are that:

the upper computer system can acquire the distance between the RGV trolley and surrounding trolley or other obstacles through the detection result of the ranging sensor, so that the running speed and the running direction of the RGV trolley are adjusted to avoid the RGV trolley from colliding with each other or other obstacles.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a prior art RGV handling system;

FIG. 2 is a diagram of a conveyor track, an RGV trolley, and a buffer track of an RGV handling system according to an embodiment of the present invention, the buffer track being located outside the conveyor track;

FIG. 3 is a diagram of a conveyor track, an RGV trolley, and a buffer track of an RGV handling system according to an embodiment of the present invention, the buffer track being located within the conveyor track;

FIG. 4 is a schematic diagram of an RGV handling system according to an embodiment of the present invention in which the RGV cart is adapted to move in a counterclockwise direction;

FIG. 5 is a schematic diagram of an RGV handling system according to an embodiment of the present invention in which the RGV cart is adapted to move clockwise;

fig. 6 is a flow chart illustrating a control method of an RGV handling system according to an embodiment of the invention.

Reference numerals illustrate:

1. a transport rail; 2. RGV trolley; 3. caching the track; 4. a warehouse; 5. a commodity line.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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.

Embodiments of the present invention are described below with reference to fig. 2 to 5.

According to an embodiment of the present invention, in one aspect, there is provided an RGV handling system comprising a transportation track 1, a plurality of RGV carts 2, and a buffer track 3. Wherein the transportation rails 1 are connected end to end. A plurality of RGV carriages 2 are arranged on the transport rail 1 and are adapted to move along the transport rail 1. The buffer track 3 is connected to the transport track 1 and is adapted for parking of the RGV trolley 2 on the transport track 1.

The RGV handling system of the present invention mainly comprises a buffer track 3 connected to a transport track 1, the RGV trolley 2 being adapted to rest in the buffer track 3. This allows the shipment efficiency within the RGV handling system to be calculated at maximum shipment volume to avoid backlog of the cargo at the platform, affecting shipment efficiency.

If the actual shipment efficiency required at present is smaller than the maximum shipment efficiency, when partial RGV trolley 2 does not receive task information, partial RGV trolley 2 can stop in buffer track 3, no idle running is needed to avoid blocking of transportation track 1, abrasion caused by idle running of RGV trolley 2 is reduced, electric quantity is saved, blocking rate of transportation track 1 is reduced, and because RGV trolley 2 can stop and rest when no transportation task exists, long-term continuous use of RGV trolley 2 is avoided, and the service life of RGV trolley 2 is shortened.

Therefore, the RGV handling system can reduce abrasion caused by idle running of the RGV trolley 2 while ensuring the delivery efficiency, save electric quantity, reduce the blocking rate on the transportation track 1, and avoid shortening the service life of the RGV trolley 2 due to long-term continuous use of the RGV trolley 2.

The length of the buffer track 3 is optionally set according to the warehouse-in and warehouse-out efficiency of the RGV handling system, so that enough RGV trolleys 2 can be parked, and occupation space caused by overlong track or cost of the RGV handling system is not increased.

The buffer track 3 may be a linear track, and one end of the linear track is connected to the transport track 1.

In one embodiment, the buffer track 3 is an arc track, and both ends of the arc track are connected to the transportation track 1. This makes it unnecessary for the RGV trolley 2 that enters the buffer track 3 to change the direction of movement when exiting from the buffer track 3, thereby reducing the risk of the RGV trolley 2 exiting from the buffer track 3 colliding with other RGV trolleys 2.

As shown in fig. 3, the buffer track 3 is optionally connected to the inner side of the transport track 1, and is also optionally connected to the outer side of the transport track 1. When the buffer track 3 is connected to the inner side of the transportation track 1, the space inside the transportation track 1 can be fully utilized, the buffer track 3 does not need to occupy other space, and the space utilization rate of the RGV handling system can be improved.

Preferably, in one embodiment, as shown in fig. 2, the buffer track 3 is connected to the outside of the transport track 1, which allows the length of the buffer track 3 to be free from the inner space of the transport track 1, enabling a sufficient number of RGV carts 2 to dock.

In one embodiment, at least one ranging sensor is provided on each RGV cart 2, the ranging sensors being provided on the front and/or rear side of the RGV cart 2. The ranging sensor is capable of detecting the distance between two adjacent RGV carts 2, and the distance of the RGV cart 2 from surrounding obstacles, thereby avoiding collision.

The distance measuring sensor is preferably but not limited to an ultrasonic sensor, a laser sensor, an infrared light sensor, a radar or the like.

In one embodiment, as shown in fig. 4 and 5, the transportation rail 1 is arranged in a kidney-shaped configuration, and the RGV handling system further comprises a warehouse 4 and a plurality of logistics lines 5. The warehouse 4 is along the length of the transport track 1. The two sides of the transportation track 1 are provided with storehouses 4. A plurality of logistics lines 5 are connected between the warehouse 4 and the transportation track 1. The buffer track 3 is connected at one end of the transport track 1.

In one embodiment, the platforms are divided into a delivery platform and a receiving platform. The delivery station and the receiving station are respectively arranged at one side of the transportation track 1. The RGV trolley 2 is adapted to receive cargo in a delivery station and to be transported to the receiving station.

The buffer track 3 is located at the rear side of the receiving station in the moving direction of the RGV trolley 2. This allows the trolley 2 to move directly into the cache track 3 without having to run empty one turn before entering the cache track 3 when there is no mission order, thereby shortening the empty distance of the RGV trolley 2.

In one embodiment, the plurality of RGV carts 2 are adapted to move in a clockwise or counterclockwise direction.

According to an embodiment of the present invention, in another aspect, there is also provided a control method of an RGV handling system. Application to RGV handling systems of embodiments of the present invention. The control method comprises the steps of S1, S2 and S3.

An embodiment of the present invention is described below in conjunction with fig. 6.

Step S1, sequentially sending task instructions to a plurality of RGV trolleys 2 according to a preset sending sequence, wherein the task instructions comprise a carrying instruction and a buffering instruction;

step S2, when a carrying task exists, a carrying instruction is sent to the RGV trolley 2, so that the RGV trolley 2 responds to the carrying instruction to execute the carrying task;

and step S3, when the carrying task is not carried out, a buffer instruction is sent to the RGV trolley 2, and the corresponding RGV trolley 2 is controlled to enter the buffer track 3.

The control method of the present invention can adjust the number of RGV dollies 2 on the transportation rail 1 based on the current delivery efficiency. When a task instruction is given, the host computer system can send the task instruction to the RGV cart 2, so that the RGV cart 2 can execute a transport task according to the task instruction. When no task instruction exists, the upper computer system can control the corresponding RGV trolley 2 to enter the cache track 3. To ensure that the number of RGV trolleys 2 on the transportation track 1 always just meets the current delivery efficiency of the RGV transportation system.

Therefore, the control method of the RGV conveying system can reduce the abrasion caused by the idle running of the RGV trolley 2 while ensuring the warehouse-out efficiency, save the electric quantity, reduce the blocking rate on the conveying track 1 and avoid the shortening of the service life of the RGV trolley 2 caused by long-term continuous use of the RGV trolley 2.

Defining the time interval of the upper computer system sending the task instruction as t1, and when the time interval from the last task instruction is equal to or exceeds t1 and a new task instruction is not generated, judging that the task instruction is not generated, and controlling the corresponding RGV trolley 2 to enter the cache track 3.

In one embodiment, the plurality of RGV carts 2 are arranged in a predetermined signaling order within the cache track 3. The arrangement order of the plurality of RGV carriages 2 in the buffer track 3 refers to the order in which the RGV carriages 2 exit the buffer track 3 along their own movement direction.

By this arrangement, it is possible to avoid congestion caused by the front RGV cart 2 being in a parked state when the rear RGV cart 2 receives a transfer instruction.

In one embodiment, the control method of the RGV handling system further comprises:

when the carrying task of the RGV trolley 2 is finished, the RGV trolley 2 is controlled to enter the cache track 3.

This allows each RGV cart 2 to enter the buffer track 3 for a period of time after the task execution is completed, until the next round of task instruction sent by the upper computer system is received, thereby avoiding the overlong running time of the single cart 2 and shortening the service life of the RGV cart 2.

It should be noted that, when the RGV trolley 2 performs the transfer task, the step of controlling the RGV trolley 2 to enter the buffer track 3 is not necessary, and when the current delivery efficiency of the RGV transfer system is equal to the maximum efficiency, all the RGV trolleys 2 are in the working state, and do not need to enter the buffer track 3 after the transfer task is completed.

In one embodiment, at least one ranging sensor is provided on each RGV cart 2. The ranging sensor is provided at the front side and/or the rear side of the RGV trolley 2, and the control method further includes:

continuously acquiring a detection result of a ranging sensor;

and controlling the corresponding RGV trolley 2 to avoid the obstacle based on the detection result of the ranging sensor.

The upper computer system can acquire the distance between the RGV trolley 2 and surrounding trolley 2 or other obstacles through the detection result of the ranging sensor, so that the running speed and direction of the RGV trolley 2 can be adjusted to avoid collision of the RGV trolley 2 with each other or other obstacles.

In summary, the RGV handling system and the control method of the RGV handling system according to the embodiments of the present invention can reduce the wear caused by the idle running of the RGV trolley 2 while ensuring the delivery efficiency, save the electric power, reduce the blocking rate on the transportation track 1, and prevent the long-term continuous use of the RGV trolley 2 from shortening the lifetime of the RGV trolley 2.

In the description of the present application, it should be understood that the orientation or positional relationship indicated by the term "upper" or the like is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description and simplification of description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The above description is merely a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily make modifications or variations within the technical scope of the present invention disclosed herein, and such modifications or variations are intended to be included in the scope of the present invention.

Therefore, the protection scope of the invention is subject to the protection scope of the claims. The technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A method of controlling an RGV handling system, the RGV handling system comprising:

the conveying rail (1), the said conveying rail (1) connects end to end, and take the form of waist to set up;

-a plurality of RGV carriages (2) arranged on said transport track (1) adapted to move along said transport track (1);

a buffer track (3) connected to the transport track (1) adapted for parking an RGV trolley (2) on the transport track (1);

a storehouse (4), along the length direction of the transportation rail (1), wherein the storehouse (4) is arranged at two sides of the transportation rail (1);

-a plurality of elementary streams (5) connected between the warehouse (4) and the transport track (1), the buffer track (3) being connected at one end of the transport track (1);

the control method comprises the following steps:

sequentially transmitting task instructions to a plurality of RGV trolleys (2) according to a preset transmission sequence, wherein the task instructions comprise a carrying instruction and a buffering instruction;

when a handling task exists, sending a handling instruction to the RGV trolley (2) so that the RGV trolley (2) responds to the handling instruction to execute the handling task;

when the carrying task of the RGV trolley (2) is finished, controlling the RGV trolley (2) to enter the cache track (3) until a next round of task instruction sent by an upper computer system is received;

when no transport task exists, a buffer instruction is sent to the RGV trolley (2), and the corresponding RGV trolley (2) is controlled to enter the buffer track (3).

2. The control method according to claim 1, characterized in that the buffer track (3) is an arc track, both ends of which are connected to the transport track (1).

3. Control method according to claim 2, characterized in that the buffer track (3) is connected to the outside of the transport track (1).

4. A control method according to any one of claims 1-3, characterized in that a plurality of said RGV carriages (2) are adapted to move in a clockwise or counter-clockwise direction.

5. The control method according to claim 1, characterized in that in an initial state of the RGV handling system, the plurality of RGV carts (2) are arranged in the buffer track (3) in the predetermined signaling order.

6. The control method according to claim 1 or 5, characterized in that at least one ranging sensor is provided on each of the RGV carriages (2), the ranging sensors being provided on the front side and/or the rear side of the RGV carriage (2), the control method further comprising:

continuously acquiring a detection result of the ranging sensor;

and controlling the corresponding RGV trolley (2) to avoid the obstacle based on the detection result of the ranging sensor.