AGV and rail flat car interactive passing device and method based on intelligent sensing

Abstract

The invention belongs to the technical field of large discrete equipment manufacturing workshops, and particularly relates to an AGV and steel rail flat car interactive passing method based on intelligent sensing. The device comprises a WMS system, a WCS system, a flatcar track, an AGV channel, a flatcar running on the flatcar track and an AGV running on the AGV channel. The flatcar track and the AGV channel intersect with each other. RFID chips are installed on the head and parking spaces of the flatcar, two RFID code reading devices arranged on the two sides of an AGV channel are additionally installed beside a flatcar track, the RFID code reading devices and the WCS are in communication connection with the WMS, and the WCS is in communication connection with the AGV. A signal prompting lamp is installed beside the flatcar track, a passing device is installed in the section, intersecting with the AGV channel, of the flatcar track, a pressure sensor is installed on the passing device, and the pressure sensor is in communication connection with the signal prompting lamp. The invention provides an AGV and steel rail flat car interactive passing device and method based on intelligent sensing, and solves the problems that an AGV in a discrete manufacturing workshop is difficult to pass through a flat car track and the safety risk is large.

Description

Technical Field

[0001] The present invention belongs to the technical field of large-scale discrete equipment manufacturing workshops, and particularly relates to an interactive passing method for AGV and rail flat cars based on intelligent sensing. Background Art

[0002] Currently, in the large-scale discrete manufacturing industry, workpieces often have the characteristics of large volume and mass, and workshop-level material transfer is often completed by means of rail electric flat cars. The flat car track is in a groove shape, which is often difficult for most AGVs to pass through. However, with the expansion of the application scenarios of 5G + smart factories, more and more workshops use AGVs to transport small tools, cutting tools, welding materials and other materials. Summary of the Invention

[0003] In order to solve the above problems existing in the prior art, the purpose of the present invention is to provide an interactive passing device and method for AGV and rail flat cars based on intelligent sensing, so as to solve the problems that it is difficult for AGVs to pass through the flat car track and the safety risk is relatively large in discrete manufacturing workshops.

[0004] The technical solution adopted by the present invention is as follows:

[0005] An interactive passing device for AGV and rail flat cars based on intelligent sensing includes a WMS system, a WCS system, a flat car track, an AGV passage, a flat car running on the flat car track, and an AGV car running on the AGV passage. The flat car track and the AGV passage intersect with each other; RFID chips are installed at both the head and the tail of the flat car, and two RFID code reading devices are additionally installed beside the flat car track. The two RFID code reading devices are respectively arranged on both sides of the AGV passage. The RFID code reading devices and the WCS system are both communicatively connected to the WMS system, and the WCS system is communicatively connected to the AGV car; a signal indicator light is installed beside the flat car track near the AGV passage, and a passing device is installed in a section of the flat car track that intersects with the AGV passage. A pressure sensor is installed on the passing device, and the pressure sensor is communicatively connected to the signal indicator light.

[0006] When the flat car passes: The RFID code reading device collects signals and transmits them to the WMS system, and the WMS system conveys an instruction on whether the AGV car can pass to the WCS system. During the passing process of the flat car, the AGV needs to stop and wait; when the tail of the flat car passes the second RFID code reading device, the AGV car can pass.

[0007] When the AGV passes: When the AGV car passes, a pressure signal is generated, and the signal indicator light changes color to red to prompt the operator of the flat car that the AGV car is passing, so that the flat car stops and gives way to ensure the safe passage of the AGV car.

[0008] Based on the intelligent sensing and warehousing control system, the present invention addresses the potential safety hazards during the passing of AGV vehicles and flat cars, ensuring interactive safety.

[0009] The present invention expands the application scenarios for the digital transformation of large-scale discrete manufacturing industries.

[0010] In the present invention, a passing device is installed in a section of the flat car track that intersects with the AGV passage. A pressure sensor is installed on the passing device, and the pressure sensor is communicatively connected to a signal indicator light. The passing device is used to receive the passage of AGV vehicles and flat cars, fill the gaps between the flat car tracks, and ensure the smooth passage of AGV vehicles. When the flat car passes, the flat car presses down the passing device, and the flat car can pass smoothly.

[0011] The present invention solves the problem that it is difficult for AGV vehicles to pass through the flat car track in a discrete manufacturing workshop, and meets the passing requirements of AGV vehicles without affecting the passing performance of the flat car.

[0012] The overall device of the present invention has a relatively low transformation cost, can achieve the best goal with the minimum cost, can be popularized and used in the same type of production enterprises, and has strong practicability.

[0013] As a preferred embodiment of the present invention, the distance between the two RFID reading devices is greater than the length of the flat car.

[0014] When the front of the flat car passes the first RFID reading device, the WMS system records the received signal as "1". Since the distance between the measurement points is greater than the length of the flat car, the rear of the flat car will reach the first RFID reading device before the front reaches the second RFID reading device. At this time, the WMS system records the received signal as "2". Similarly, when the front and rear of the flat car pass the second RFID reading device, the signals received by the system are respectively recorded as identification "3" and identification "4".

[0015] When the system records identification "4", it will automatically trigger the clearing of all digital identifications. When a flat car passes, this process repeats. The WMS system conveys the instruction of whether the AGV can pass to the WCS system through digital signals. When there are digital identifications of "1", "2", or "3", the AGV needs to stop and wait. When there are no digital identifications, the AGV vehicle can pass.

[0016] The distance between the two RFID reading devices is greater than the length of the flat car, ensuring that the AGV vehicle can only pass after the flat car has completely passed through the AGV passage, guaranteeing the passing safety of the AGV vehicle.

[0017] As a preferred embodiment of the present invention, parking waiting points are provided on both sides of the flat car track on the AGV passage.

[0018] As a preferred embodiment of the present invention, the passing device includes a top plate disposed within the flat car track, and a plurality of disc springs are installed between the bottom of the top plate and the interior of the flat car track.

[0019] The top plate is used to receive the AGV cart and the flat car for passage, and fills the gap between the flat car tracks to ensure that the AGV cart can smoothly pass through the flat car tracks.

[0020] The disc springs receive the top plate and provide force support. When the gravity received is too large, the disc springs start to undergo elastic deformation, and when the gravity disappears, the deformation of the disc springs is restored. By taking advantage of the large difference in weight between the AGV cart and the flat car and selecting different disc spring specifications, it is possible to achieve that the disc springs do not deform or undergo minor deformation when the AGV cart passes through, and the disc springs undergo large deformation when the flat car passes through, so that both can pass smoothly.

[0021] As a preferred embodiment of the present invention, a pin shaft is further fixed to the bottom of the top plate. A guide hole is provided within the flat car track, and the lower section of the pin shaft is sleeved within the guide hole, and the disc springs are sleeved on the pin shaft. The pin shaft is fixed below the top plate, and its outer diameter is slightly smaller than the inner diameter of the disc springs. The pin shaft plays a guiding role to prevent the top plate from shifting.

[0022] As a preferred embodiment of the present invention, a rubber sleeve is sleeved on a section of the pin shaft extending out of the guide hole. There is a gap between the top plate and the flat car track to facilitate the lifting of the top plate, but this reduces the stability of the top plate. A rubber sleeve is sleeved on a section of the pin shaft extending out of the guide hole, which can increase buffering and prevent the top plate from swinging greatly.

[0023] As a preferred embodiment of the present invention, downwardly inclined guiding angles are provided at both ends of the top plate along the direction of the flat car track. The guiding angles make the flat car drive onto the top plate more smoothly, avoid large bumps, and ensure that the workpieces do not fall during transportation.

[0024] As a preferred embodiment of the present invention, the pressure sensor is installed at the bottom of the pin shaft.

[0025] An AGV and rail flat car interactive passing method based on intelligent sensing includes the following steps:

[0026] The first RFID reading device is denoted as measurement point A, and the second RFID reading device is denoted as measurement point B;

[0027] When the flat car passes through: when the front of the flat car passes through measurement point A, the WMS system records the received signal as "1". Since the distance between the measurement points is greater than the length of the flat car, the rear of the car will reach measurement point A before the front reaches measurement point B, and at this time the WMS system will record the received signal as "2"; similarly, when the front and rear of the car pass through measurement point B, the WMS system will record the received signals as identifier "3" and identifier "4" respectively;

[0028] When the WMS system records the identifier "4", it will automatically trigger the clearing of all digital identifiers; this process repeats when a flatbed vehicle passes through. Through digital signals, the WMS system conveys to the WCS system whether the AGV cart can pass. When there are digital identifiers "1", "2", or "3", the AGV cart needs to stop and wait. When there are no digital identifiers, the AGV cart can pass.

[0029] As a preferred embodiment of the present invention, the following steps are further included:

[0030] The signal indicator light includes a green light and a red light. The green light allows passage, and the red light prohibits passage;

[0031] When the AGV passes: When the AGV cart passes, it generates a pressure signal, and the signal indicator light changes color to red to prompt the operator of the flatbed vehicle that the AGV cart is passing, so the flatbed vehicle stops and gives way to ensure the safe passage of the AGV cart.

[0032] The beneficial effects of the present invention are:

[0033] 1. Based on intelligent sensing and warehousing control systems, the present invention addresses the potential safety hazards during the passing of AGV carts and flatbed vehicles, ensuring interactive safety. The present invention expands the application scenarios for the digital transformation of large-scale discrete manufacturing industries.

[0034] 2. The present invention solves the difficulty of AGV carts passing through the flatbed vehicle track in a discrete manufacturing workshop, meeting the passing requirements of AGV carts without affecting the passing performance of flatbed vehicles. The overall device of the present invention has a relatively low transformation cost, can achieve the best goal with the minimum cost, and can be promoted to the same type of production enterprises, having strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic structural diagram of the present invention;

[0036] Figure 2 is a right view of a partial structure of the present invention;

[0037] Figure 3 is Figure 2 a partial enlarged view of part A in

[0038] Figure 4 is a front view of a partial structure of the present invention;

[0039] Figure 5 is a method flow chart of the present invention.

[0040] In the figure: 1 - flatbed vehicle track; 2 - AGV passage; 3 - flatbed vehicle; 4 - AGV cart; 5 - signal indicator light; 6 - passing device; 61 - top plate; 62 - disc spring; 63 - pin shaft; 64 - guiding angle; 65 - pressure sensor. Detailed implementation manners

[0041] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0043] As Figures 1 to 4 shown, the intelligent-sensing-based AGV and rail flatcar interactive passing device of this embodiment includes a WMS system, a WCS system, a flatcar track 1, an AGV passage 2, a flatcar 3 running on the flatcar track 1, and an AGV car 4 running on the AGV passage 2. The flatcar track 1 and the AGV passage 2 intersect with each other; RFID chips are installed at both the head and the tail of the flatcar 3. Two RFID code reading devices are additionally installed beside the flatcar track 1. The two RFID code reading devices are respectively arranged on both sides of the AGV passage 2. The RFID code reading devices and the WCS system are both communicatively connected to the WMS system, and the WCS system is communicatively connected to the AGV car 4; a signal indicator light 5 is installed beside the flatcar track 1 near the AGV passage 2, and a passing device 6 is installed in a section of the flatcar track 1 that intersects with the AGV passage 2. A pressure sensor 65 is installed on the passing device 6, and the pressure sensor 65 is communicatively connected to the signal indicator light 5; the distance between the two RFID code reading devices is greater than the length of the flatcar 3; parking waiting points are arranged on both sides of the flatcar track 1 on the AGV passage 2.

[0044] When the flatcar 3 passes: The RFID code reading device collects signals and transmits them to the WMS system, and the WMS system conveys to the WCS system an instruction on whether the AGV car 4 can pass. During the passing of the flatcar 3, the AGV needs to stop and wait; after the tail of the flatcar 3 passes the second RFID code reading device, the AGV car 4 can pass.

[0045] When the AGV passes: When the AVG car passes, a pressure signal is generated, and the signal indicator light 5 changes color to red to prompt the operator of the flatcar 3 that the AGV car 4 is passing, so that the flatcar 3 stops and gives way to ensure the safe passing of the AGV car 4.

[0046] Based on the intelligent sensing and warehousing control system, the present invention addresses the potential safety hazards during the passing of the AGV cart 4 and the flatbed cart 3, and can ensure the interactive safety.

[0047] The present invention expands the digital transformation application scenarios of large-scale discrete manufacturing industries.

[0048] In a section of the flatbed track 1 of the present invention that intersects with the AGV passage 2, a passing device 6 is installed. A pressure sensor 65 is installed on the passing device 6, and the pressure sensor 65 is communicatively connected to the signal indicator light 5. The passing device 6 is used to receive the passage of the AGV cart 4 and the flatbed cart 3, fill the gap between the flatbed tracks 1, and ensure that the AGV cart 4 can pass smoothly. When the flatbed cart 3 passes, the flatbed cart 3 presses down the passing device 6, and the flatbed cart 3 can pass smoothly.

[0049] The present invention solves the difficulty that the AGV cart 4 in the discrete manufacturing workshop has difficulty passing through the flatbed track 1, and meets the passing requirements of the AGV cart 4 without affecting the passing performance of the flatbed cart 3.

[0050] The overall device of the present invention has a relatively low transformation cost, can achieve the best goal with the minimum cost, can be popularized and used in the same type of production enterprises, and has strong practicability.

[0051] When the front of the flatbed cart 3 passes the first RFID reading device, the WMS system records the received signal as "1". Since the distance between the measuring points is greater than the length of the flatbed cart 3, the rear of the flatbed cart will reach the first RFID reading device before the front reaches the second RFID reading device. At this time, the WMS system records the received signal as "2". Similarly, when the front and rear of the flatbed cart pass the second RFID reading device, the signals received by the system are respectively recorded as the identifier "3" and the identifier "4".

[0052] When the system records the identifier "4", it will automatically trigger the clearing of all digital identifiers. When there is a flatbed cart 3 passing, it will repeat in this way. The WMS system conveys the instruction of whether the AGV can pass to the WCS system through digital signals. When there are digital identifiers "1", "2", or "3", the AGV needs to stop and wait. When there are no digital identifiers, the AGV cart 4 can pass.

[0053] The distance between the two RFID reading devices is greater than the length of the flatbed cart 3, ensuring that the AGV cart 4 can only pass after the flatbed cart 3 completely passes through the AGV passage 2, and ensuring the passing safety of the AGV cart 4.

[0054] Specifically, as Figures 2 to 4 shown, the passing device 6 includes a top plate 61. The top plate 61 is arranged in the flatbed track 1, and a plurality of disc springs 62 are installed between the bottom of the top plate 61 and the inside of the flatbed track 1.

[0055] The top plate 61 is used to support the passage of the AGV cart 4 and the flatbed cart 3, fill the gaps between the flatbed tracks 1, and ensure that the AGV cart 4 can smoothly pass through the flatbed tracks 1.

[0056] The disc spring 62 supports the top plate 61 and provides force support. When the gravity received is too large, the disc spring 62 starts to undergo elastic deformation, and when the gravity disappears, the deformation of the disc spring 62 recovers. By taking advantage of the large difference in weight between the AGV cart 4 and the flatbed cart 3 and selecting different specifications of the disc spring 62, it can be achieved that the disc spring 62 does not deform or undergoes minor deformation when the AGV cart 4 passes through, and the disc spring 62 undergoes large deformation when the flatbed cart 3 passes through, so that both can pass smoothly.

[0057] A pin shaft 63 is also fixed to the bottom of the top plate 61. A guide hole is provided in the flatbed track 1. The lower section of the pin shaft 63 is sleeved in the guide hole, and the disc spring 62 is sleeved on the pin shaft 63. The pressure sensor 65 is installed at the bottom of the pin shaft 63. The pin shaft 63 is fixed under the top plate 61, and its outer diameter is slightly smaller than the inner diameter of the disc spring 62. The pin shaft 63 plays a guiding role to prevent the top plate 61 from shifting.

[0058] A rubber sleeve is sleeved on a section of the pin shaft 63 extending out of the guide hole. There is a gap between the top plate 61 and the flatbed track 1 to facilitate the lifting of the top plate 61, but this reduces the stability of the top plate 61. A rubber sleeve is sleeved on a section of the pin shaft 63 extending out of the guide hole, which can increase buffering and prevent the top plate 61 from swinging greatly.

[0059] Both ends of the top plate 61 in the direction of the flatbed track 1 are provided with downward-inclined guiding angles 64. The guiding angles 64 make the flatbed cart 3 drive onto the top plate 61 more smoothly, avoid large bumps, and ensure that the workpieces do not fall during the transportation process.

[0060] The method for the interactive passage of the AGV and the rail flatbed based on intelligent sensing in this embodiment includes the following steps:

[0061] The first RFID code reading device is denoted as measuring point A, and the second RFID code reading device is denoted as measuring point B.

[0062] When the flatbed cart 3 passes through: when the head of the flatbed cart 3 passes through measuring point A, the WMS system records the received signal as "1". Since the distance between the measuring points is greater than the length of the flatbed cart 3, the tail of the flatbed cart will reach measuring point A before the head reaches measuring point B. At this time, the WMS system will record the received signal as "2"; similarly, when the head and tail of the flatbed cart pass through measuring point B, the WMS system will record the received signals as identifier "3" and identifier "4" respectively.

[0063] When the WMS system records the identifier "4", it will automatically trigger the clearing of all digital identifiers; when the flatbed 3 passes through, this process repeats. The WMS system conveys to the WCS system whether the AGV cart 4 can pass through instructions via digital signals. When there are digital identifiers "1", "2", or "3", the AGV cart 4 needs to stop and wait. When there are no digital identifiers, the AGV cart 4 can pass through.

[0064] The signal indicator light 5 includes a green light and a red light. The green light allows passage, and the red light prohibits passage.

[0065] When the AGV passes through: When the AGV cart passes through, a pressure signal is generated, and the signal indicator light 5 changes color to red to prompt the operator of the flatbed 3 that the AGV cart 4 is passing through. Then the flatbed 3 stops and gives way to ensure the safe passage of the AGV cart 4.

[0066] The present invention is not limited to the above optional embodiments. Any person can obtain other various forms of products under the inspiration of the present invention. However, no matter what changes are made in its shape or structure, as long as the technical solutions fall within the scope defined by the claims of the present invention, they are all within the protection scope of the present invention.

Claims

1. An AGV and rail flat car interactive passage device based on intelligent sensing, characterized in that: The invention comprises a WMS system, a WCS system, a flat car track (1), an AGV channel (2), a flat car (3) running on the flat car track (1), and an AGV trolley (4) running on the AGV channel (2), wherein the flat car track (1) and the AGV channel (2) intersect each other; the front and parking spaces of the flat car (3) are both equipped with RFID chips; two RFID code reading devices are additionally installed beside the flat car track (1), and the two RFID code reading devices are respectively arranged on both sides of the AGV channel (2); the RFID code reading devices and the WCS system are both communicatively connected with the WMS system, and the WCS system is communicatively connected with the AGV trolley (4); a signal prompt light (5) is installed near the AGV channel (2) beside the flat car track (1); a passing device (6) is installed in a section of the flat car track (1) intersecting with the AGV channel (2); a pressure sensor (65) is installed on the passing device (6), and the pressure sensor (65) is communicatively connected with the signal prompt light (5).

2. According to the intelligent sensing-based AGV and rail flat car interactive passage device according to claim 1, it is characterized by: The distance between the two RFID code reading devices is greater than the length of the flat car (3).

3. According to the intelligent sensing-based AGV and rail flat car interactive passage device of claim 1, it is characterized by: Parking waiting points are arranged on both sides of the flat car track (1) on the AGV channel (2).

4. According to the intelligent sensing-based AGV and rail flat car interactive passage device of claim 1, it is characterized by: The passing device (6) comprises a top plate (61), which is arranged inside the flat car track (1), and a plurality of disc springs (62) are installed between the bottom of the top plate (61) and the inside of the flat car track (1).

5. The intelligent sensing-based AGV and rail flat car interactive passage device according to claim 4 is characterized in that: A pin shaft (63) is also fixed to the bottom of the top plate (61), a guide hole is provided in the flat car track (1), the lower section of the pin shaft (63) is sleeved in the guide hole, and the disc spring (62) is sleeved on the pin shaft (63).

6. The intelligent sensing-based AGV and rail car interactive passage device according to claim 5 is characterized in that: A rubber sleeve is sleeved on a section of the pin shaft (63) extending out of the guide hole.

7. The intelligent sensing-based AGV and rail flat car interactive passage device according to claim 4 is characterized in that: Both ends of the top plate (61) along the direction of the flat car track (1) are provided with downwardly inclined guide angles (64).

8. The intelligent sensing-based AGV and rail flat car interactive passage device according to claim 4 is characterized by: The pressure sensor (65) is installed at the bottom of the pin shaft (63).

9. A method for interactive passage between an AGV and a rail flat car based on intelligent sensing, using the device for interactive passage between an AGV and a rail flat car based on intelligent sensing according to claim 2, characterized in that: The following steps are involved: The first RFID code reading device is recorded as measuring point A, and the second RFID code reading device is recorded as measuring point B; When the flat car (3) passes: when the front of the flat car (3) passes through the measuring point A, the WMS system records the received signal as "1". Because the distance between the measuring points is greater than the length of the flat car (3), the rear of the car will reach the measuring point A before the front of the car reaches the measuring point B. At this time, the WMS system records the received signal as "2". Similarly, when the front and rear of the car pass through the measuring point B, the WMS system records the received signals as "3" and "4" respectively. When the WMS system records the mark "4", it will automatically trigger the clearing of all digital marks. When a flat car (3) passes by, it will reciprocate in this way, and the WMS system will convey the instruction of whether the AGV car (4) can pass through to the WCS system through digital signals. When there is a digital mark of "1", "2" or "3", the AGV car (4) needs to stop and wait. When there is no digital mark, the AGV car (4) can pass.

10. The method for interactive passage between AGV and rail flat car based on intelligent sensing according to claim 9 is characterized in that: The following steps are also included: The signal lights (5) include a green light and a red light, the green light allows passage, and the red light indicates that passage is stopped; When the AGV passes: When the AGV car passes, a pressure signal is generated, and the signal prompt light (5) changes color to red to remind the operator of the flat car (3) that the AGV car (4) is passing. Then the flat car (3) stops to avoid it, ensuring the safe passage of the AGV car (4).

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