CN110727275A - RGV dynamic collision avoidance control system and method based on PLC - Google Patents
RGV dynamic collision avoidance control system and method based on PLC Download PDFInfo
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- CN110727275A CN110727275A CN201910211228.8A CN201910211228A CN110727275A CN 110727275 A CN110727275 A CN 110727275A CN 201910211228 A CN201910211228 A CN 201910211228A CN 110727275 A CN110727275 A CN 110727275A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 37
- 238000013506 data mapping Methods 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000005587 bubbling Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses an RGV dynamic collision avoidance control system and method based on a PLC, which are applied to collision detection and safety protection among a plurality of reciprocating RGVs on a linear or circular track. The system consists of an RGV vehicle-mounted PLC, a position identification device, a laser sensor, a driving device, a ground equipment PLC and a wireless communication device. The system collects data of each RGV in real time, obtains the adjacent relation of the RGVs by an RGV position sorting method, and then sends the data of the adjacent RGVs to each RGV. After the RGV vehicle-mounted PLC receives the data, the deceleration and parking area of the vehicle is calculated in real time by a dynamic collision avoidance control method according to the position, the speed and the moving direction of the adjacent RGV in the moving direction of the vehicle, and deceleration or parking braking is executed. The collision avoidance method provided by the invention is based on real-time dynamic planning, can greatly shorten the braking distance between the RGVs, avoids the frequent braking of the RGVs, and improves the running efficiency of the RGVs.
Description
Technical Field
The invention relates to a dynamic collision avoidance method for an RGV (reduced G vehicle) based on a PLC (programmable logic controller), which is applied to collision detection and safety protection between RGVs on the same track.
Background
An RGV (shuttle vehicle) is an automatic material flow carrying device, which runs on a fixed track in a reciprocating or loop-returning mode and can complete the tasks of goods taking, transporting, placing and the like of a connecting device.
According to the track form, the following three types can be divided:
(1) the linear reciprocating type is that one or more RGVs reciprocate among the goods in and out platforms, the picking platform and the goods in and out conveyor on a linear track;
(2) sectional type: each RGV runs on a fixed track and is responsible for the carrying task between a respective platform and an in-out goods conveyor;
(3) the circular orbit type: that is, a plurality of RGVs move on an endless track between each platform and the loading and unloading conveyor for conveying materials.
The first form occupies the minimum space, and the carrying efficiency is between the second form and the third form. The first form is adopted, and the situation that a plurality of linear reciprocating RGVs run on the same track is very common in the comprehensive consideration of space utilization rate and conveying efficiency.
In order to avoid collision of adjacent RGVs on the same track, the RGVs need to have a collision prevention function so as to protect equipment and goods. Currently, three modes of sensor detection, speed comparison and scheduling planning are basically adopted for collision avoidance of the RGV.
(1) The collision avoidance is detected through the sensor, the deceleration and parking area needs to be statically set according to the sum of the traveling distances from the maximum running speed to the parking of the two RGVs, the reserved safety distance between the RGVs is too large, the RGVs are mutually restrained, the speed fluctuates frequently, and the efficiency is very low.
(2) Collision is avoided through speed comparison, and the method is only suitable for the condition that a plurality of RGVs run on the circular track in the same direction. In this manner, the rear RGV speed cannot exceed the front RGV speed, the rear RGV speed frequently fluctuates, and the front RGV needs to be waited for movement.
(3) By scheduling and planning collision avoidance, the space feasibility and the time feasibility of each RGV task path are judged in advance, and tasks with possible collision are prevented from being issued at the same time. The method is off-line static programming and has poor responsiveness to real-time situations such as RGV sudden failure. If a plurality of tasks are mutually exclusive, other tasks can be issued only after the task occupying the resources is finished, and the execution efficiency is low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a dynamic collision avoidance control method based on a PLC. The method can be applied to the collision avoidance of the same-direction or opposite-direction movement of adjacent RGVs on a linear or annular track. The method is executed by an electrical layer, judges the states of adjacent RGVs in real time, calculates the deceleration and parking areas of the RGVs, has extremely high real-time performance and dynamic response capability, and ensures the operating efficiency of the RGVs to the maximum extent.
The technical scheme of the invention is as follows:
the RGV dynamic collision avoidance control system based on the PLC is composed of an RGV vehicle-mounted PLC, a position identification device, a laser sensor, a driving device, a ground equipment PLC and a wireless communication device;
the RGV vehicle-mounted PLC is used for judging the states and data of the vehicle and the adjacent RGVs in real time, calculating a deceleration and parking area and further controlling the RGVs to decelerate or park;
the position identification device is used for detecting and feeding back the position and speed data of the vehicle in real time;
the laser sensor is used for collision prevention protection of the RGV when the wireless communication device is in an abnormal communication state;
the driving device is used for driving the RGV to move and brake;
the ground equipment PLC is used for judging the states and data reported by all the RGVs in real time and sending the data of the adjacent RGVs to each RGV;
the wireless communication device provides a wireless communication link for interaction of the RGV vehicle-mounted PLC and the ground equipment PLC.
The position identification device adopts a bar code positioning device or a bar ruler.
The driving device comprises a frequency converter and a motor.
The RGV dynamic collision avoidance control method based on the PLC comprises the following steps:
acquiring communication state, position and speed data of the RGV;
when the communication state is normal, calculating the adjacent relation of the RGVs in the movement direction; calculating the deceleration and parking areas of the RGV in the adjacent relation of the RGVs in real time, and controlling the deceleration or parking brake to be executed after the deceleration and parking areas enter the areas so as to avoid collision;
when the communication state is abnormal, the deceleration and parking areas are determined according to the laser sensor so as to control the RGV brake.
And the step of calculating the adjacent relation of the RGVs in the movement direction comprises the steps of obtaining the adjacent relation of the RGVs by adopting RGV position sequencing, establishing a data mapping table of an RGV trolley in the adjacent relation, and further sending the position, the speed and the communication of the adjacent RGVs to each RGV in the data mapping table.
The RGV position ordering is by bubble method.
The data mapping table comprises data of the RGV and the moving direction, speed, position and communication state of the RGV adjacent to the RGV.
The real-time calculation of the deceleration and parking areas of the RGV in the adjacent relation of the RGVs and the control of the deceleration or parking brake after the RGV enters the areas, so as to avoid collision comprises the following steps:
if the vehicle and the adjacent RGVs move oppositely, when the distance | S-S' | between the two vehicles is smaller than the safe deceleration distance
When the vehicle is in braking at a reduced speed; when the distance between two vehicles is less than the safe parking distance SstopWhen the vehicle is stopped, the vehicle is braked;
if the vehicle and the adjacent RGVs move in the same direction, when the distance | S-S' | between the two vehicles is smaller than the safe deceleration distanceWhen the vehicle is in braking at a reduced speed; when the distance between two vehicles is less than the safe parking distance SstopWhen the vehicle is stopped, the vehicle is braked;
wherein, in the normal communication state, S is the position of the vehicle, V is the speed, S 'is the position of the adjacent RGV, V' is the speed of the adjacent RGV, SstopFor a set safe parking distance, a is the RGV deceleration ramp acceleration.
The invention has the beneficial effects that:
1. the dynamic collision avoidance control of multiple RGVs can be realized only by PLC programming, and no additional hardware investment is added;
2. the adaptability is strong, and the method is suitable for all RGV same-rail operation modes;
3. the flexibility is strong, when the dispatching layer issues the tasks, whether the tasks are in path conflict or not does not need to be judged, and the electric layer is responsible for avoiding or avoiding the RGVs;
4. and dynamic planning can greatly shorten the braking distance between the RGVs, avoid frequent braking of the RGVs and improve the running efficiency of the RGVs.
Drawings
FIG. 1 is a system hardware diagram.
Fig. 2 is a control flow chart of the dynamic collision avoidance control method.
Figure 3 is a flow chart of an RGV location ordering and data mapping method.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 shows a system hardware diagram of the present invention. The system consists of an RGV vehicle-mounted PLC, a position identification device, a laser sensor, a driving device, a ground equipment PLC and a wireless communication device.
The RGV vehicle-mounted PLC is used for judging the states and data of the vehicle and the adjacent RGVs in real time, calling a dynamic collision avoidance control method to calculate a deceleration and parking area, and further controlling the RGVs to decelerate or park;
the position addressing device is an absolute addressing device and feeds back real-time position and speed data;
the laser sensors move oppositely at the maximum speed according to the two RGVs, the two vehicles are braked to stop at the same time, and the deceleration without collision and the preset trigger threshold value of the parking vehicle distance are used as the anti-collision protection of the RGVs under the abnormal communication state;
the driving device comprises a frequency converter and a motor, and the vehicle-mounted PLC controls the speed of the motor through the frequency converter so as to realize collision prevention and braking;
the ground equipment PLC and the plurality of RGV vehicle-mounted PLCs form a multi-node master-slave structure, namely, the ground equipment PLC acquires the RGV data, and distributes the RGV data to the RGVs after sequencing; after the vehicle-mounted PLC acquires the data, the RGV brake is dynamically controlled according to the data of the adjacent RGV in the movement direction
The wireless communication device provides a wireless communication link for interaction between the RGV vehicle-mounted PLC and the ground equipment PLC, and needs to support real-time communication and provide enough bandwidth to meet the requirement of data exchange between the PLCs.
The dynamic collision avoidance control method is executed by a vehicle-mounted PLC, and a control flow chart is shown in figure 2, and the method comprises the following steps:
⑴ judging the movement direction, and judging whether the communication of the vehicle is normal and the communication of the RGV adjacent to the vehicle in the movement direction is normal;
⑵ if the communication is abnormal, controlling the brake according to the laser sensor signal, and ending the data processing;
⑶ if communication is normal, dynamically planning braking according to the position and speed data of two vehicles, firstly judging the moving direction of adjacent RGVs in the moving direction of the vehicle, recording the position S, speed V, position S ', speed V' of the adjacent RGVs, and setting the safe parking distance S of the vehicle moving in opposite direction at low speed as SstopRGV deceleration ramp acceleration is represented by a
⑷ if the vehicle and the adjacent RGV move in opposite directions, the distance between the two vehicles is safe
The distance between two vehicles is SstopThe distance between two vehicles is | S-S' |. When the distance between the two vehicles is smaller than the safe deceleration distance, the two vehicles are decelerated and braked; and when the distance between the two vehicles is smaller than the safe parking distance, the vehicle is parked and braked.
⑸ if the vehicle and the adjacent RGV move in the same direction, the distance between the two vehicles is safe
The distance between two vehicles is SstopThe distance between two vehicles is | S-S' |. When the distance between the two vehicles is smaller than the safe deceleration distance, the two vehicles are decelerated and braked; and when the distance between the two vehicles is smaller than the safe parking distance, the vehicle is parked and braked.
The RGV position sequencing and data mapping method is executed by a ground equipment PLC, the control flow chart of the method is shown in figure 3, and the method comprises the following steps:
⑴ diagnosing the communication state of RGV vehicle PLC, if the communication is abnormal, not updating RGV position and speed data, resetting the normal communication mark, otherwise updating data, setting the normal communication mark;
⑵ bubble sorting the RGV real-time position and the soft limit positions at two sides to obtain the adjacent relation of the RGV;
⑶ sends the data of the moving direction, speed, position and communication state of the adjacent RGVs to each RGV according to the car number.
The dynamic collision avoidance control method, the RGV position sorting and data mapping method, and the specific implementation thereof on the PLC hardware platform are described in detail above. Variations or extensions on the present invention may be made by those skilled in the art and are also within the scope of the present invention.
Claims (8)
1. RGV dynamic collision avoidance control system based on PLC, its characterized in that: the system consists of an RGV vehicle-mounted PLC, a position identification device, a laser sensor, a driving device, a ground equipment PLC and a wireless communication device;
the RGV vehicle-mounted PLC is used for judging the states and data of the vehicle and the adjacent RGVs in real time, calculating a deceleration and parking area and further controlling the RGVs to decelerate or park;
the position identification device is used for detecting and feeding back the position and speed data of the vehicle in real time;
the laser sensor is used for collision prevention protection of the RGV when the wireless communication device is in an abnormal communication state;
the driving device is used for driving the RGV to move and brake;
the ground equipment PLC is used for judging the states and data reported by all the RGVs in real time and sending the data of the adjacent RGVs to each RGV;
the wireless communication device provides a wireless communication link for interaction of the RGV vehicle-mounted PLC and the ground equipment PLC.
2. The PLC-based RGV dynamic collision avoidance control system according to claim 1, wherein the position addressing device employs a bar code positioning device or a bar code ruler.
3. The PLC-based RGV dynamic collision avoidance control system according to claim 1, wherein the driving means is a frequency converter and a motor.
4. The RGV dynamic collision avoidance control method based on the PLC is characterized by comprising the following steps:
acquiring communication state, position and speed data of the RGV;
when the communication state is normal, calculating the adjacent relation of the RGVs in the movement direction; calculating the deceleration and parking areas of the RGV in the adjacent relation of the RGVs in real time, and controlling the deceleration or parking brake to be executed after the deceleration and parking areas enter the areas so as to avoid collision;
when the communication state is abnormal, the deceleration and parking areas are determined according to the laser sensor so as to control the RGV brake.
5. The PLC-based RGV dynamic collision avoidance control method according to claim 4, wherein the calculating of the RGV adjacency relation in the moving direction comprises obtaining the RGV adjacency relation by adopting RGV position sequencing, establishing a data mapping table of RGV trolleys in the adjacency relation, and further sending the position, speed and communication of the adjacent RGVs to each RGV in the data mapping table.
6. The PLC-based RGV dynamic collision avoidance control method according to claim 5, wherein the RGV position sorting is by bubbling.
7. The RGV dynamic collision avoidance control method based on PLC of claim 5, characterized in that the data mapping table includes data of the moving direction, speed, position, and communication status of RGV car and its front and rear adjacent RGV cars.
8. The PLC-based RGV dynamic collision avoidance control method according to claim 4, wherein the real-time calculation of deceleration and parking areas of RGV cars in the adjacent relation of RGVs and the control of deceleration or parking brake after entering the areas are performed to avoid collision comprises:
if the vehicle and the adjacent RGVs move oppositely, when the distance | S-S' | between the two vehicles is smaller than the safe deceleration distance
When the vehicle is in braking at a reduced speed; when the distance between two vehicles is less than the safe parking distance SstopWhen the vehicle is stopped, the vehicle is braked;
if the vehicle and the adjacent RGVs move in the same direction, when the distance | S-S' | between the two vehicles is smaller than the safe deceleration distance
When the vehicle is in braking at a reduced speed; when the distance between two vehicles is less than the safe parking distance SstopWhen the vehicle is stopped, the vehicle is braked;
wherein, in the normal communication state, S is the position of the vehicle, V is the speed, S 'is the position of the adjacent RGV, V' is the speed of the adjacent RGV, SstopFor a set safe parking distance, a is the RGV deceleration ramp acceleration.
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Cited By (6)
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| CN111284984A (en) * | 2020-02-13 | 2020-06-16 | 龙岩烟草工业有限责任公司 | Anti-collision control method and device for single-rail double stacker and single-rail double stacker |
| CN112214013A (en) * | 2020-08-07 | 2021-01-12 | 上海海得控制***股份有限公司 | Linear reciprocating type multi-RGV deadlock avoidance and conflict real-time control method, system, medium and terminal |
| CN112486187A (en) * | 2020-12-18 | 2021-03-12 | 长沙长泰智能装备有限公司 | Linear reciprocating type double-RGV task scheduling system and scheduling algorithm |
| CN112506163A (en) * | 2020-12-18 | 2021-03-16 | 长沙长泰智能装备有限公司 | RGV avoidance control system and avoidance method |
| CN112631302A (en) * | 2020-12-25 | 2021-04-09 | 珠海格力智能装备有限公司 | Method and device for controlling a collision avoidance system of a track guided vehicle |
| CN113741324A (en) * | 2021-08-27 | 2021-12-03 | 广东赛斐迩物流科技有限公司 | Method for scheduling multi-vehicle on same layer of four-way shuttle vehicle under PLC control system |
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| CN112214013A (en) * | 2020-08-07 | 2021-01-12 | 上海海得控制***股份有限公司 | Linear reciprocating type multi-RGV deadlock avoidance and conflict real-time control method, system, medium and terminal |
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Application publication date: 20200124 |