Material supply and production self-balancing method

Abstract

The application relates to a material supply and production self-balancing method. The material supply and production self-balancing method comprises the following steps: obtaining rated load data, rated load volume data and maximum load volume data of an AGV (Automatic Guided Vehicle); obtaining weight data and volume data of a supplied material; matching the AGV capable of carrying the supplied material to receive the material on a carrying ground; obtaining a balance state of the material after the AGV carries the material; based on the balance state of the material, adjusting the balance state of the material to an optimal balance state; and obtaining moving carrying data of the AGV. The material supply and production self-balancing method can greatly improve the carrying capacity and adaptability of the AGV, reduce the matching cost, has high stability during carrying, and is convenient to popularize and use.

Description

Technical Field

[0001] This invention belongs to the field of AGV balance adjustment technology, specifically relating to a material supply and production self-balancing method. Background Technology

[0002] AGVs (Automated Guided Vehicles) are driverless mobile robots that can navigate automatically in environments such as factories or warehouses. They are typically used to transport goods, such as moving raw materials or products on a production line or moving goods in a warehouse.

[0003] AGVs (Automated Guided Vehicles) work by navigating along pre-set paths. These paths can be established using magnetic strips, lasers, radio waves, vision systems, or other methods. The AGV finds the path using its navigation system and moves along it.

[0004] In the process of receiving and transporting goods using AGVs, most existing AGVs are designed to handle goods of a specified size. Due to the automated loading and transportation requirements of AGVs, the stability of goods can be improved by using onboard clamps when handling goods of a set size. This method is suitable for use in enclosed warehousing environments, but its applicability is lower in open warehousing environments. In open warehousing environments, it is often necessary to set up more types of AGVs to accommodate goods of different sizes, which generally refer to differences in weight and volume. Setting up more types of AGVs in open warehousing environments often increases construction costs. Furthermore, due to the characteristics of open environments, the volume of goods of the same weight varies considerably, and existing AGVs cannot meet the requirements for low-cost construction of open warehousing environments. Summary of the Invention

[0005] The purpose of this invention is to provide a simple and rationally designed method for material supply and production self-balancing in order to solve the above-mentioned problems.

[0006] The present invention achieves the above objectives through the following technical solutions:

[0007] A material supply and production self-balancing method includes the following steps: obtaining the rated load capacity data, rated carrying volume data, and maximum carrying volume data of an AGV (Automated Guided Vehicle); obtaining the weight and volume data of the supplied material; matching an AGV capable of carrying the supplied material and receiving the material at the receiving location; obtaining the balance state of the material after the AGV carries the material, and adjusting the balance state of the material to an optimal balance state based on the balance state; and obtaining the movement and transport data of the AGV.

[0008] As a further optimization of the present invention, the maximum load-bearing volume data is obtained based on the width of the AGV's moving channel and the AGV's own load-bearing center of gravity.

[0009] As a further optimization of the present invention, the weight data and volume data of the supplied material are obtained. Based on the weight data and volume data of the material, the expected center of gravity position of the material is determined. Based on the expected center of gravity position of the material and the position of the AGV carriage's carrying part, the placement position of the material is obtained. The selection principle of the placement position is: the expected center of gravity position of the material is at the minimum distance between the center of the AGV carriage's carrying part and the expected center of the material is on the same plane, and the minimum area of ​​the material exceeding the edge of the AGV carriage's carrying part is also considered.

[0010] As a further optimization of the present invention, the surface of the carrying part of the AGV is provided with horizontally arranged pressure detection units. The horizontal direction of the horizontal arrangement is perpendicular to the direction of the front and rear of the AGV. When the edge of the material does not exceed the edge of the carrying part of the AGV, the pressure data of the horizontally arranged pressure detection units is obtained. If the difference between the data detected by the pressure detection units is within a set value, the material is determined to be in the optimal balance state. If the difference between the data detected by the pressure detection units exceeds the set value, the pressure detection unit corresponding to the maximum value is obtained, and the position corresponding to the pressure detection unit is obtained. Based on the position corresponding to the pressure detection unit and the center position of the AGV, the offset of the material is obtained, and the material is moved based on the offset.

[0011] As a further optimization of the present invention, the offset includes the rotation angle of the material.

[0012] As a further optimization of the present invention, the material can be activated by pressure detection units based on the top view image of the AGV's carrying unit. The difference in the data detected by the pressure detection units is the difference between the pressure detection units at the furthest distance that can be activated, the difference between the maximum value detected by the pressure detection unit and the minimum value detected by the pressure detection unit, the distance between the pressure detection unit with the maximum value and the pressure detection unit with the minimum value, and the distance between the pressure detection unit corresponding to the maximum value and the center of the carrying unit.

[0013] As a further optimization of the present invention, several sets of protruding plates are connected to the bottom of the material, and the pressure value is detected based on the position of the plates.

[0014] As a further optimization of the present invention, when the edge of the material exceeds the edge of the bearing part of the AGV, the bearing pressure data of the bearing part of the AGV is obtained, the material is lifted at the center of the bearing part, and the tilt state of the material is determined. If there is no tilt, the balance state of the material is determined to be the optimal balance state; if there is a tilt, the material is reset to the surface of the bearing part, and based on the high and low side direction in the tilt state, the material is driven to move a set distance in the high side direction. The above steps are repeated until the balance state of the material is the optimal balance state.

[0015] The beneficial effects of this invention are as follows: This invention can greatly improve the load-bearing capacity and adaptability of AGV vehicles, reduce the cost of optional equipment, and have high stability during transportation, making it easy to promote and use. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0018] In this embodiment, the material is generally a box structure, preferably a regular box structure, but the distribution of objects inside the box is not necessarily balanced. Generally, a plate can be added to the bottom of the box structure to prevent the lifting structure from affecting the box itself when the balance is judged. In addition, the surface of the load-bearing part of the trolley in this embodiment should be flat and able to hold items, without a protective structure.

[0019] like Figure 1 As shown, a material supply and production self-balancing method includes the following steps: obtaining the rated load capacity data, rated carrying volume data, and maximum carrying volume data of an AGV (Automated Guided Vehicle); obtaining the weight and volume data of the supplied material; matching an AGV capable of carrying the supplied material to receive the material at the receiving location; obtaining the balance state of the material after it is carried by the AGV; adjusting the balance state of the material to the optimal balance state based on the balance state; and obtaining the movement and transport data of the AGV.

[0020] In this embodiment, the rated load capacity, rated load volume, and maximum load volume of various types of AGVs are typically entered into the system. In this embodiment, the height of the material is limited, and the maximum load volume data here mainly considers its area, that is, its length and width.

[0021] During matching, try to match the cart that can best carry the materials. If no cart can be matched, then consider the cart with the closest material data.

[0022] Furthermore, the maximum carrying volume data is obtained based on the width of the AGV's moving channel and the AGV's own carrying center of gravity; that is, in this embodiment, the length and width data need to take into account whether the AGV can pass normally when carrying materials.

[0023] Furthermore, the weight and volume data of the supplied material are obtained. Based on the weight and volume data of the material, the expected center of gravity position of the material is determined. Based on the expected center of gravity position of the material and the position of the AGV's carrying part, the placement position of the material is obtained. The selection principle of the placement position is: the expected center of gravity position of the material is at the minimum distance between the center of the AGV's carrying part and the center of the same plane, and the minimum area of ​​the material exceeding the edge of the AGV's carrying part.

[0024] In this solution, for regular materials, the center of gravity of the material can be determined by a neural network model. Based on the center of gravity position of the material and the volume data of the material itself, the material is placed at the coordinates of the expected center of gravity position that is at the minimum distance from the center of the AGV's carrying part on the top-view plane, provided that the material can be placed completely on the carrying part.

[0025] Furthermore, the surface of the AGV's carrying section is provided with horizontally arranged pressure detection units. The horizontal direction of the horizontal arrangement is perpendicular to the direction of the AGV's front and rear. When the edge of the material does not exceed the edge of the AGV's carrying section, pressure data from the horizontally arranged pressure detection units is obtained. If the difference between the data detected by the pressure detection units is within a set value, the material is determined to be in an optimal balance state. If the difference between the data detected by the pressure detection units exceeds the set value, the pressure detection unit corresponding to the maximum value is obtained, and the position corresponding to the pressure detection unit is obtained. Based on the position corresponding to the pressure detection unit and the center position of the AGV, the offset of the material is obtained, and the material is moved based on the offset.

[0026] It should be noted that the offset includes the rotation angle of the material. If the edge of the material exceeds the edge of the bearing part by too much in a certain direction after the material moves, it can be adjusted by rotating the material.

[0027] Specifically, the material can be activated by pressure detection units based on the top view image of the AGV's carrying unit. The difference in the data detected by the pressure detection units is the difference between the farthest activated pressure detection units, the difference between the maximum and minimum values, the distance between the maximum and minimum values, and the position of the pressure detection unit corresponding to the maximum value.

[0028] Furthermore, several sets of protruding plates are connected to the bottom of the material, and the pressure value is detected based on the position of the plates.

[0029] Furthermore, when the edge of the material extends beyond the edge of the AGV's support section, the bearing pressure data of the AGV's support section is obtained. The material is then lifted at the center of the support section to determine its tilt state. If there is no tilt, the material is determined to be in the optimal balance state. If there is a tilt, the material is reset to the surface of the support section. Based on the high and low side direction of the tilt, the material is driven to move a set distance in the high side direction. The above steps are repeated until the material's balance state is the optimal balance state.

[0030] In practical applications of this solution, flexible lifting components are generally used, with steel wire booms being the best choice for lifting and placement. This effectively prevents material imbalance caused by lateral tilting during balance testing.

[0031] It should be noted that, in the material supply and production self-balancing method of this invention, weight and center of gravity cannot be equated. However, for regular materials, the center of gravity can be used to determine the material's balance position. For irregular materials, this embodiment also provides two adjustment methods to adjust the material's balance state. This invention can greatly improve the load-bearing capacity and adaptability of AGV vehicles, reduce selection costs, and has high stability during transportation, making it easy to promote and use.

[0032] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0033] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0034] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0035] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0036] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for material supply and production self-balancing, characterized in that, The method includes the following steps: Obtain the rated load capacity, rated carrying volume, and maximum carrying volume of the AGV; obtain the weight and volume data of the supplied material; match an AGV capable of carrying the supplied material and receive the material at the carrying location; obtain the balance state of the material after the AGV carries the material, and adjust the balance state of the material to the optimal balance state based on the balance state of the material. Obtain the movement and transport data of the AGV (Automated Guided Vehicle); Obtain the weight and volume data of the supplied material. Based on the weight and volume data of the material, determine the expected center of gravity position of the material. Based on the expected center of gravity position of the material and the position of the AGV carriage's carrying part, obtain the placement position of the material. The selection principle of the placement position is: the expected center of gravity position of the material is at the minimum distance between the center of the AGV carriage's carrying part and the center of the AGV carriage's carrying part on the same plane, and the minimum area of ​​the material exceeding the edge of the AGV carriage's carrying part. The surface of the AGV's carrying section is provided with horizontally arranged pressure detection units. The horizontal direction of the horizontal arrangement is perpendicular to the direction of the AGV's front and rear. When the edge of the material does not exceed the edge of the AGV's carrying section, pressure data is obtained from the horizontally arranged pressure detection units. If the difference between the data detected by the pressure detection units is within a set value, the material is determined to be in optimal balance. If the difference between the data detected by the pressure detection units exceeds the set value, the pressure detection unit corresponding to the maximum value is obtained, and the position of the pressure detection unit is obtained. Based on the position of the pressure detection unit and the center position of the AGV, the offset of the material is obtained, and the material is moved based on the offset. The offset includes the rotation angle of the material; When the edge of the material extends beyond the edge of the AGV's support section, the bearing pressure data of the AGV's support section is obtained. The material is then lifted at the center of the support section, and the tilt state of the material is determined. If there is no tilt, the material is determined to be in the optimal balance state. If there is a tilt, the material is reset to the surface of the support section. Based on the high and low side direction of the tilt, the material is driven to move a set distance in the high side direction. The above steps are repeated until the material is in the optimal balance state.

2. The material supply and production self-balancing method according to claim 1, characterized in that: in, The maximum load capacity data is obtained based on the width of the AGV's movement channel and the AGV's own center of gravity.

3. The material supply and production self-balancing method according to claim 1, characterized in that: Based on the top view image of the AGV's carrying unit, the material can be activated by pressure detection units. The difference in the data detected by the pressure detection units is the difference between the farthest activated pressure detection units, the difference between the maximum and minimum values ​​detected by the pressure detection units, the distance between the pressure detection units with the maximum and minimum values, and the distance between the pressure detection unit corresponding to the maximum value and the center of the carrying unit.

4. The material supply and production self-balancing method according to claim 3, characterized in that: Several sets of protruding plates are connected to the bottom of the material, and the pressure data is detected based on the position of the plates.

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