RGV dynamic collision avoidance control system and method based on PLC

Abstract

The present invention discloses an RGV dynamic collision avoidance control system and method based on a PLC, applied to collision detection and safety protection between multiple reciprocating RGVs ona straight or circular orbit. The system is composed of an RGV vehicle-mounted PLC, a position addressing apparatus, a laser sensor, an actuating device, a ground equipment PLC and a wireless communication apparatus. The system collects data of each RGV in real time, and obtains an RGV adjacent relation by using an RGV position sorting method, so as to send data of an adjacent RGV to each RGV. After receiving the data, the RGV vehicle-mounted PLC calculates a speed reduction and parking area of this vehicle in real time by using a dynamic collision avoidance control method in combination witha position, a speed and a motion direction of the adjacent RGV in a motion direction of this vehicle, to execute speed reduction or parking brake. The collision avoidance method proposed in the present invention is based on real-time dynamic planning, and can shorten a braking distance between RGVs to the largest limit, so that RGV frequent braking is avoided, and RGV operating efficiency is improved.

Description

technical field [0001] The invention relates to a PLC-based dynamic collision avoidance for RGV trolleys, which is applied to collision detection and safety protection between RGVs on the same track. Background technique [0002] RGV (Shuttle Vehicle) is an automated logistics handling equipment that runs on a fixed track in a reciprocating or looping manner, and can complete tasks such as picking up, transporting, and placing to the connecting equipment. [0003] According to the track form, it can be divided into the following three types: [0004] (1) Linear reciprocating type: that is, one or more RGVs reciprocate on a straight track between each incoming and outgoing platform, picking platform and incoming and outgoing conveyors; [0005] (2) Segmented: Consisting of a number of linear tracks, each RGV runs on a fixed track and is responsible for the handling tasks between the respective platforms and the incoming and outgoing conveyors; [0006] (3) Ring track type: ...

AI Technical Summary

Problems solved by technology

[0009] (1) To detect and avoid collisions through sensors, the deceleration and parking areas need to be statically set according to the sum of the travel distances of the two RGVs from the maximum operating speed to the stop. The safety distance reserved between the RGVs is too large, and the speed fluctuates frequently. ,low efficiency

[0010] (2) Collision avoidance through speed comparison, only applicable to the situation where multiple RGVs are driving in the same direction on the circular track

This method is offline static planning, and has poor response to real-time situations such as RGV sudden failures.

If multiple tasks are mutually exclusive, you can only wait for the resource-occupied task to end before dispatching other tasks, and the execution efficiency is low

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