Heavy-load frame assembly AGV intelligent parking system and parking method

Abstract

The present invention relates to an AGV intelligent parking system for heavy-duty frame assembly, comprising modules: a vehicle model parameter maintenance module, an AGV vehicle model module, an AGV trolley, an AGV scheduling subsystem, and an AGV scheduling PLC; the frame information includes a frame number and a frame length; the AGV stop point information includes the coordinates of the AGV stop point; the AGV vehicle model module converts the frame number into a frame type; the AGV scheduling PLC performs a data transfer operation; the AGV scheduling subsystem receives a production task to control the running action of the AGV trolley; the AGV trolley includes an AGV trolley PLC program. The present invention also relates to a parking method, comprising the steps of: writing coded data into a landmark; writing landmark data into the AGV scheduling PLC; writing motion actions into the AGV scheduling PLC; setting a parking point; obtaining a frame number and a frame length; selecting a parking point; and parking at a parking point. The present invention can park the AGV trolley into different parking points in the same assembly station according to the frame length; facilitate the use of station equipment, and the fixed placement of logistics equipment; and greatly shorten the moving distance of the station.

Description

Technical Field

[0001] The present invention relates to the technical field of commercial vehicle frame manufacturing, and in particular to an AGV intelligent parking system and a parking method for heavy-duty frame assembly. Background Art

[0002] Entering the 21st century, my country's automobile manufacturing industry has flourished, and AGV technology is mostly used in automatic handling and logistics transportation in the automobile assembly manufacturing industry.

[0003] As for the current status of the industry, China's leading vehicle manufacturing companies, such as the applicant Dongfeng Commercial Vehicle Co., Ltd., have taken the lead in using AGV carts for frame assembly and transportation during the frame assembly process, while the existing technologies used are all traditional AGV fixed-point parking.

[0004] The so-called AGV fixed-point parking is based on a very simple principle. A parking point calibration device is set at a fixed position in the parking space. There is also a corresponding device on the AGV as an alignment point. Then all AGVs are aligned with the coordinates of these calibration devices as parking coordinates. When parking, the alignment point on the AGV and the parking point calibration device are parked at a preset distance. In this way, among many parking spaces, the AGVs are neatly placed on the side of the alignment point.

[0005] Since the existing technology for AGV intelligent parking research is still in its infancy, its application scope is mainly limited to addressing and direction control to replace basic manual parking;

[0006] After searching, the most typical prior art is the Chinese patent application filed by Anhui Hongjieweier Parking Equipment Co., Ltd., with application number CN201910599544.7 and patent application name “A parking system for AGV intelligent three-dimensional parking equipment”, which discloses the following technical features:

[0007] (1) The signal output terminal of the central processing unit is connected to the signal input terminal of the driving module, the driving module is electrically connected to the AGV transport vehicle, the signal output terminal of the central processing unit is connected to the signal input terminal of the route planning module, the signal output terminal of the route planning module is connected to the signal output terminal of the positioning module, the signal output terminal of the positioning module is connected to the signal input terminal of the AGV transport vehicle, the signal output terminal of the AGV transport vehicle is connected to the signal input terminal of the sensing module, the sensing module includes color sensor 1, color sensor 2 and color sensor 3, the signal input terminal of the central processing unit is connected to the signal output terminal of the billing module, the signal input terminal of the billing module is connected to the signal output terminal of the identification module, and the signal input terminal of the central processing unit is connected to the signal input terminal of the human-computer interaction interface 2 The signal output terminal is connected with the signal of the signal input terminal of the human-machine interaction interface 1, the signal input terminal of the human-machine interaction interface 2 is connected with the signal output terminals of the infrared sensor 1, the infrared sensor 2, the vehicle length judgment module and the vehicle width judgment module, the signal output terminal of the central processing unit is connected with the signal input terminal of the human-machine interaction interface 1, the signal output terminal of the human-machine interaction interface 1 is connected with the signal input terminal of the reminder unit, the signal output terminal of the reminder unit is connected with the signal input terminal of the feedback unit, the signal output terminal of the feedback unit is connected with the signal input terminal of the central processing unit, the signal output terminal of the human-machine interaction interface 1 is connected with the signal input terminal of the payment module, the signal output terminal of the payment module is connected with the signal input terminal of the feedback unit, and the human-machine interaction interface 1 is connected with the mobile phone through the QR code.

[0008] (2) Color sensor 1, color sensor 2, and color sensor 3 are installed on the side walls of the AGV transport vehicle, respectively. There are three color lights on the bottom of the AGV transport vehicle, and the colors and ranges emitted by the three color lights are inconsistent.

[0009] (3) The top support of the AGV transport vehicle is connected to a pallet. The top of the AGV transport vehicle is equipped with a hydraulic lifting device. The load-bearing capacity of the hydraulic device is 2000kg and the lifting height of the hydraulic device is 10cm.

[0010] (4) The reminder unit displays reminders on the human-machine interaction interface to indicate whether the engine is turned off, whether the handbrake is pulled, and whether there is anyone in the car.

[0011] (5) A sensing door is provided inside the parking lot, a second human-machine interaction interface is installed on the sensing door, a first infrared sensor is installed on the sensing door, a second infrared sensor is installed on the top of the parking lot, a vehicle length judgment module is installed on a parking lot column located on the side of the pallet, and a vehicle width judgment module is installed on the top of the inner wall of the parking lot.

[0012] (6) The payment module displays the payment QR code on the human-computer interaction interface. The payment method can be WeChat or Alipay.

[0013] The problems with the existing technology are:

[0014] Since the focus of the prior art is still on the realization of the basic function of automatic parking, and the influence of the length of the vehicle on parking is not considered for the time being; therefore, the prior art adopts the method of AGV fixed-point parking; as in the above-mentioned prior art example, although the vehicle length is also included as one of the parameters, its purpose is to help plan a parking route suitable for the length, which is on the same level as the vehicle width; but for automobile manufacturing companies represented by the applicant, the frame length during the frame assembly process will not only affect the parking route, but more importantly, it will affect the difficulty of assembly, and then affect the speed and efficiency of assembly work; specifically, it is as follows:

[0015] The length of the frames varies due to the differences between medium-duty trucks, heavy-duty trucks and other types of trucks. For example, the length of the frames involved by the applicant Dongfeng Commercial Vehicle Co., Ltd. ranges from 5700mm to 11500mm. On the other hand, if the existing technology, i.e. the traditional AGV fixed-point parking, is adopted, it will lead to inconvenient use of work station equipment, difficulty in positioning logistics equipment, and excessive movement distance of assembly workers, which is not ergonomic.

[0016] For example, the applicant was the first in China's automobile manufacturing industry to use AGVs for frame assembly and transportation. Because of this, the applicant's understanding of the contradiction between frame length and the existing AGV fixed-point parking technology is more profound than that of ordinary automobile companies. Summary of the invention

[0017] In view of the above problems, the present invention provides an intelligent parking system and method for heavy-load frame assembly AGVs, the purpose of which is to park the AGV at different parking points in the same assembly station according to the length of the frame; it is very convenient to use station equipment and can also realize the fixed placement of logistics equipment; it greatly shortens the moving distance of assembly workers at the station and is very ergonomic; and it realizes the automation, informatization and intelligence of AGVs.

[0018] To solve the above problems, the technical solution provided by the present invention is:

[0019] A heavy-duty frame assembly AGV intelligent parking system includes the following modules: vehicle model parameter maintenance module, AGV vehicle model module, AGV trolley, AGV scheduling subsystem, AGV scheduling PLC; wherein:

[0020] The vehicle model parameter maintenance module is located in the MES system, and is used to receive manually entered vehicle frame information and AGV stop point information; wherein: the vehicle frame information includes the vehicle frame number and the vehicle frame length; the AGV stop point information includes the AGV stop point coordinates; the vehicle frame number is the unique identifier of the vehicle frame, which has a one-to-one correspondence with the vehicle frame and is printed on the vehicle frame by the production unit of the vehicle frame; the vehicle frame length is provided by the production unit of the vehicle frame; there are multiple AGV stop point coordinates, which are used to represent the distance from the positioning hole to the front end of the parking space and are preset manually;

[0021] The AGV vehicle model module is located in the MES system, and is used to read the frame number and the frame length from the vehicle model parameter maintenance module, and convert the frame number into a frame type; the frame type and the frame number are in a one-to-many relationship;

[0022] The AGV dispatching PLC is located in the equipment control cabinet of the workshop and is used to perform data transfer operations;

[0023] The AGV dispatching subsystem is located in the equipment control cabinet of the workshop, and is used to receive production tasks, issue the production tasks to the AGV, and control the movement of the AGV; the movement actions include starting, stopping, accelerating, decelerating, selecting a left fork, selecting a right fork, moving forward, moving backward, turning in place, turning forward, and turning backward;

[0024] The AGV trolley is used to perform the movement action under the control of the AGV scheduling subsystem; the AGV trolley includes an AGV trolley PLC program; the AGV trolley PLC program and the AGV scheduling subsystem are connected using ROFINET communication; the AGV scheduling subsystem sends a control signal for loading the movement action to the AGV trolley through the AGV trolley PLC program.

[0025] Preferably, the data transfer operation of the AGV scheduling PLC specifically includes:

[0026] The AGV dispatching PLC receives the frame information and the AGV stop point information written by the vehicle model parameter maintenance module in the MES system;

[0027] The AGV scheduling PLC provides the frame information and the AGV stop point information to the AGV scheduling subsystem for use when the AGV scheduling subsystem interacts with other modules.

[0028] Preferably, the AGV dispatching subsystem reads the frame information and the AGV stop point information from the AGV dispatching PLC, and then records them in a vehicle model list; the vehicle model list records the frame information and the AGV stop point information;

[0029] The equipment operator checks the vehicle frame information and the AGV stop point information through the vehicle model list;

[0030] The equipment operator edits the frame information and the AGV stop point information through the vehicle model list;

[0031] When the AGV scheduling subsystem issues the production task to the AGV, the AGV stopping point information is written into the PLC variable VW2035 of the AGV trolley PLC program by the AGV scheduling subsystem.

[0032] Preferably, when the AGV dispatching subsystem issues the control signal to the AGV trolley through the AGV trolley PLC program, the AGV trolley is controlled by the PLC variable VW2035 to realize intelligent parking according to the AGV stop point information.

[0033] Preferably, each assembly station for loading the frame comprises three AGV parking points, namely, parking point A, parking point B, and parking point C; wherein:

[0034] In the A parking point, the distance from the positioning hole to the front end of the parking space is the first parking distance;

[0035] In the B parking point, the distance from the positioning hole to the front end of the parking space is the second parking distance;

[0036] In the C parking point, the distance from the positioning hole to the front end of the parking space is the third parking distance.

[0037] Preferably, in the assembly station, the A parking point, the B parking point, and the C parking point are sequentially arranged in parallel;

[0038] The first parking distance is 1.6 m; the second parking distance is 2.2 m; and the third parking distance is 3.0 m.

[0039] Preferably, the length of the frame ranges from [5700mm-11500mm];

[0040] The length of the assembly station is 12500 mm.

[0041] A heavy-duty frame assembly AGV intelligent parking method using a heavy-duty frame assembly AGV intelligent parking system comprises the following steps:

[0042] S100. Writing the coded data into the landmark; and then attaching the different landmarks to the corresponding positions on the assembly line;

[0043] S200. Write the coordinates of the AGV stop point in the AGV dispatch PLC as landmark data;

[0044] Writing the motion action that needs to be performed by the AGV into the AGV scheduling PLC;

[0045] S300. Setting parking point A, parking point B, and parking point C at each assembly station;

[0046] S400. Obtain the frame number and the frame length of the current AGV vehicle; then convert the frame number into the frame type;

[0047] S500. Select the assembly station corresponding to the destination where the AGV is to be parked and the corresponding parking point in the assembly station according to the frame type;

[0048] S600. The AGV trolley PLC program obtains the current coordinates of the AGV trolley and the coordinates of the AGV stop point during driving through the landmark sensor installed at the bottom of the AGV trolley;

[0049] S700. According to the current coordinates of the AGV and the AGV stop point information, the AGV scheduling subsystem controls the AGV to perform the movement action, and finally stops at the corresponding assembly station of the current destination where the AGV is to stop and the corresponding parking point in the assembly station.

[0050] Preferably, in S600, the AGV PLC program scans the program once every 0.5 seconds and reads the current coordinates of the AGV and the AGV stop point information once.

[0051] Preferably, S700 includes the following steps:

[0052] S710. Check whether the AGV car PLC program successfully obtains the AGV stop point information; then perform the following operations according to the check result:

[0053] If the AGV car PLC program successfully obtains the AGV stop point information, the AGV car PLC program controls the AGV car to automatically park at the parking point corresponding to the AGV stop point information according to the obtained AGV stop point information;

[0054] If the AGV car PLC program fails to successfully obtain the AGV stop point information, the AGV car PLC program controls the AGV car to automatically park at the A parking point.

[0055] Compared with the prior art, the present invention has the following advantages:

[0056] 1. Since the present invention adopts a system and method for using the MES system to send vehicle model data and then controlling the AGV to park at a fixed point according to the vehicle model based on RFID technology, the AGV can be parked at different parking points in the same assembly station according to the length of the frame;

[0057] 2. Since the present invention parks the AGV at different parking spots in the same assembly station according to the length of the vehicle frame, it is very convenient to use station equipment and can also realize the fixed placement of logistics equipment;

[0058] 3. Since the present invention parks the AGV at different parking points in the same assembly station according to the length of the frame, the moving distance of the assembly workers is greatly shortened, which is very ergonomic;

[0059] 4. Since the present invention is based on the application of AGV and RFID technology in the MES system, a complete set of exclusive intelligent information input, data transmission, and AGV operation systems suitable for automobile manufacturing companies is designed, thereby realizing the automation, informatization, and intelligence of AGV, which is of great significance to the development of the automobile assembly manufacturing industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 This is a screenshot of the UI interface of the vehicle parameter maintenance module of a specific embodiment of the present invention;

[0061] Figure 2 This is a screenshot of the UI interface of the AGV scheduling subsystem of a specific embodiment of the present invention;

[0062] Figure 3 This is a screenshot of the vehicle model list UI interface of a specific embodiment of the present invention;

[0063] Figure 4 This is a screenshot of the AGV car PLC program interface of a specific embodiment of the present invention;

[0064] Figure 5 A schematic diagram of parking landmark arrangement according to a specific embodiment of the present invention;

[0065] Figure 6 It is a schematic diagram of RFID technology of a specific embodiment of the present invention;

[0066] Figure 7 This is a diagram showing the stop information of an AGV according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0067] The present invention is further explained below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0068] A heavy-duty frame assembly AGV intelligent parking system includes the following modules: vehicle model parameter maintenance module, AGV vehicle model module, AGV trolley, AGV scheduling subsystem, AGV scheduling PLC; as shown in Table 1:

[0069] Table 1. List of module differentiation of the system of the present invention

[0070] Operator Modules Data A Data B Technician MES system (vehicle parameter maintenance module) Model 1.6m (Automatic conversion by MES system) MES system (AGV vehicle model module) Model 0 (Automatically written by MES system) AGV dispatch PLC (DB20) Model 0 (Automatically read and record by the AGV dispatch system) AGV dispatching subsystem (model list) Model 0 (Automatically written by the AGV dispatch system) AGV car PLC variable VW2035 Model 0 (PLC program runs automatically) AGV automatic parking Model 0

[0071] in:

[0072] like Figure 1 As shown, the vehicle parameter maintenance module is located in the MES system, and is used to receive manually entered frame information and AGV stop point information; wherein: the frame information includes the frame number and the frame length; the AGV stop point information includes the AGV stop point coordinates; the frame number is the unique identifier of the frame, which has a one-to-one correspondence with the frame and is punched on the frame by the frame production unit; the frame length is provided by the frame production unit; there are multiple AGV stop point coordinates, which are used to represent the distance from the positioning hole to the front end of the parking space and are preset manually.

[0073] The AGV vehicle model module is located in the MES system and is used to read the frame number and frame length from the vehicle model parameter maintenance module and convert the frame number into a frame type; the frame type and the frame number have a one-to-many relationship.

[0074] In this specific embodiment, the AGV vehicle model module in the MES system receives the frame number and frame length, and converts them into "0", "1", and "2"; here "0", "1", and "2" correspond to parking point A (1.6m), parking point B (2.2m), and parking point C (3.0m), respectively.

[0075] The AGV dispatching PLC is located in the equipment control cabinet of the workshop and is used to perform data transfer operations.

[0076] In this specific embodiment, the data transfer operation of the AGV scheduling PLC specifically includes:

[0077] The AGV dispatching PLC receives the vehicle frame information and AGV stop point information written by the vehicle model parameter maintenance module in the MES system.

[0078] In this specific embodiment, the AGV vehicle model module in the MES system transmits the frame number, "0", "1", and "2" to the MES information DB20.DBX78.0 in the AGV scheduling PLC.

[0079] The AGV dispatching PLC provides the AGV dispatching subsystem with vehicle frame information and AGV stop point information for use when the AGV dispatching subsystem interacts with other modules.

[0080] like Figure 2 As shown, the AGV scheduling subsystem is located in the equipment control cabinet of the workshop. It is used to receive production tasks, issue production tasks to the AGV, and control the movement of the AGV; the movement actions include starting, stopping, accelerating, decelerating, selecting a left fork in the road, selecting a right fork in the road, moving forward, moving backward, turning on the spot, turning forward, and turning backward.

[0081] In this specific embodiment, the AGV scheduling subsystem reads the frame information and AGV stop point information from the AGV scheduling PLC, and then records them in the vehicle model list; the vehicle model list records the frame information and AGV stop point information.

[0082] like Figure 3 As shown, in this specific embodiment, the AGV dispatch word system reads data from the MES information DB20.DBX78.0 in the AGV dispatch PLC and writes it into the vehicle model list.

[0083] Equipment operators can view vehicle frame information and AGV stop information through the vehicle model list.

[0084] Equipment operators edit the vehicle frame information and AGV stop point information through the vehicle model list.

[0085] like Figure 4 As shown, when the AGV scheduling subsystem issues a production task to the AGV, the AGV stop point information is written into the PLC variable VW2035 of the AGV trolley PLC program by the AGV scheduling subsystem.

[0086] In this specific embodiment, when the AGV dispatching subsystem issues a control signal to the AGV trolley through the AGV trolley PLC program, the AGV trolley is controlled by the PLC variable VW2035 to realize intelligent parking according to the AGV stop point information.

[0087] The AGV trolley is used to perform motion actions under the control of the AGV scheduling subsystem; the AGV trolley includes the AGV trolley PLC program; the AGV trolley PLC program and the AGV scheduling subsystem are connected using ROFINET communication; the AGV scheduling subsystem sends control signals for loading motion actions to the AGV trolley through the AGV trolley PLC program.

[0088] like Figure 5 As shown, in this specific embodiment, each assembly station for loading a frame includes three AVG parking points, namely, parking point A, parking point B, and parking point C; wherein:

[0089] In parking spot A, the distance from the positioning hole to the front end of the parking space is 1.6m.

[0090] In parking spot B, the distance from the positioning hole to the front end of the parking space is 2.2m.

[0091] In parking spot C, the distance from the positioning hole to the front end of the parking space is 3.0m.

[0092] In this specific embodiment, in the assembly station, parking point A, parking point B, and parking point C are arranged in parallel in sequence.

[0093] It should be noted that this step is to use landmarks to subdivide each assembly station; three different parking landmarks are arranged at each assembly station, and the AGV can park at different positions in the same station, thus solving the problem of unreasonable assembly position caused by the large difference in frame length between different frames.

[0094] In this specific embodiment, the length range of the frame is [5700mm-11500mm].

[0095] In this specific embodiment, the length of the assembly station is 12500 mm.

[0096] It should be further explained that, in this specific embodiment, three different parking points are arranged at each assembly station. When the present invention is actually applied, the parking points can be appropriately increased or decreased according to the application environment.

[0097] In this specific embodiment, the assembly station is divided into three parking spaces according to the frame length: 1.6m, 2.2m and 3m, the purpose of which is to meet the technical and process requirements of the required assembly frame. After the allocation, the staff will upload the frame information and parking point information to the MES management system.

[0098] like Figure 5 As shown, stations 6-14 are AGV load frames; the corresponding frame types have different lengths (5700mm-11500mm), and the station length is 12500.

[0099] It should be further explained that the purpose of selecting the AGV stop point is to park the vehicle frame in the corresponding parking space.

[0100] Regarding the parking point, it can be understood as follows: the so-called parking point is the distance from the positioning hole to the front end of the parking space. Therefore, to ensure that the frame can be parked inside the corresponding parking space, the distance from the positioning hole to the front end of the frame must not be greater than the parking point.

[0101] For example: the total length of a frame is 11m, and the positioning hole is 2.5m away from the front end of the frame. At this time, the parking point should be selected at 3m to ensure that the front end of the frame does not exceed the parking space.

[0102] A heavy-duty frame assembly AGV intelligent parking method using a heavy-duty frame assembly AGV intelligent parking system comprises the following steps:

[0103] S100. Write the coded data into the landmarks; and then attach different landmarks to corresponding positions on the assembly line.

[0104] S200. Write the coordinates of the AGV stop point in the AGV scheduling PLC as landmark data.

[0105] Write the motion actions that the AGV needs to perform into the AGV scheduling PLC.

[0106] In this specific embodiment, RFID technology is used to implement AGV motion control.

[0107] like Figure 6 As shown, in this specific embodiment, the coded data is written into the landmark through the WRFID software.

[0108] S300. Set up parking point A, parking point B, and parking point C at each assembly station.

[0109] S400. Obtain the frame number and frame length of the current AGV; then convert the frame number into a frame type.

[0110] In this specific embodiment, the AGV dispatching system receives a vehicle type A task, reads vehicle type A information, and writes it into a PLC variable VW2035 in the AGV vehicle PLC program.

[0111] S500. Select the corresponding assembly station of the destination where the current AGV is to stop and the corresponding parking point in the assembly station according to the frame type.

[0112] It should be noted that the purpose of S300~S500 is to build an information input system to achieve intercommunication between the MES system and AGV.

[0113] The S600.AGV PLC program obtains the current coordinates of the AGV and the coordinates of the AGV stop point during driving through the landmark sensor installed at the bottom of the AGV.

[0114] In this specific embodiment, in S600, the AGV PLC program scans the program once every 0.5 seconds and reads the current coordinates of the AGV and the AGV stop point information once.

[0115] S700. According to the current coordinates of the AGV and the AGV stop point information, the AGV scheduling subsystem controls the AGV to perform movement actions, and finally stops at the corresponding assembly station of the current AGV's destination and the corresponding parking point in the assembly station.

[0116] In this specific embodiment, S700 includes the following steps:

[0117] S710. Check whether the AGV car PLC program successfully obtains the AGV stop point information; then perform the following operations based on the inspection results:

[0118] If the AGV car PLC program successfully obtains the AGV stop point information, the AGV car PLC program will control the AGV car to automatically park at the parking point corresponding to the AGV stop point information according to the obtained AGV stop point information.

[0119] If the AGV PLC program does not successfully obtain the AGV stop point information, the AGV PLC program will control the AGV to automatically park at stop point A.

[0120] like Figure 7 As shown, in this specific embodiment, the AGV car PLC program realizes process parking according to the PLC variable VW2035.

[0121] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0122] The disclosed embodiments are described above to enable any person skilled in the art to implement or use the present invention. Various modifications of these embodiments are obvious to those skilled in the art, and the general principles defined herein may also be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0123] The above description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

[0124] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for intelligent parking of AGVs assembled on a heavy-duty frame, characterized in that: The heavy-duty frame is used to assemble the AGV intelligent parking system; The heavy-duty frame assembly AGV intelligent parking system includes the following modules: vehicle model parameter maintenance module, AGV vehicle model module, AGV trolley, AGV scheduling subsystem, AGV scheduling PLC; wherein: The vehicle model parameter maintenance module is located in the MES system, and is used to receive manually entered vehicle frame information and AGV stop point information; wherein: the vehicle frame information includes the vehicle frame number and the vehicle frame length; the AGV stop point information includes the AGV stop point coordinates; the vehicle frame number is the unique identifier of the vehicle frame, which has a one-to-one correspondence with the vehicle frame and is printed on the vehicle frame by the production unit of the vehicle frame; the vehicle frame length is provided by the production unit of the vehicle frame; there are multiple AGV stop point coordinates, which are used to represent the distance from the positioning hole to the front end of the parking space and are preset manually; The AGV vehicle model module is located in the MES system, and is used to read the frame number and the frame length from the vehicle model parameter maintenance module, and convert the frame number into a frame type; the frame type and the frame number are in a one-to-many relationship; The AGV dispatching PLC is located in the equipment control cabinet of the workshop and is used to perform data transfer operations; The AGV dispatching subsystem is located in the equipment control cabinet of the workshop, and is used to receive production tasks, issue the production tasks to the AGV, and control the movement of the AGV; the movement actions include starting, stopping, accelerating, decelerating, selecting a left fork, selecting a right fork, moving forward, moving backward, turning in place, turning forward, and turning backward; The AGV trolley is used to perform the motion under the control of the AGV dispatching subsystem; the AGV trolley includes an AGV trolley PLC program; the AGV trolley PLC program is connected to the AGV dispatching subsystem by ROFINET communication; the AGV dispatching subsystem issues a control signal for loading the motion to the AGV trolley through the AGV trolley PLC program; The data transfer operation of the AGV scheduling PLC specifically includes: The AGV dispatching PLC receives the frame information and the AGV stop point information written by the vehicle model parameter maintenance module in the MES system; The AGV dispatching PLC provides the frame information and the AGV stop point information to the AGV dispatching subsystem for use by the AGV dispatching subsystem when interacting with other modules; The AGV dispatching subsystem reads the frame information and the AGV stop point information from the AGV dispatching PLC, and then records them in a vehicle model list; the vehicle model list records the frame information and the AGV stop point information; The equipment operator checks the vehicle frame information and the AGV stop point information through the vehicle model list; The equipment operator edits the frame information and the AGV stop point information through the vehicle model list; When the AGV scheduling subsystem issues the production task to the AGV, the AGV parking point information is written into the PLC variable VW2035 of the AGV trolley PLC program by the AGV scheduling subsystem; When the AGV dispatching subsystem issues the control signal to the AGV trolley through the AGV trolley PLC program, the AGV trolley is controlled by the PLC variable VW2035 to realize intelligent parking according to the AGV stop point information; Each assembly station for loading the frame includes three AGV parking points, namely, parking point A, parking point B, and parking point C; wherein: In the A parking point, the distance from the positioning hole to the front end of the parking space is the first parking distance; In the B parking point, the distance from the positioning hole to the front end of the parking space is the second parking distance; In the C parking point, the distance from the positioning hole to the front end of the parking space is the third parking distance; In the assembly station, the A parking point, the B parking point, and the C parking point are sequentially arranged in parallel; The first parking distance is 1.6m; the second parking distance is 2.2m; the third parking distance is 3.0m; The length of the frame ranges from [5700mm-11500mm]; The length of the assembly station is 12500 mm; The heavy-duty frame assembly AGV intelligent parking method comprises the following steps: S100. Writing the coded data into the landmark; and then attaching the different landmarks to the corresponding positions on the assembly line; S200. Write the coordinates of the AGV stop point in the AGV dispatch PLC as landmark data; Writing the motion action that needs to be performed by the AGV into the AGV scheduling PLC; S300. Setting parking point A, parking point B, and parking point C at each assembly station; S400. Obtain the frame number and the frame length of the current AGV vehicle; then convert the frame number into the frame type; S500. Select the assembly station corresponding to the destination where the AGV is to be parked and the corresponding parking point in the assembly station according to the frame type; S600. The AGV trolley PLC program obtains the current coordinates of the AGV trolley and the coordinates of the AGV stop point during driving through the landmark sensor installed at the bottom of the AGV trolley; S700. According to the current coordinates of the AGV and the information of the AGV stop point, the AGV scheduling subsystem controls the AGV to perform the movement action, and finally stops at the corresponding assembly station of the destination where the AGV is currently to stop and the corresponding parking point in the assembly station; In S600, the AGV PLC program scans the program once every 0.5 seconds and reads the current coordinates of the AGV and the AGV stop point information once; S700 includes the following steps: S710. Check whether the AGV car PLC program successfully obtains the AGV stop point information; Then, based on the inspection results, do the following: If the AGV car PLC program successfully obtains the AGV stop point information, the AGV car PLC program controls the AGV car to automatically park at the parking point corresponding to the AGV stop point information according to the obtained AGV stop point information; If the AGV trolley PLC program fails to successfully obtain the AGV stop point information, the AGV trolley PLC program controls the AGV trolley to automatically park at the A parking point.

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