CN114253229A - AGV-based flexible conveying system and conveying method - Google Patents
AGV-based flexible conveying system and conveying method Download PDFInfo
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Abstract
The invention discloses an AGV-based flexible conveying system and a conveying method, wherein the flexible conveying system comprises: the system comprises an AGV dispatching system, a flexible conveying line, an AGV working area and an AGV rest area, wherein the flexible conveying line, the AGV working area and the AGV rest area are formed by sequentially connecting a plurality of AGVs end to end; the AGV dispatching system is in communication connection with the warehouse management system and the AGV, and the AGV is provided with a conveying device capable of running in two directions; during goods conveying, a plurality of AGVs are dispatched by the AGV dispatching system from the rest area to enter the working area, the AGVs are sequentially connected end to form a flexible conveying line from the delivery platform to the target platform, after the conveying is completed, the AGVs are disassembled and return to the rest area for rest, the conveying line also disappears, the clearance of the physical space of the working area during the non-working period is realized, and the flexibility and the conveying speed of the conveying line are greatly improved.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a flexible conveying system and a flexible conveying method based on AGV.
Background
In the field of industrial production or traditional logistics transit, the execution of point-to-point cargo transportation tasks by AGVs has become an indispensable component in automated handling in this field. However, in the face of high-speed and large-batch transfer or flexible docking of different production lines, the conventional AGV transport mode is subject to great traffic management and scheduling pressure, and congestion in an AGV working area is often caused, so that the transfer efficiency is reduced.
In addition, although the conventional conveyor has the conveying capacity of high-speed and large-flow goods, and the delivery platform and the target platform can also be directly connected through the conveyor, the conventional conveyor is generally a fixing device and is hard to be connected, the delivery platform and the target platform which are connected cannot be flexibly changed according to needs, physical space occupied by the conveyor is difficult to release after the goods are conveyed, and the conventional conveyor is difficult to meet the requirements in certain industrial scenes with clearance requirements.
In order to realize high-speed and large-flow conveying tasks, the conveying line can be flexibly and variably arranged according to requirements, can be automatically constructed when needed, and can automatically withdraw from an operation interval when not needed, so that the flexible conveying line which is strong in conveying capacity, flexible and capable of being freely combined is needed.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an AGV-based flexible conveying system and a conveying method, and the principle is as follows: a plurality of AGV carrying conveying devices are sequentially connected end to form a conveying line with any shape, and the conveying line is connected with a delivery platform and a target platform; when the goods flow out of the delivery platform and enter the conveying device of the first AGV adjacent to the delivery platform, the photoelectric detection sensor on the conveying device detects the goods, the conveying device of the AGV is automatically awakened to start to operate, the goods are conveyed to the conveying device of the next AGV adjacent to the first AGV by the conveying device of the first AGV, and so on, the goods are conveyed to the target platform by the plurality of AGVs connected end to end in a relay mode, the AGVs are still and only the AGV conveying device operates in the conveying process of the goods, therefore, in the conveying process of large-flow goods, traffic jam caused by the movement of the AGVs is avoided, the power consumption of the AGVs is reduced, the delivery platform and the target station connected can be dynamically adjusted according to a production plan, the arbitrary connection between the delivery platform and the target platform is realized, and the device has the characteristics of high flexibility and high conveying efficiency.
Specifically, the present invention is realized by:
a flexible AGV-based transport system comprising: the system comprises an AGV dispatching system, a warehouse management system or a warehouse control system, a flexible conveying line, an AGV working area, an AGV rest area, a delivery platform and a target platform, wherein the flexible conveying line, the AGV working area and the AGV rest area are formed by sequentially connecting a plurality of AGVs end to end; the AGV working area is located in the area occupied by the flexible conveying lines formed by sequentially connecting a plurality of AGVs from head to tail between the delivery platform and the target platform.
Furthermore, before the goods are conveyed, the AGV dispatching system dispatches a plurality of AGVs from the AGV rest area to enter a working area, and the AGVs are sequentially connected end to form a flexible conveying line from a goods outlet platform to a target platform; when the goods are conveyed, the multiple end-to-end AGVs convey the goods to the target platform in sequence through the operation of the conveying device, and the AGVs are in a static state without displacement.
Furthermore, the AGV is an omnidirectional AGV which can move in any direction.
Furthermore, a photoelectric sensor is arranged on the conveying device and used for sensing whether goods arrive or not.
In another aspect of the present invention, based on the above system, there is provided an AGV-based flexible conveying method, including the following steps:
a path determining step: the dispatching system receives the goods flow direction information informed by the warehouse management system, determines a path from the goods flow direction to a corresponding delivery platform to a target platform, and then generates an equivalent task instruction based on the number of vector points on the path;
a scheduling step: the task instructions are issued to the AGVs in the rest area, and each instruction corresponds to one AGV;
AGV moving step: after receiving the task instruction, the AGVs move to the vector points corresponding to the task instruction, and after all the AGVs receiving the task instruction reach the corresponding vector points, a flexible conveying line from a delivery platform to a target platform is formed by sequentially connecting a plurality of AGVs end to end;
a conveying step: after the dispatching system receives the signals that all the AGVs reach the corresponding vector points, the dispatching system informs the warehouse management system that all the AGVs are ready, the warehouse management system controls the goods to flow out from the delivery platform, the goods pass through the flexible conveying line and reach the target platform, after the conveying is completed, when the warehouse management system does not have a new conveying task, the warehouse management system can inform the dispatching system to return all the AGVs to the rest area, and the physical space of the working area is released.
Further, the path determining step includes:
the method comprises the steps that path planning from a delivery platform to a target platform is completed in advance and stored in a dispatching system, and the dispatching system directly calls a stored corresponding path after receiving a cargo flow direction informed by a warehouse management system; or
And after receiving the goods flow direction information informed by the warehouse management system, the scheduling system plans a path from the delivery platform to the target platform based on a dynamic path planning algorithm.
Further, the step of planning the path from the shipping platform to the target platform based on the dynamic path planning algorithm comprises:
an initial curve planning step: planning an initial curve according to the control point sequence of the delivery platform and the control point sequence of the target platform;
AGV quantity determining step: determining the number of the AGVs according to the appearance parameters of the AGVs, the distance between two adjacent AGVs and the length of the initial curve;
a curve segmentation step: dividing the initial curve according to dividing points with the number equal to that of the AGVs;
path planning step: based on the flexible path algorithm, a smooth curve P (i) constrained by each partition point is calculated, and the curve is the path from the delivery platform to the target platform.
Further, the curve dividing step is to divide the distance L between the first/last dividing point and the delivery/destination platform1Satisfies the following conditions: l/2<L1<L, distance between division points L2Satisfies the following conditions: 2 x L>L2<L, wherein L represents the transport distance of the transport on the AGV; the dividing points are vector points for the AGV to stop when working;
further, in the path planning step, the smooth curve p (i) constrained by each segmentation point is:
wherein p isiRepresenting the ith vector point; n represents the number of curves; k denotes the order of the equation of the curve, u denotes the curve parameter, and k is n + 1.
Further, the control point sequence of the delivery platform is A1、A、A2The control point sequence of the target station is B1、B、B2(ii) a Wherein the content of the first and second substances,
a represents the edge point of the delivery platform near one side of the target platform, A1Represents a straight line LaUpper and A point are at a distance d1A point of (a); a. the2Represents a straight line LaDistance from point AIs separated by d2A point of (a); straight line LaA straight line passing through point A, and a straight line LaThe direction vector is the same as the direction of the point A;
b represents the edge point of the target platform close to one side of the delivery platform; b is1Represents a straight line LbUpper and B point distance d3A point of (a); b is2Represents a straight line LbUpper and B point distance d4A point of (a); straight line LbA straight line passing through point B, and a straight line LbThe direction vector is the same as the direction of the point B; d1、d2、d3、d4The value range of (A) is 100mm-1000 mm.
The principle is as follows: a plurality of AGV carrying conveying devices are sequentially connected end to form a conveying line with any shape, and the conveying line is connected with a delivery platform and a target platform; when the goods flow out of the delivery platform and enter the conveying device of the first AGV adjacent to the delivery platform, the photoelectric detection sensor on the conveying device detects the goods, the conveying device of the AGV is automatically awakened to start to operate, the goods are conveyed to the conveying device of the next AGV adjacent to the first AGV by the conveying device of the first AGV, and so on, the goods are conveyed to the target platform by the plurality of AGVs connected end to end in a relay mode, the AGVs are still and only the AGV conveying device operates in the conveying process of the goods, therefore, in the conveying process of large-flow goods, traffic jam caused by the movement of the AGVs is avoided, the power consumption of the AGVs is reduced, the delivery platform and the target station connected can be dynamically adjusted according to a production plan, the arbitrary connection between the delivery platform and the target platform is realized, and the device has the characteristics of high flexibility and high conveying efficiency.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the flexible conveying system and the conveying method based on the AGV, when goods are conveyed, the plurality of backpack AGVs are connected end to end in sequence to form the conveying line, after the conveying is completed, the AGV is scattered and returns to the AGV rest area, the conveying line automatically disappears, the clearance of the physical space of the AGV working area in the non-working period is realized, and the scene with the clearance requirement on the working area is favorably met.
(2) The conveying target platforms are flexible and changeable, the delivery platforms can correspond to the target platforms, the corresponding relation between the delivery platforms and the target platforms can be dynamically adjusted, and when production tasks are changed, the target platforms corresponding to the delivery platforms can be adjusted accordingly, so that different conveying lines are formed, and production requirements can be flexibly met.
(3) Conveying speed, efficient, the goods flows out from the delivery platform and carries the target platform through the transfer chain, and the speed that the goods was carried depends on conveyor's operating speed on the AGV, and not AGV's translation rate, therefore the conveying efficiency of goods is higher than relying on the AGV directly to carry the speed to the target platform from the delivery platform to the goods far away to the traffic jam problem because of extensive, intensive AGV removes and brings has been avoided.
Drawings
FIG. 1 is a schematic plan view of an AGV based flexible transport line provided by the present invention;
FIG. 2 is a schematic perspective view of an AGV according to the present invention;
FIG. 3 is a schematic top view of an AGV according to the present invention;
FIG. 4 is a schematic view showing the delivery platform and the target platform being collinear and the AGV stopping at the rest area according to example 1;
FIG. 5 is a schematic view of the example 1 in which the delivery platform and the target platform are collinear and the AGV is operating;
FIG. 6 is a schematic diagram illustrating the docking of the delivery platform with a plurality of target platforms and the AGV stopping at the rest area according to example 2;
FIG. 7 is a diagram showing a control point sequence in example 2;
FIG. 8 is a schematic diagram illustrating the docking of the delivery platform with a plurality of target platforms and the operation of the AGV according to embodiment 2.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
As shown in fig. 1, the present invention aims to provide a flexible transport system based on AGVs, where AGVs equipped with transport devices are scheduled by using a scheduling system, and during operation, the AGVs are sequentially connected end to form a transport line, after the transport is completed, the AGVs are disassembled and returned to a rest area, and the transport line disappears, so as to realize clearance of physical space of the work area during non-operation, and when the goods are transported, the AGVs are stationary, and only the transport devices of the AGVs operate, compared with the case of directly moving and transporting the goods by using AGVs, traffic management pressure caused by centralized large-flow and high-speed goods circulation is avoided. AGV of different quantity can constitute the transfer chain of different length, different shapes, consequently more nimble changeable, can satisfy more nimble production demand.
The AGV dispatching system establishes wireless communication connection with the warehouse management system or the warehouse control system and each AGV, and stores coordinates and angles of the delivery platform and each target platform. As shown in fig. 2 and 3, the AGV in this application is a piggyback AGV, on the back of which a conveying device 2 capable of operating bidirectionally is carried, and the conveying device 2 may be a roller conveyor, a chain conveyor, a belt conveyor, etc. Mounted to the bottom of AGV1 are Mecanum wheels 3 that can move in any direction including, but not limited to, forward, reverse, spin, translate, and the like. As shown in fig. 3, the conveying device 2 is provided with a photoelectric sensor and a reflector plate, the photoelectric sensor includes a first photoelectric sensor 41 and a second photoelectric sensor 42, the first photoelectric sensor 41 is located at an inlet end of the conveying device 2, the second photoelectric sensor 42 is located at an outlet end of the conveying device 2, the first photoelectric sensor 41 is used for detecting whether goods enter the conveying device 2, and the second photoelectric sensor 42 is used for detecting whether goods are sent out. When the second photoelectric sensor 42 does not detect a signal and the first photoelectric sensor 41 does not detect the inflow of new cargo, the conveying device 2 stops operating, enters an energy-saving state, and repeats the operation, thereby realizing the rapid conveyance of the cargo from the delivery platform to the target platform.
The warehouse management system or the warehouse control system, the delivery platform and the target platform are all the prior art, and the present invention only uses the prior art for docking, and the description is not further provided.
Example 1
As shown in fig. 4, in the present embodiment, the delivery platform and the target platform are collinear, the pre-planned route from the delivery platform to the target platform is stored in the dispatching system,a plurality of vector points for the AGV to stop are arranged on the path, and in order to ensure the normal transportation of the goods, if the transportation distance of the transportation device 2 is L, the distance L between the first/last vector point and the goods output/target platform is1Satisfies the following conditions: l/2<L1<L, distance between division points L2Satisfies the following conditions: 2 x L>L2>L。
Preferably, the distance between the conveyors 2 of two adjacent AGVs is 50mm to 300 mm.
Specifically, the dispatching system receives the cargo flow direction information (i.e., the positions of the delivery platform and the target platform) notified by the warehouse management system, retrieves a pre-stored path, and generates an equal amount of task instructions according to the number of vector points on the path, wherein each task instruction comprises the coordinates and angles of the vector points, the operation direction of the conveying device 2, and the operation speed. And the dispatching system issues the task instructions to the corresponding number of AGV, and the AGV receiving the task drives out from the rest area, moves to a corresponding position and adjusts the angle. As shown in fig. 5, after all AGVs reach the target position, a flexible conveying line is formed, in which a plurality of AGVs are sequentially connected end to end, and after receiving a signal that all AGVs reach the corresponding vector point, the scheduling system informs the warehouse management system that all AGVs are ready, and the warehouse management system controls the goods to flow out from the delivery platform, and the goods pass through the flexible conveying line and reach the target platform. After the conveying is finished, when the warehouse management system does not have a new conveying task, the warehouse management system can inform the scheduling system to adjust all the AGVs back to the rest area, so that the working area returns to a clearance state.
Example 2
In this embodiment, as shown in fig. 6, the delivery platform is connected to a plurality of target platforms, and after the dispatching system receives the cargo flow direction information notified by the warehouse management system (for example, it is known that the cargo is to be transported from the delivery platform to the target platform 1), the dispatching system first determines a path, which specifically includes:
an initial curve planning step: planning an initial curve L according to the control point sequence of the delivery platform and the control point sequence of the target platformc. As shown in FIG. 7, the control point sequence of the delivery platform is A1、A、A2The control point sequence of the target station is B1、B、B2(ii) a Wherein, A represents the edge point of the delivery platform near one side of the target platform. Wherein A is1Represents a straight line LaUpper and A point are at a distance d1A point of (a); a. the2Represents a straight line LaUpper and A point are at a distance d2A point of (a); b represents the edge point of the target platform close to one side of the delivery platform; b is1Represents a straight line LbUpper and B point distance d3A point of (a); b is2Represents a straight line LbUpper and B point distance d4A point of (a); straight line LaA straight line passing through point A, and a straight line LaThe direction vector is the same as the direction of the point A; straight line LbA straight line passing through point B, and a straight line LbThe direction vector is the same as the direction of point B.
Preferably, d1＝d2，d3＝d4；d1、d2、d3、d4Has a value range of 100mm-1000mm, d1、d2、d3、d4Is influenced by the horizontal and vertical coordinate difference between the edge point A of the delivery platform and the edge point B of the target platform and the length L of the AGV conveying device.
AGV quantity determining step: according to the shape parameters (length, width and height) of the AGV, the distance between two adjacent AGVs and the initial curve LcDetermines the number of AGVs, which is 9.
A curve segmentation step: and (4) dividing the initial curve according to 9 dividing points, wherein the dividing points are vector points for the AGV to stop when working.
Path planning step: and calculating a smooth curve constrained by each segmentation point based on a flexible path algorithm. The smooth curve p (i) is specifically:
wherein p isiRepresenting the ith vector point; n represents the number of curves; k denotes the order of the equation of the curve, u denotes the curve parameter, and k is n + 1.
In this application, k is 4, u is 0 ≦ 1, and a certain vector point is passed throughThe curve is determined by the previous vector point, the vector point itself and the two subsequent vector points, i.e. n +1 equals 4 and n equals 3. Curve P passing through the i-th vector pointi(u) from N0,4(u)、N1,4(u)、N2,4(u)、N3,4(u) four-segment curve, i.e.
Pi(u)＝N0,4(u)Pi-1+N1,4(u)Pi+N2,4(u)Pi+1+N3,4(u)Pi+2
Wherein the content of the first and second substances,
then 9 task instructions are generated according to the number of vector points on the curve path. And the dispatching system issues the task instruction to 9 AGVs, and the AGV receiving the task drives out from the rest area, moves to a corresponding position and adjusts the angle. As shown in fig. 8, after all AGVs reach the target position, a flexible conveying line is formed, in which a plurality of AGVs are sequentially connected end to end, and after receiving a signal that all AGVs reach the corresponding vector point, the scheduling system informs the warehouse management system that all AGVs are ready, and the warehouse management system controls the goods to flow out from the delivery platform, and the goods pass through the flexible conveying line and reach the target platform. After the conveying is finished, when the warehouse management system does not have a new conveying task, the warehouse management system can inform the scheduling system to adjust all the AGVs back to the rest area, so that the working area returns to a clearance state.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (9)
1. A flexible conveying system based on AGV is characterized by comprising an AGV dispatching system, a warehouse management system or a warehouse control system, a flexible conveying line, an AGV working area, an AGV rest area, a delivery platform and a target platform, wherein the flexible conveying line, the AGV working area, the AGV rest area, the delivery platform and the target platform are formed by sequentially connecting a plurality of AGVs end to end; the AGV working area is located the region that flexible transfer chain that the end to end of a plurality of AGV formed by consecutive between delivery platform and the target platform occupies.
2. The flexible conveying system based on the AGVs according to claim 1, characterized in that before the goods are conveyed, the AGV dispatching system dispatches a plurality of AGVs from the AGV rest area to the working area, and the AGVs are sequentially connected end to form a flexible conveying line from the delivery platform to the target platform; when the goods are conveyed, the multiple end-to-end AGVs convey the goods to the target platform in sequence through the operation of the conveying device, and the AGVs are in a static state without displacement.
3. The flexible AGV-based transport system of claim 1 wherein the AGV is an omnidirectional AGV that can move in any direction, and wherein the transport device has a photosensor for sensing the arrival of the load.
4. A flexible conveying method based on the system of any one of claims 1 to 3, characterized by comprising the following steps:
a path determining step: the dispatching system receives the goods flow direction information informed by the warehouse management system, determines a path from the goods flow direction to a corresponding delivery platform to a target platform, and then generates an equivalent task instruction based on the number of vector points on the path;
a scheduling step: the task instructions are issued to the AGVs in the rest area, and each instruction corresponds to one AGV;
AGV moving step: after receiving the task instruction, the AGVs move to the vector points corresponding to the task instruction, and after all the AGVs receiving the task instruction reach the corresponding vector points, a flexible conveying line from a delivery platform to a target platform is formed by sequentially connecting a plurality of AGVs end to end;
a conveying step: after the dispatching system receives the signals that all the AGVs reach the corresponding vector points, the dispatching system informs the warehouse management system that all the AGVs are ready, the warehouse management system controls the goods to flow out from the delivery platform, the goods pass through the flexible conveying line and reach the target platform, after the conveying is completed, when the warehouse management system does not have a new conveying task, the warehouse management system can inform the dispatching system to return all the AGVs to the rest area, and the physical space of the working area is released.
5. The AGV-based flexible transport method of claim 4 wherein the path determination step includes:
the method comprises the steps that path planning from a delivery platform to a target platform is completed in advance and stored in a dispatching system, and the dispatching system directly calls a stored corresponding path after receiving a cargo flow direction informed by a warehouse management system; or
And after receiving the goods flow direction information informed by the warehouse management system, the scheduling system plans a path from the delivery platform to the target platform based on a dynamic path planning algorithm.
6. The AGV-based flexible transport method of claim 5 wherein the step of planning the path from the egress station to the destination station based on a dynamic path planning algorithm comprises:
an initial curve planning step: planning an initial curve according to the control point sequence of the delivery platform and the control point sequence of the target platform;
AGV quantity determining step: determining the number of the AGVs according to the appearance parameters of the AGVs, the distance between two adjacent AGVs and the length of the initial curve;
a curve segmentation step: dividing the initial curve according to dividing points with the number equal to that of the AGVs;
path planning step: based on the flexible path algorithm, a smooth curve P (u) constrained by each partition point is calculated, and the curve is the path from the delivery platform to the target platform.
7. The AGV flexible transport method of claim 6 wherein the curve dividing step, first/last dividing point and distance L between the launch/target station and the curve dividing step1Satisfies the following conditions: l/2<L1<L, distance between division points L2Satisfies the following conditions: 2 x L>L2<L, wherein L represents the transport distance of the transport on the AGV; and the division points are vector points for the AGV to stop when working.
8. The AGV flexible conveying method according to claim 6 or 7, wherein in the path planning step, the smooth curve P (u) constrained by each dividing point is:
wherein p isiRepresenting the ith vector point; n represents the number of curves; k denotes the order of the equation of the curve, u denotes the curve parameter, and k is n + 1.
9. The AGV flexible transport method of claim 6 wherein the control point sequence of the exit platform is A1、A、A2The control point sequence of the target station is B1、B、B2(ii) a Wherein the content of the first and second substances,
a represents the edge point of the delivery platform near one side of the target platform, A1Represents a straight line LaUpper and A point are at a distance d1A point of (a); a. the2Represents a straight line LaUpper and A point are at a distance d2A point of (a); straight line LaTo passA straight line of point A, and a straight line LaThe direction vector is the same as the direction of the point A;
b represents the edge point of the target platform close to one side of the delivery platform; b is1Represents a straight line LbUpper and B point distance d3A point of (a); b is2Represents a straight line LbUpper and B point distance d4A point of (a); straight line LbA straight line passing through point B, and a straight line LbThe direction vector is the same as the direction of the point B;
d1、d2、d3、d4the value range of (A) is 100mm-1000 mm.
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| CN114253229B (en) | 2023-12-05 |
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