CN114253229B - 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 application discloses a flexible conveying system and a conveying method based on an AGV, wherein the flexible conveying system comprises: the Automatic Guided Vehicle (AGV) scheduling system, a flexible conveying line formed by sequentially connecting a plurality of AGVs end to end, an AGV working area and an AGV rest area; the AGV dispatching system is in communication connection with the warehouse management system and the AGVs, and the AGVs are provided with conveying devices capable of running bidirectionally; when the goods are conveyed, the AGV scheduling system schedules a plurality of AGVs to enter the working area from the rest area, and the AGVs are sequentially connected end to form a flexible conveying line from the delivery platform to the target platform, after conveying is completed, the AGVs are dispersed and return to the rest area for rest, the conveying line also disappears along with the rest, the clearance of the physical space of the working area during non-working period is realized, and the flexibility and the conveying speed of the conveying line are greatly improved.
Description
Technical Field
The application relates to the technical field of AGVs, in particular to a flexible conveying system and a flexible conveying method based on an AGV.
Background
In the field of industrial production or traditional logistics transfer, the execution of point-to-point cargo transport tasks by an AGV has become an integral part of automated handling in this field. However, in the face of the need to perform high-speed, mass transfer or the need to flexibly interface different production lines, conventional AGV handling modes are subject to significant traffic management and scheduling pressures, which often cause congestion in the AGV work area, thereby reducing transfer efficiency.
In addition, although the conventional conveyor has the capability of conveying high-speed and large-flow cargoes, the shipment platform and the target platform can be directly connected through the conveyor, but the conventional conveyor is generally a fixing device, is hard-connected and cannot flexibly change the connected shipment platform and the target platform according to the needs, and the physical space occupied by the conveyor is difficult to release after the cargo conveying is completed, so that the conventional conveyor is also difficult to meet the requirements in certain industrial scenes with clearance requirements.
In order to realize high-speed and high-flow conveying tasks, the conveying line can be flexibly and variably according to requirements, can be automatically assembled when required, and can automatically withdraw an operation interval when not required, so that a flexible conveying line with strong conveying capability and flexibility and free combination is required.
Disclosure of Invention
In order to solve the defects in the prior art, the application provides a flexible conveying system and a flexible conveying method based on an AGV, and the principle is as follows: a plurality of AGVs carrying conveying devices are connected end to end in sequence to form a conveying line with any shape, and a delivery platform and a target platform are connected; when the cargo flows out of the delivery platform and enters the conveying device of the first AGV adjacent to the delivery platform, the photoelectric detection sensor on the conveying device detects the cargo, the automatic wake-up AGV conveying device starts to operate, the cargo is conveyed to the conveying device of the next AGV adjacent to the first AGV by the conveying device of the first AGV, and the like, a plurality of AGVs connected end to end convey the cargo to the target platform in a relay mode, the AGVs are stationary in the conveying process of the cargo, only the AGVs are operated, therefore, traffic jam cannot be caused by the movement of the AGVs in the conveying process of large-flow cargo, the power consumption of the AGVs is reduced, the connected delivery platform and the target station can be dynamically adjusted according to a production plan, and the optional connection between the delivery platform and the target platform is realized.
Specifically, the application is realized as follows:
an AGV-based flexible transport system comprising: the Automatic Guided Vehicle (AGV) dispatching system, the warehouse management system or the 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 dispatching system is in communication connection with the warehouse management system or the warehouse control system and the AGVs, and a conveying device capable of running bidirectionally is arranged on the AGVs; the AGV working area is an area occupied by a flexible conveying line which is formed by sequentially connecting a plurality of AGVs end to end and is located between a delivery platform and a target platform.
Further, before delivering cargoes, the AGV scheduling system schedules a plurality of AGVs to enter a working area from the AGV rest area and is connected end to end in sequence to form a flexible conveying line from a delivery platform to a target platform; when the goods are conveyed, the AGVs connected end to end sequentially convey the goods to the target platform through the operation of the conveying device, and the AGVs are in a static state without displacement.
Further, the AGV is an omni-directional AGV which can move in any direction.
Further, a photoelectric sensor is arranged on the conveying device and used for sensing whether goods arrive or not.
In another aspect of the present application, based on the above system, there is provided an AGV-based flexible conveying method, including the steps of:
a path determining step: the dispatching system receives the goods flow direction information informed by the warehouse management system, determines the path from the corresponding goods outlet station to the target station, and then generates an equivalent task instruction based on the number of vector points on the path;
scheduling: issuing the task instructions to AGVs in the rest area, wherein each instruction corresponds to one AGV;
AGV moving: after the AGVs receive the task instructions, the AGVs move to vector points corresponding to the task instructions, and after all the AGVs which receive the task instructions reach the corresponding vector points, a flexible conveying line from a delivery platform to a target platform, which is formed by sequentially connecting a plurality of AGVs end to end;
and a conveying step: after receiving signals that all AGVs reach corresponding vector points, the dispatching system informs the warehouse management system that all AGVs are ready, the warehouse management system controls cargoes to flow out from a delivery platform, after the cargoes pass through the flexible conveying line, the cargoes reach a target platform, after 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 call all AGVs back to a rest area, and the physical space of a 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 finished in advance and stored in a scheduling system, and the scheduling system directly retrieves a stored corresponding path after receiving a cargo flow direction notified by a warehouse management system; or (b)
And after receiving the goods flow direction information notified by the warehouse management system, the dispatching system plans the 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 delivery platform to the destination platform based on the dynamic path planning algorithm includes:
an initial curve planning step: planning an initial curve according to the control point sequence of the shipment platform and the control point sequence of the target platform;
AGV quantity determining step: determining the number of AGVs according to the appearance parameters of the AGVs, the distance between two adjacent AGVs and the length of the initial curve;
curve segmentation: dividing the initial curve according to dividing points with the same number as AGVs;
path planning step: based on a flexible path algorithm, calculating a smooth curve P (u) constrained by each dividing point, wherein the curve is the path from the delivery station to the target station.
Further, the curve dividing step includes a distance L between the first/last dividing point and the shipment/destination station 1 The method meets the following conditions: l/2<L 1 <L, spacing L between dividing points 2 The method meets the following conditions: 2*L>L 2 >L, wherein L represents the conveying distance of a conveying device on the AGV; the dividing points are vector points where the AGV stops when working;
further, in the path planning step, the smooth curve P (u) constrained by each dividing point is:
wherein p is i Representing the i-th vector point; n represents the number of times of the curve; k represents the order of the curve equation, u represents the curve parameter, and k=n+1.
Further, the control point sequence of the delivery platform is A 1 、A、A 2 The control point sequence of the target station is B 1 、B、B 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein,
a represents the edge point of the delivery platform near the side of the target platform, A 1 Represents straight line L a The distance between the upper part and the point A is d 1 Is a point of (2); a is that 2 Represents straight line L a The distance between the upper part and the point A is d 2 Is a point of (2); straight line L a Is a straight line passing through the point A, and the straight line L a The direction vector is the same as the direction of the point A;
b represents an edge point of one side of the target platform, which is close to the delivery platform; b (B) 1 Represents straight line L b The distance between the upper part and the point B is d 3 Is a point of (2); b (B) 2 Represents straight line L b The distance between the upper part and the point B is d 4 Is a point of (2); straight line L b Is a straight line passing through the point B, and the straight line L b The direction vector is the same as the direction of the point B; d, d 1 、d 2 、d 3 、d 4 The range of the value of (C) is 100mm-1000mm.
The principle is as follows: a plurality of AGVs carrying conveying devices are connected end to end in sequence to form a conveying line with any shape, and a delivery platform and a target platform are connected; when the cargo flows out of the delivery platform and enters the conveying device of the first AGV adjacent to the delivery platform, the photoelectric detection sensor on the conveying device detects the cargo, the automatic wake-up AGV conveying device starts to operate, the cargo is conveyed to the conveying device of the next AGV adjacent to the first AGV by the conveying device of the first AGV, and the like, a plurality of AGVs connected end to end convey the cargo to the target platform in a relay mode, the AGVs are stationary in the conveying process of the cargo, only the AGVs are operated, therefore, traffic jam cannot be caused by the movement of the AGVs in the conveying process of large-flow cargo, the power consumption of the AGVs is reduced, the connected delivery platform and the target station can be dynamically adjusted according to a production plan, and the optional connection between the delivery platform and the target platform is realized.
Compared with the prior art, the application has the beneficial effects that:
(1) According to the flexible conveying system and the flexible conveying method based on the AGVs, when goods are conveyed, the plurality of knapsack AGVs are connected end to form the conveying line, after conveying is completed, the AGVs are disassembled and return to the rest area of the AGVs, the conveying line automatically disappears, the clearance of the physical space of the working area of the AGVs in the non-working period is realized, and the situation that the clearance requirement of the working area is met is facilitated.
(2) The conveying destination stations are flexible and changeable, the delivery station can correspond to a plurality of destination stations, the corresponding relation between the delivery station and the destination stations can be dynamically adjusted, and when the production task changes, the destination stations corresponding to the delivery station can be adjusted accordingly, so that different conveying lines are formed, and the production requirement can be met more flexibly.
(3) The conveying speed and the efficiency are high, the goods are conveyed to the target station through the conveying line after flowing out from the delivery station, the conveying speed of the goods depends on the running speed of the conveying device on the AGV, but not the moving speed of the AGV, so that the conveying efficiency of the goods is far higher than the speed of directly conveying the goods from the delivery station to the target station by the AGV, and the traffic jam problem caused by large-scale and dense AGV movement is avoided.
Drawings
FIG. 1 is a schematic plan view of a flexible AGV-based transport line provided by the present application;
FIG. 2 is a schematic perspective view of an AGV of the present application;
FIG. 3 is a schematic top view of an AGV of the present application;
FIG. 4 is a schematic illustration of the delivery station and the destination station in accordance with example 1 with the AGV parked in the rest area;
FIG. 5 is a schematic illustration of the delivery station and the destination station of example 1 in line with each other and the AGV operating;
FIG. 6 is a schematic diagram of the example 2 wherein the delivery station is docked with multiple destination stations and the AGVs are parked in the rest area;
FIG. 7 is a schematic diagram of a control point sequence in example 2;
FIG. 8 is a schematic diagram of the example 2 where the delivery station is docked with multiple destination stations and the AGVs are operated.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments.
As shown in fig. 1, the application aims to provide a flexible conveying system based on AGVs, which utilizes a dispatching system to dispatch AGVs provided with conveying devices, and the AGVs are sequentially connected to form a conveying line through the head and the tail among the AGVs during operation, after the conveying is completed, the AGVs are separated and return to a rest area, the conveying line also disappears, the clearance of the physical space of the working area during non-operation is realized, the AGVs are stationary during the conveying process of goods, and only the conveying devices of the AGVs operate, so that compared with the situation that the AGVs are directly adopted for moving and carrying goods, the traffic management pressure brought by the process of centralized large-flow and high-speed goods circulation is avoided. Different numbers of AGVs can be assembled into conveying lines with different lengths and different shapes, so that the AGVs are more flexible and changeable, and the production requirements can be met.
The AGV dispatching system establishes wireless communication connection with a warehouse management system or a warehouse control system and each AGV, and stores coordinates and angles of a delivery platform and each target platform. As shown in fig. 2 and 3, the AGV in the present application is a backpack type AGV, on which a conveyor 2 capable of running bi-directionally is carried, and the conveyor 2 may be a roller conveyor, a chain conveyor, a belt conveyor, or the like. The AGV1 has Mecanum wheels 3 mounted on its bottom to effect movement in any direction including, but not limited to, forward, backward, spin, translation, etc. As shown in fig. 3, the conveying device 2 is provided with a photoelectric sensor and a reflecting sheet, the photoelectric sensor comprises 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 the goods are sent out. When the second photoelectric sensor 42 does not detect a signal and the first photoelectric sensor 41 does not detect new goods to flow in, the conveying device 2 stops running and enters an energy-saving state, and the rapid conveying of goods from a goods outlet station to a target station is realized repeatedly.
The warehouse management system or the warehouse control system, the shipment platform and the target platform are all the prior art, and the application only uses the prior art for docking, and is not further described.
Example 1
As shown in fig. 4, in this embodiment, the delivery station is collinear with the destination station, a path between the delivery station and the destination station is stored in the dispatch system, and a plurality of vector points for stopping the AGV are stored on the path, and if the conveying distance of the conveying device 2 is L, the distance L between the first/last vector point and the delivery/destination station is equal to the conveying distance L 1 The method meets the following conditions: l/2<L 1 <L, spacing L between dividing points 2 The method meets the following conditions: 2*L>L 2 >L。
Preferably, the distance between the conveyors 2 of two adjacent AGVs is 50mm to 300mm.
Specifically, after receiving the cargo flow information (i.e. knowing the positions of the delivery platform and the destination platform) notified by the warehouse management system, the scheduling system invokes a pre-stored path, and then generates an equal amount of task instructions according to the number of vector points on the path, where each task instruction includes coordinates, angles of the vector points, running direction and running speed of the conveying device 2. The scheduling system issues task instructions to AGVs with corresponding numbers, the AGVs receiving the tasks are driven out from the rest area, move to corresponding positions and adjust angles. As shown in fig. 5, after all AGVs are in place, a flexible conveying line is formed, wherein the flexible conveying line is formed by sequentially connecting a plurality of AGVs from head to tail, and after the dispatching system receives signals that all the AGVs reach corresponding vector points, the dispatching system informs the warehouse management system that the AGVs are ready, the warehouse management system controls goods to flow out from a delivery platform, and the goods reach a target platform after passing through the flexible conveying line. After the conveying is completed, when the warehouse management system does not have a new conveying task, the warehouse management system can inform the scheduling system to adjust each AGV back to the rest area, so that the working area returns to the clearance state.
Example 2
In this embodiment, as shown in fig. 6, the delivery platform is docked with a plurality of destination platforms, and the dispatch system determines the path after receiving the flow information of the goods (e.g. knowing that the goods are to be delivered from the delivery platform to the destination platform 1) notified by the warehouse management system, specifically including:
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 platform c . As shown in FIG. 7, the control point sequence of the delivery station is A 1 、A、A 2 The control point sequence of the target station is B 1 、B、B 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein A represents an edge point of the delivery platform near one side of the target platform. Wherein A is 1 Represents straight line L a The distance between the upper part and the point A is d 1 Is a point of (2); a is that 2 Represents straight line L a The distance between the upper part and the point A is d 2 Is a point of (2); b represents an edge point of one side of the target platform, which is close to the delivery platform; b (B) 1 Represents straight line L b The distance between the upper part and the point B is d 3 Is a point of (2); b (B) 2 Represents straight line L b The distance between the upper part and the point B is d 4 Is a point of (2); straight line L a Is a straight line passing through the point A, and the straight line L a The direction vector is the same as the direction of the point A; straight line L b Is a straight line passing through the point B, and the straight line L b The direction vector is the same as the direction of point B.
Preferably, d 1 ＝d 2 ，d 3 ＝d 4 ；d 1 、d 2 、d 3 、d 4 The value range of (a) is 100mm-1000mm, d 1 、d 2 、d 3 、d 4 The size of (2) is affected by the difference in horizontal and vertical coordinates between the delivery station edge point a and the destination station edge point B, and the length L of the AGV conveyor.
AGV quantity determining step: according to the appearance parameters (length, width and height) of AGVs, the distance between two adjacent AGVs and an initial curve L c The length of (a) determines the number of AGVs, which is 9.
Curve segmentation: the initial curve is divided according to 9 dividing points, and the dividing points are vector points where the AGV stops when working.
Path planning step: and calculating a smooth curve constrained by each dividing point based on a flexible path algorithm. The smooth curve P (u) is specifically:
wherein p is i Representing the i-th vector point; n represents the number of times of the curve; k represents the order of the curve equation, u represents the curve parameter, and k=n+1.
In the application, k=4, 0.ltoreq.u.ltoreq.1, and the curve passing through a certain vector point is determined by the former vector point, the vector point itself and the latter two vector points together, namely n+1=4, and n=3. Curve P passing through the ith vector point i (u) is composed of N 0,4 (u)、N 1,4 (u)、N 2,4 (u)、N 3,4 (u) four curves, i.e
P i (u)＝N 0,4 (u)P i-1 +N 1,4 (u)P i +N 2,4 (u)P i+1 +N 3,4 (u)P i+2
Wherein,
and then generating 9 task instructions according to the number of vector points on the curve path. The dispatching system issues task instructions to 9 AGVs, the AGVs receiving the tasks are driven out from the rest area, move to corresponding positions and adjust angles. As shown in fig. 8, after all AGVs are in place, a flexible conveying line is formed, wherein the flexible conveying line is formed by sequentially connecting a plurality of AGVs from head to tail, and after the dispatching system receives signals that all the AGVs reach corresponding vector points, the dispatching system informs the warehouse management system that the AGVs are ready, the warehouse management system controls goods to flow out from a delivery platform, and the goods reach a target platform after passing through the flexible conveying line. After the conveying is completed, when the warehouse management system does not have a new conveying task, the warehouse management system can inform the scheduling system to adjust each AGV back to the rest area, so that the working area returns to the clearance state.
The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.
Claims (5)
1. An AGV-based flexible transport method comprising: the Automatic Guided Vehicle (AGV) dispatching system, the warehouse management system or the 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 dispatching system is in communication connection with the warehouse management system or the warehouse control system and the AGVs, and a conveying device capable of running bidirectionally is arranged on the AGVs; the AGV working area is an area occupied by a flexible conveying line which is positioned between a delivery platform and a target platform and is formed by sequentially connecting a plurality of AGVs end to end;
the method comprises the following steps:
a path determining step: the dispatching system receives the goods flow direction information informed by the warehouse management system, determines the path from the corresponding goods outlet station to the target station, and then generates an equivalent task instruction based on the number of vector points on the path;
scheduling: issuing the task instructions to AGVs in the rest area, wherein each instruction corresponds to one AGV;
AGV moving: after the AGVs receive the task instructions, the AGVs move to vector points corresponding to the task instructions, and after all the AGVs which receive the task instructions reach the corresponding vector points, a flexible conveying line from a delivery platform to a target platform, which is formed by sequentially connecting a plurality of AGVs end to end;
and a conveying step: after receiving signals that all AGVs reach corresponding vector points, the dispatching system informs the warehouse management system that all AGVs are ready, the warehouse management system controls cargoes to flow out from a delivery platform, the cargoes reach a target platform after passing through the flexible conveying line, and after conveying is completed, the warehouse management system can inform the dispatching system to call all AGVs back to a rest area and release the physical space of a working area when no new conveying task exists;
the path determining step includes:
the method comprises the steps that path planning from a delivery platform to a target platform is finished in advance and stored in a scheduling system, and the scheduling system directly retrieves a stored corresponding path after receiving a cargo flow direction notified by a warehouse management system; or (b)
After receiving the goods flow direction information notified by the warehouse management system, the scheduling system plans the path from the delivery platform to the target platform based on a dynamic path planning algorithm;
the step of planning the path from the delivery platform to the target platform based on the dynamic path planning algorithm comprises the following steps:
an initial curve planning step: planning an initial curve according to the control point sequence of the shipment platform and the control point sequence of the target platform;
AGV quantity determining step: determining the number of AGVs according to the appearance parameters of the AGVs, the distance between two adjacent AGVs and the length of the initial curve;
curve segmentation: dividing the initial curve according to dividing points with the same number as AGVs;
path planning step: calculating a smooth curve P (u) constrained by each dividing point based on a flexible path algorithm, wherein the curve is the path from the delivery station to the target station;
in the path planning step, the smooth curve P (u) constrained by each dividing point is:
wherein p is i Representing the i-th vector point; n represents the number of times of the curve; k represents the order of the curve equation, u represents the curve parameter, and k=n+1; n (N) i,k And (u) represents a curve segment of the ith vector point with the curve parameter of u and the order of k.
2. The flexible conveying method based on AGVs according to claim 1, wherein before goods are conveyed, the AGV dispatching system dispatches a plurality of AGVs from the AGV rest area into a working area and connects the AGVs end to end in sequence to form a flexible conveying line from a delivery platform to a target platform; when the goods are conveyed, the AGVs connected end to end sequentially convey the goods to the target platform through the operation of the conveying device, and the AGVs are in a static state without displacement.
3. The flexible conveying method based on the AGVs according to claim 1 wherein the AGVs are omni-directional AGVs which can move towards any direction, and the conveying device is provided with a photoelectric sensor which is used for sensing whether cargoes arrive or not.
4. The flexible transport method according to claim 1, wherein the curve dividing step, the distance L between the first/last dividing point and the shipment/destination station 1 The method meets the following conditions: l/2<L 1 <L, spacing L between dividing points 2 The method meets the following conditions: 2*L>L 2 >L, wherein L represents the conveying distance of a conveying device on the AGV; the dividing points are vector points where the AGV stops when working.
5. The flexible transport method of claim 1, wherein the control point sequence of the delivery station is a 1 、A、A 2 The control point sequence of the target station is B 1 、B、B 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein,
a represents the edge point of the delivery platform near the side of the target platform, A 1 Represents straight line L a The distance between the upper part and the point A is d 1 Is a point of (2); a is that 2 Represents straight line L a The distance between the upper part and the point A is d 2 Is a point of (2); straight line L a Is a straight line passing through the point A, and the straight line L a The direction vector is the same as the direction of the point A;
b represents an edge point of one side of the target platform, which is close to the delivery platform; b (B) 1 Represents straight line L b The distance between the upper part and the point B is d 3 Is a point of (2); b (B) 2 Represents straight line L b The distance between the upper part and the point B is d 4 Is a point of (2); straight line L b Is a straight line passing through the point B, and the straight line L b The direction vector is the same as the direction of the point B;
d 1 、d 2 、d 3 、d 4 the range of the value of (C) is 100mm-1000mm.
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| CN114253229A (en) | 2022-03-29 |
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