CN115826589A - Anti-collision control method for trolley - Google Patents
Anti-collision control method for trolley Download PDFInfo
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- CN115826589A CN115826589A CN202310125650.8A CN202310125650A CN115826589A CN 115826589 A CN115826589 A CN 115826589A CN 202310125650 A CN202310125650 A CN 202310125650A CN 115826589 A CN115826589 A CN 115826589A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a trolley anti-collision control method, which comprises the following steps: step 1: the control system receives at least one conveying instruction from a starting place to a destination; and 2, step: the control system analyzes and sequences the plurality of carrying instructions; and step 3: the control system transmits the selected conveying instructions after analysis and sequencing to the conveying trolley; and 4, step 4: the control system judges whether the current carrying trolley can carry out safe transportation; and 5: and (4) the carrying trolley executes the carrying task according to the judgment result of the step (4), so that the current carrying instruction can be intelligently selected to be executed or replaced, and other instructions without path interference can be executed, thereby effectively reducing the waiting time of the carrying trolley and maximizing the running time of the carrying trolley.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to a trolley anti-collision control method.
Background
The current automated logistics equipment multi-trolley transport rule is as follows: the whole logistics equipment conveying range is divided into 2N-1 areas (N is the number of trolleys) which comprise N private areas plus (N-1) interactive areas. Each trolley is responsible for carrying in the private area, the interactive area is used for material transfer of two adjacent trolleys, each trolley is only carried in the private area and the adjacent interactive area, and cannot be carried in other private areas, and when one trolley exists in one interactive carrying area, the other trolley cannot enter the area.
The prior art has the following defects: the carrying trolley cannot carry the materials across areas, so that the equipment utilization rate is low; the real-time positions of the carrying trolleys are unknown, and certain collision safety hazards exist during moving.
Disclosure of Invention
The invention aims to provide a trolley anti-collision control method to solve the technical problems mentioned in the background technology.
The invention provides a technical scheme that: the trolley anti-collision control method comprises the following steps:
step 1: the control system receives at least one conveying instruction from a starting place to a destination;
step 2: the control system analyzes and sequences the plurality of carrying instructions;
and step 3: the control system transmits the selected conveying instructions after analysis and sequencing to the conveying trolley;
and 4, step 4: the control system judges whether the current carrying trolley can carry out safe transportation;
and 5: and the carrying trolley executes a carrying task according to the judgment result of the step 4.
The control system judges whether the current carrying trolley can carry out safe transportation or not, and the steps are as follows:
and judging whether the current carrying trolley has a related safety boundary set value or not.
If the current carrying trolley does not have the safety boundary set value, a first safety boundary is set after the current carrying trolley is calculated according to the current carrying instruction, the current carrying trolley goes to the destination of the carrying instruction, carrying action is carried out, and the first safety boundary set before the current carrying trolley arrives at the destination is reset.
The first safety margin may affect the next cart transfer movement during the first safety margin.
And if the related safety boundary set value exists, judging whether the destination to which the current conveying trolley goes is interfered with the first safety boundary or not.
If no path interference exists, the current carrying trolley goes to the destination of the carrying instruction to finish the carrying action;
if the path interference exists, screening whether a waiting instruction without the path interference exists; if the waiting instruction is found, replacing the current carrying instruction of the current carrying trolley, ensuring that the current carrying trolley can safely go to a destination, and executing a carrying action;
if the path interference exists but no available waiting instruction exists, the waiting position which can be traveled by the current carrying trolley is obtained after comprehensive analysis is carried out according to the position of the first safety boundary, the destination position of the current carrying instruction and the real-time position of the previous carrying trolley.
The current floor truck goes to the waiting position according to the action instruction of going to the waiting position, and resets the safety boundary after the current floor truck finishes the carrying task.
The current floor truck resets first safety boundary, and the real-time distance management and control is carried out to former floor truck, dodges current floor truck to new safety boundary, and current floor truck carries out the action of carrying according to the transport instruction, and after arriving the destination, the first safety boundary of current floor truck resets.
The real-time distance control method comprises the following steps: and information interaction is carried out on real-time positions among the carrying trolleys, following and avoiding carrying logics are realized under the condition of carrying intersection or interference, the safety distance among the carrying trolleys is ensured, and the carrying task is stopped emergently if abnormity occurs.
The real-time distance management and control method further comprises the following steps:
if the current carrying trolley has no carrying instruction, judging whether path interference exists or not when other carrying trolleys are closer to the current carrying trolley; if the current carrying trolley exists, the current carrying trolley executes avoidance action; if not, the original place is not moved;
if the current carrying trolley is executing a carrying instruction, when the distance between the current carrying trolley and other carrying trolleys is closer and closer, judging whether path interference exists, if so, moving the current carrying trolley to a waiting position firstly, waiting for avoiding of other carrying trolleys, and continuously moving along with the current carrying trolley after avoiding of other carrying trolleys; if not, go directly to the destination.
The safety margin ranges from Se to Sn;
se is the distance for carrying the trolley to suddenly stop and/or lock the motor, and the trolley is braked from a high-speed state to a stop state only by friction force;
Se = vt 1 – 0.5（um + uw）g t 1 ²；
in the formula, v: the maximum speed at which the trolley is travelling;
t 1 : scram time of the car, t 1 = v/（um + uw）g；
um: friction coefficient of car motor locking;
uw: the friction coefficient of the trolley wheels and the track;
g: acceleration of gravity;
sn is the distance between the carrying trolley and the stopping trolley, which is controlled by the servo motor and uniformly decelerated from a high-speed state;
Sn= v t 2 – 0.5 a t 2 ²；
in the formula, v: the maximum speed of travel of the trolley; t is t 2 : a servo set stop time; a: servo-imposed brake deceleration; a = v/t 2 。
The invention provides a trolley anti-collision control method through improvement, and compared with the prior art, the trolley anti-collision control method has the following improvements and advantages:
after a safety boundary is set for a certain carrying trolley, other carrying trolleys can intelligently select to execute the current carrying instruction or replace the current carrying instruction according to the position of the safety boundary and the destination of each carrying instruction, and execute other instructions without path interference, so that the waiting time of the trolleys is effectively reduced, and the running time of the trolleys is maximized.
The comprehensive safety boundary position and the trolley real-time position are communicated with each other, different carrying scenes can be met, the complex carrying requirements are met, complex carrying logics such as independent carrying, following carrying and avoidance carrying of the carrying trolley are completed, and the carrying times are maximized.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a first logic block diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the path of the cart movement according to an embodiment of the present invention;
FIG. 3 is a second logic block diagram of an embodiment of the present invention.
Description of the preferred embodiment
The core of the invention is to provide a trolley anti-collision control method to solve the problems mentioned in the background technology.
The present invention will be described in detail with reference to fig. 1 to 3, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the descriptions of "first", "second", etc. used in the embodiments of the present invention are only for descriptive purposes, and should not be interpreted as indicating or implying any limitation to the number of technical features, and therefore, the features defined as "first", "second", etc. in the embodiments of the present invention may indicate that at least one of the defined technical features is included.
Technical solutions between the embodiments of the present invention described in the present specification may be combined with each other, but it is necessary for those skilled in the art to realize the technical solutions.
In a first aspect, the present invention is a cart conveyance control system, including: logistics storage module, dolly motion control module and central control module, central control module and dolly motion module communication connection, logistics storage module includes a plurality of commodity circulation storage sites, and every commodity circulation storage site all is provided with two-layer at least storage storehouse, and dolly transport control module sets up on the floor truck for control floor truck is from commodity circulation storage site transport goods.
The central control module comprises an initial position signal sending unit, a central processing unit and a destination signal sending unit, wherein the initial position signal sending unit is in communication connection with the central processing unit, and the destination signal generating unit is in communication connection with the central processing unit.
The carrying step of the carrying control system is that the central processing unit receives a plurality of carrying instructions sent by a starting position and a destination; the central processing unit analyzes and arranges the plurality of carrying instructions; the central processing unit sends the analyzed and sorted conveying instruction to the trolley movement control module; and the trolley motion control module controls the carrying trolley to execute a carrying instruction.
In a second aspect, as shown in fig. 1 to 3, the present invention is a method for controlling collision avoidance of a vehicle, comprising the following steps:
step 1: the control system receives at least one conveying instruction from a starting place to a destination;
step 2: the control system analyzes and sequences the plurality of carrying instructions;
and step 3: the control system transmits the selected conveying instructions after analysis and sequencing to the conveying trolley;
and 4, step 4: the control system judges whether the current carrying trolley can carry out safe transportation;
and 5: and the carrying trolley executes a carrying task according to the judgment result of the step 4.
By the control method, the trolley is not limited to the original set conveying area any more, and can be conveyed to the area of the adjacent trolley by crossing the area, so that the utilization rate of equipment is improved; the transportable position of the carrying trolley is not a rigid set position, but is obtained by comprehensive calculation according to the state of each carrying trolley and the path of the instruction, so that the carrying speed of the carrying trolley can be maximized.
The control system judges whether the current carrying trolley can carry out safe transportation or not, and the steps are as follows:
and judging whether the current carrying trolley has a related safety boundary set value or not.
If the current carrying trolley does not have the safety boundary set value, a first safety boundary is set after the current carrying trolley is calculated according to the current carrying instruction, the current carrying trolley goes to the destination of the carrying instruction, carrying action is carried out, the first safety boundary set before is reset after the current carrying trolley reaches the destination, and carrying movement of the next carrying trolley is influenced when the first safety boundary exists.
In one embodiment of the invention, if the associated safety boundary set value exists, whether the destination to which the current carrying trolley is going has path interference with the first safety boundary is judged.
If no path interference exists, the current carrying trolley goes to the destination of the carrying instruction to finish the carrying action;
if the path interference exists, screening whether a waiting instruction without the path interference exists; if the waiting instruction is found, replacing the current carrying instruction of the current carrying trolley, ensuring that the current carrying trolley can safely go to a destination, and executing a carrying action;
if the path interference exists but no available waiting instruction exists, the waiting position which can be reached by the current carrying trolley is obtained after comprehensive analysis is carried out according to the position of the first safety boundary, the destination position of the current carrying instruction and the real-time position of the previous carrying trolley.
The current floor truck goes to the waiting position according to the action instruction of going to the waiting position, and resets the safety boundary after the current floor truck finishes the carrying task.
The current floor truck resets first safety boundary, and the real-time distance management and control is carried out to the preceding floor truck, dodges current floor truck to new safety boundary, and current floor truck carries out according to the transport instruction and carries the action, and after arriving the destination, the first safety boundary of current floor truck resets.
The position of the carrying trolley capable of being carried is not a rigid set position, but is obtained through comprehensive calculation according to the state of each trolley and the path of the instruction, the carrying speed of the carrying trolley can be maximized, the safety boundary refreshed in real time can ensure the safety of the carrying trolley and can also give the safe moving range of each carrying trolley, after a certain carrying trolley sets a safety boundary, other trolleys can intelligently select to execute the current carrying instruction or replace the current carrying instruction according to the position of the safety boundary and the destination of each carrying instruction, and other instructions without path interference are executed, so that the waiting time of the trolleys is effectively reduced, and the running time of the carrying trolley is maximized.
The real-time distance control method comprises the following steps: and carrying out information interaction at real-time positions among the carrying trolleys, realizing following and avoiding carrying logics under the condition of carrying intersection or interference, ensuring the safe distance among the carrying trolleys, and emergently stopping a carrying task if abnormality occurs.
The real-time distance management and control method further comprises the following steps:
if the current carrying trolley has no carrying instruction, judging whether path interference exists or not when other carrying trolleys are closer to the current carrying trolley; if the current carrying trolley exists, the current carrying trolley executes avoidance action; if not, the original place is not moved;
if the current carrying trolley is executing a carrying instruction, when the distance between the current carrying trolley and other carrying trolleys is closer and closer, judging whether path interference exists, if so, moving the current carrying trolley to a waiting position firstly, waiting for avoiding of other carrying trolleys, and continuously moving along with the current carrying trolley after avoiding of other carrying trolleys; if not, go directly to the destination.
Each small carrying workshop mutually knows the real-time position information of the other side, if the real-time distance is smaller than a set safety value, a corresponding safety protection mechanism is triggered, and if the distance between the two small carrying trolleys is smaller than a set safety warning distance, the two small carrying trolleys stop running and generate an alarm; if the distance between the two carrying trolleys is smaller than the set safe scram distance, the carrying trolleys are powered off and scram, and the equipment is protected from collision.
The comprehensive safety boundary position and the trolley real-time position are communicated with each other, different carrying scenes can be met, the complex carrying requirements are met, complex carrying logics such as independent carrying, following carrying and avoidance carrying of the carrying trolley are completed, and the carrying times are maximized.
The safety margin ranges from Se to Sn;
se is the distance between the carrying trolley in an emergency stop and/or motor locking state and the trolley is braked from a high-speed state to a stop state only by friction force;
Se = vt 1 – 0.5（um + uw）g t 1 ²；
in the formula, v: the maximum speed at which the trolley is travelling;
t 1 : scram time of the car, t 1 = v/（um + uw）g；
um: friction coefficient of locking of a trolley motor;
uw: the friction coefficient of the trolley wheels and the track;
g: acceleration of gravity;
sn is the distance between the carrying trolley and the stopping trolley, which is controlled by the servo motor and uniformly decelerated from a high-speed state;
Sn= v t 2 – 0.5 a t 2 ²
in the formula, v: the maximum speed at which the trolley is travelling; t is t 2 : a servo-set stop time; a: servo-imposed brake deceleration; a = v/t 2 。
The safety boundary of the carrying trolley is limited in the Se-Sn range, so that the occurrence of collision accidents of the carrying trolley can be avoided, and the carrying efficiency of the carrying trolley can be ensured.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields will be covered by the present invention.
Claims (10)
1. The trolley anti-collision control method is characterized by comprising the following steps:
step 1: the control system receives at least one conveying instruction from a starting place to a destination;
step 2: the control system analyzes and sequences the plurality of carrying instructions;
and step 3: the control system transmits the selected conveying instructions after analysis and sequencing to the conveying trolley;
and 4, step 4: the control system judges whether the current carrying trolley can carry out safe transportation;
and 5: and the carrying trolley executes a carrying task according to the judgment result of the step 4.
2. The anti-collision control method for the trolley according to claim 1, characterized in that: the control system judges whether the current carrying trolley can carry out safe transportation or not, and the steps are as follows:
and judging whether the current carrying trolley has a related safety boundary set value or not.
3. The anti-collision control method for the trolley according to claim 2, characterized in that: if the current carrying trolley does not have the safety boundary set value, a first safety boundary is set after the current carrying trolley is calculated according to the current carrying instruction, the current carrying trolley goes to the destination of the carrying instruction, carrying action is carried out, and the first safety boundary set before the current carrying trolley arrives at the destination is reset.
4. The anti-collision control method for the trolley according to claim 3, characterized in that: the first safety margin may affect the next cart transfer movement during the first safety margin.
5. The anti-collision control method for the trolley according to claim 4, characterized in that: and if the related safety boundary set value exists, judging whether the destination to which the current conveying trolley goes is interfered with the first safety boundary or not.
6. The anti-collision control method for the trolley according to claim 5, characterized in that: if no path interference exists, the current carrying trolley goes to the destination of the carrying instruction to finish the carrying action;
if the path interference exists, screening whether a waiting instruction without the path interference exists; if the waiting instruction is found, replacing the current carrying instruction of the current carrying trolley, ensuring that the current carrying trolley can safely go to a destination, and executing a carrying action;
if the path interference exists but no available waiting instruction exists, the waiting position which can be reached by the current carrying trolley is obtained after comprehensive analysis is carried out according to the position of the first safety boundary, the destination position of the current carrying instruction and the real-time position of the previous carrying trolley.
7. The anti-collision control method for the trolley according to claim 6, characterized in that: the current floor truck goes to the waiting position according to the action instruction of going to the waiting position, and resets the safety boundary after the current floor truck finishes the carrying task.
8. The trolley anti-collision control method according to claim 7, characterized in that: the current floor truck resets first safety boundary, and the real-time distance management and control is carried out to the preceding floor truck, dodges current floor truck to new safety boundary, and current floor truck carries out according to the transport instruction and carries the action, and after arriving the destination, the first safety boundary of current floor truck resets.
9. The anti-collision control method for the trolley according to claim 7, characterized in that: the real-time distance control method comprises the following steps: the real-time positions of the carrying trolleys are subjected to information interaction, following and avoiding carrying logics are realized under the condition of carrying intersection or interference, the safety distance between the carrying trolleys is ensured, and if abnormity occurs, a carrying task is stopped emergently; the real-time distance management and control method further comprises the following steps:
if the current carrying trolley has no carrying instruction, judging whether path interference exists or not when other carrying trolleys are closer to the current carrying trolley; if the current carrying trolley exists, the current carrying trolley executes avoidance action; if not, the original place is not moved;
if the current carrying trolley is executing a carrying instruction, when the distance between the current carrying trolley and other carrying trolleys is closer and closer, judging whether path interference exists, if so, moving the current carrying trolley to a waiting position firstly, waiting for avoiding of other carrying trolleys, and continuously moving along with the current carrying trolley after avoiding of other carrying trolleys; if not, go directly to the destination.
10. The car collision avoidance control method of claim 9, wherein: the range of the safety boundary is Se-Sn;
se is the distance between the carrying trolley in an emergency stop and/or motor locking state and the trolley is braked from a high-speed state to a stop state only by friction force;
Se = vt 1 – 0.5（um + uw）g t 1 ²；
in the formula, v: the maximum speed at which the trolley is travelling;
t 1 : scram time of the car, t 1 = v/（um + uw）g；
um: friction coefficient of locking of a trolley motor;
uw: the friction coefficient of the trolley wheels and the track;
g: acceleration of gravity;
sn is the distance between the carrying trolley and the stopping trolley, which is controlled by the servo motor and uniformly decelerated from a high-speed state;
Sn= v t 2 – 0.5 a t 2 ²；
in the formula, v: the maximum speed at which the trolley is travelling; t is t 2 : a servo-set stop time; a: servo-applied brake deceleration; a = v/t 2 。
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117719832A (en) * | 2024-02-18 | 2024-03-19 | 成都思越智能装备股份有限公司 | RGV dolly of safe high-efficient transportation |
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Inventor after: Zhao Jianpu Inventor after: Cao Qian Inventor after: Jiang Gezhou Inventor before: Zhao Jianpu Inventor before: Cao Qian Inventor before: Jiang Jianzhou |