Arrangement method of linear AGV (Automatic Guided Vehicle) work assembly line

Abstract

The invention discloses an arrangement method for a linear AGV work assembly line, and belongs to the technical field of assembly lines. The arrangement method comprises the steps that S1, a plurality of stations are arranged to form the work assembly line; s2, arranging a field environment, and determining a motion track of a work assembly line; s3, a self-propelled tractor is arranged, the advancing route of the self-propelled tractor is determined, and the movement track of the work assembly line is consistent with the advancing route of the self-propelled tractor; s4, a charging pile and a positioning source are arranged corresponding to the walking route of the self-propelled tractor; and S5, in the working process of the working assembly line, the station time takt is set, and automatic operation is achieved. By the adoption of the method, assembly line work is carried out on workpieces which are large in weight and difficult to carry in a movable working frame mode, the requirement for the spacing distance between the working frames is met through the working frame mode, and corresponding production problems can be found and positioned more quickly in the next procedure.

Description

Technical Field

[0001] The invention relates to the technical field of industrial assembly lines, and in particular to a method for arranging a linear AGV working assembly line. Background Art

[0002] In existing industrial production, workpieces are usually transferred between workstations using assembly lines. Usually, assembly lines use chain conveyors for transportation, and workstations are set up on both sides of the chain conveyor. When the parts to be processed flow through the workstation, the operator takes the parts from the assembly line and places them on the workstation for processing. After processing, they are put back on the chain conveyor and transported to the next process. This production method of assembly lines is more suitable for smaller and lighter items. For heavier products, two to three people will be assigned to a workstation. In addition to the production and processing of workpieces, they are also responsible for the handling and transfer of workpieces. Summary of the invention

[0003] The purpose of the present invention is to provide a method for arranging a linear AGV work line, in which the workstations are disassembled into multiple mobile work frames, and work is performed directly on the assembly line without the need for transportation or transfer. At the same time, intervals are left between the work frames to provide a better working space. The operation of the assembly line is maintained by a self-propelled AGV, and the working status of the assembly line is controlled by a console and a network, thereby meeting the needs of assembly line production of heavier objects.

[0004] To achieve the above object, the present invention provides a method for arranging a linear AGV work line, comprising the following steps: S1: A plurality of workstations are arranged to form a work assembly line, each of which is provided with a gap, each of which is provided with a plurality of work racks, each of which is provided with a control console, a vehicle slot for a self-propelled tractor is provided at the bottom of the work rack, and the control console is connected to the vehicle slot of the self-propelled tractor; S2: Arrange the on-site environment and determine the movement trajectory of the work assembly line; S3: Setting a self-propelled tractor and determining the route of the self-propelled tractor. The movement trajectory of the work line is consistent with the route of the self-propelled tractor. S4: Set up charging piles and positioning sources corresponding to the travel route of the self-driving tractor; S5: During the working process of the work assembly line, set the workstation time rhythm to achieve automatic operation.

[0005] Preferably, the work frame in step S1 includes a work surface, a moving assembly is arranged below the work surface, and the moving wheels include four moving wheels, the moving wheels are connected to the work surface through support rods, a vehicle slot for a self-tractor is arranged between the support rods, and the self-tractor enters and exits the vehicle slot.

[0006] Preferably, the specific contents of step S2 are as follows: arranging the on-site environment, the on-site environment including the operating environment and the network environment; The operating environment is indoors, and there must be no sudden changes in the light source environment. The ground must be wear-resistant, static-free, and dust-free. At the same time, the load-bearing index is required to be: 2000kg / ㎡, flatness ≤10mm / ㎡, groove width ≤15mm, step height ≤10mm, slope ≤3% / 1.7°; Network environment: Wi-Fi signals are used to lay the network. There must be no signal blind spots in the route of the self-propelled tractor. For Wi-Fi in the 2.4GHz band, the signal strength must be greater than -60dB, and the ping 1500Byte packet delay must be less than 80ms. For Wi-Fi in the 5.8GHz band, the signal strength must be greater than -57dB, and the ping 1500Byte packet delay must be less than 80ms. Determine the motion trajectory of the work assembly line, the motion trajectory of the work assembly line is the travel route of the work frame, and the travel route of the work frame forms a closed loop.

[0007] Preferably, in step S3, the self-driving tractor includes a visual camera, an automatic driving camera, a network locator, an emergency stop button, an anti-collision bar, a laser radar, a light strip, a power button and a contact connection point; Visual camera: obtains depth maps, perceives the surrounding environment, and helps the robot plan routes and avoid obstacles; Autonomous driving camera: senses the surrounding environment, identifies obstacles, and helps the robot with visual positioning and intelligent obstacle avoidance; Network locator: using the network to locate the self-propelled tractor through the on-site environment of step S2; Emergency stop button: In case of emergency, press this button to stop the self-tractor; Anti-collision bar: When a collision occurs, the anti-collision bar will be triggered and the self-tracting vehicle will stop moving; Lidar: Two Lidars are installed at the diagonal positions of the self-propelled tractor, and cooperate with the camera to achieve accurate distance measurement; Light strip: Use different colors to indicate the status of the self-tractor; Contact connection point: The self-propelled tractor is connected to the control console via the connection point using the vehicle slot.

[0008] Preferably, in step S4, the process of setting the charging pile and the positioning source is as follows: Charging piles are set at the bottom of the workstation in an interval or continuous manner. Wireless charging is adopted. After the self-propelled tractor drags the work frame to the workstation, wireless charging can be performed; Positioning source, using reflective anti-collision cotton or reflective column, in the workplace, set up a positioning source every 5-8 meters, the positioning source to assist in the positioning of the self-propelled tractor.

[0009] Preferably, in step S5, the specific contents of realizing automatic operation are as follows: setting working time, the working time of each workstation is set to be equal, when the working time is met, all self-driving tractors go to the previous workstation according to the motion trajectory of the work assembly line, complete one transfer of the assembly line, repeat the above process, and the work assembly line runs automatically; When the pipeline operation process needs to be regulated, there are two control methods, network control and console control, as follows: Network control: The network sends commands to the self-propelled tractor through the host computer, controls the direction and route of the self-propelled tractor, and solves the abnormalities that occur during the work of the self-propelled tractor. If the abnormalities cannot be solved, the corresponding staff will be alerted; Console control: Through the console, the staff gives instructions to the self-tractor, and the self-tractor moves forward according to the instructions.

[0010] Therefore, the present invention adopts the above-mentioned arrangement method of a linear AGV work line, which has the following advantages: In the present invention, a safer mixed human-machine workspace is achieved through the solution of a self-propelled tractor. By dividing the work frame and the self-propelled tractor, they are convenient for replacement with each other, can adapt to working conditions of more different working situations, have better durability and versatility, and by setting up wireless charging piles on the ground, the self-propelled tractor can be charged during the work process to meet the work requirements of long battery life.

[0011] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of a working assembly line in a method for arranging a linear AGV working assembly line of the present invention; Figure 2 It is a schematic diagram of a working frame in a method for arranging a linear AGV working line of the present invention; Figure numerals: 1. self-propelled tractor; 2. working surface; 3. moving wheel. DETAILED DESCRIPTION

[0013] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations. The specific model specifications need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method adopts the existing technology in the field, so it will not be described in detail.

[0014] Example like Figure 1-Figure 2 As shown, the present invention provides a method for arranging a linear AGV work line, comprising the following steps: S1: A plurality of workstations are arranged to form a work assembly line, each of which is provided with a gap between them, and each of which is provided with a plurality of work racks, the work racks including a work surface, the work surface is adaptively arranged corresponding to the workpiece to be processed, and the stability of the workpiece and a good working field are maintained, a moving assembly is arranged below the work surface, including four moving wheels, the moving wheels are connected to the work surface through support rods, a vehicle slot for a self-propelled tractor is arranged between the support rods, the self-propelled tractor can enter and exit the vehicle slot, and the self-propelled tractor can be quickly replaced, a control console is arranged in each work rack, a vehicle slot for a self-propelled tractor is arranged at the bottom of the work rack, the control console is connected to the vehicle slot of the self-propelled tractor, and the control console forms an active connection with the self-propelled tractor through the vehicle slot, which can facilitate the control console to issue instructions corresponding to the current self-propelled tractor; S2: Arrange the on-site environment, which includes the operating environment and network environment. The operating environment is indoors, and there should be no sudden changes in the light source environment to avoid affecting the perception of the self-propelled tractor. The ground should be wear-resistant, static-free, and dust-free. At the same time, the load-bearing index is required to be: 2000kg / ㎡, flatness ≤10mm / ㎡, groove width ≤15mm, step height ≤10mm, and slope ≤3% / 1.7° to facilitate the movement of the self-propelled tractor; Network environment: Wi-Fi signals are used to lay the network. There must be no signal blind spots in the route of the self-propelled tractor. For Wi-Fi in the 2.4GHz band, the signal strength must be greater than -60dB, and the ping 1500Byte packet delay must be less than 80ms. For Wi-Fi in the 5.8GHz band, the signal strength must be greater than -57dB, and the ping 1500Byte packet delay must be less than 80ms. The functions implemented in the network environment are as follows: 1. Self-driving vehicle task scheduling module: communicate with the self-driving vehicle, select a suitable machine from the idle self-driving vehicles, and guide the self-driving vehicle to complete the picking and transportation functions along the optimal route.

[0015] 2. Dashboard module: including global statistics, robot trajectory, and real-time self-driving vehicle module. It can display the position of the self-driving vehicle in real time on the map, and can set whether to display prohibited areas, restricted areas, road networks, elevators, unloading points and other locations.

[0016] 3. Equipment management: The equipment management module includes tractor management, charging pile management, tractor model management, charging pile model management, connection management module, robot configuration and Modbus configuration. The robot management module lists the robot status, and can edit, delete, view details and enter the scheduling mode.

[0017] 4. Tractor management: Display a list of tractor models, create, edit and delete robot models. The robot model list includes type, name, length, width, height, ground clearance, maximum load, maximum driving speed, operating time, turning radius, minimum crossing width, charging options, charging time, battery voltage, battery capacity and operation.

[0018] 5. Charging pile management module: Displays the list of connected charging piles, can create new charging piles, and edit and delete charging piles. The charging pile list contains the charging pile name, name, number, serial number, status, charging status, charging robot, description, and operation functions.

[0019] 6. Job management: The job management module can be used to perform simple task scheduling for a single or cluster of self-propelled tractors in a graphical programming manner to form a "job". After the task is generated, the job list will display the created task item, and the task execution details can be edited, deleted, and viewed.

[0020] 7. Monitoring management: The monitoring management function configures, manages and monitors the devices connected to the system, including overview, monitoring configuration, monitoring rules, trigger action list and monitoring alarm. Robot overview shows a list of robot operation status, including tractor name, working mode: navigation, mapping, error, etc., power: displays the real-time power of the robot, status: online, offline, machine running time: displays the robot startup running time, unit is min, last updated time: 8. Path planning: Real-time path planning: According to the location of the selected self-driving tractor and the location of the target site, the route of the self-driving tractor is optimally planned, and the self-driving tractor is guided to move along the planned route to complete the picking and transportation function.

[0021] Deep learning continuously optimizes robot paths: Based on deep learning neural networks, self-driving vehicles perform path planning. Self-driving vehicles can perceive environmental information and perform global and local path planning. After path planning is completed, self-driving vehicles use Cortex to plan dynamic specific needs in the overall path, deploy each self-driving vehicle to perform precise actions, and be able to adjust to subtle environmental changes and select the best route to operate; thereby achieving traffic control. In certain specific areas, due to space reasons, only a limited number of self-driving vehicles can pass at the same time. In this case, the dispatching system is required to manage the self-driving vehicles and guide certain self-driving vehicles that meet the conditions to pass first, and other self-driving vehicles pass in a certain order to achieve traffic control for self-driving vehicles.

[0022] 9. Task query: query the task information currently being executed or waiting to be executed in the dispatch system, including: task identification, task type (specific self-propelled tractor task, random task, long-term task, charging task, etc.) task details (product type, product quantity, etc.) 10. Task priority: task execution status (executing, completed, waiting for execution, canceled, etc.), task start and end time.

[0023] 11. Task issuance: WMS or WCS issues task information to the dispatching system, and the dispatching system returns the task identifier to WMS or WCS. The task information includes: task type (specific self-propelled tractor task, random task, long-term task, charging task, etc.) and task details; 12. Feedback on task execution: When a self-driving tractor successfully completes a task or is unable to complete a task due to some special reasons, the dispatching system will feedback the task execution results to the WMS or WCS.

[0024] 13. Equipment working condition and task query: The cluster dispatch system can record the operating status and task information of the self-propelled tractor for monitoring, such as the task status, location and status of the self-propelled tractor, and store them reliably and display them in a graphical interface. It can be customized according to customer needs. 14. Task and work status log: query the self-propelled tractor's historical tasks and work status log and other information. The production volume and efficiency tracking system background can dynamically monitor the production volume and efficiency in the field in real time, including the location and idle status of the self-propelled tractor; After determining the motion trajectory of the work assembly line, the above module determines the location of the workstation and the direction of the work assembly line according to the conditions of the work site. The motion trajectory of the work assembly line is the travel route of the work rack, and the travel route of the work rack forms a closed loop. In this embodiment, Figure 1As shown, the motion trajectory of the work line is set as a circular rectangular trajectory. S3: Setting up a self-propelled tractor, which includes a visual camera, an autonomous driving camera, a network locator, an emergency stop button, an anti-collision bar, a laser radar, a light strip, a power button, and a contact connection point; Visual camera: obtains depth maps, perceives the surrounding environment, and helps the robot plan routes and avoid obstacles; Autonomous driving camera: senses the surrounding environment, identifies obstacles, and helps the robot with visual positioning and intelligent obstacle avoidance; Network locator: through the on-site environment of step S2, the network is used to locate the self-propelled tractor, so as to facilitate and accurately move the self-propelled tractor; Emergency stop button: In case of emergency, press this button to stop the self-tractor; Anti-collision bar: When a collision occurs, the anti-collision bar will be triggered and the self-tracting vehicle will stop moving; Lidar: Two Lidars are installed at the diagonal positions of the self-propelled tractor, and cooperate with the camera to achieve accurate distance measurement; Light strip: Use different colors to indicate the status of the self-tractor; Contact connection point: The self-propelled tractor is connected to the control console via the connection point using the vehicle slot.

[0025] Determine the route of the self-driving vehicle. The movement trajectory of the work line is consistent with the route of the self-driving vehicle. However, the self-driving vehicle is additionally provided with an alternative route. When there is a problem of insufficient machine performance, the type of self-driving vehicle can be replaced by itself to complete different tasks.

[0026] S4: Set up charging piles and positioning sources corresponding to the travel route of the self-driving tractor; The process of setting up the charging pile and positioning source is as follows: Charging piles are set at the bottom of the workstation in an interval or continuous manner. Wireless charging is adopted. After the self-propelled tractor drags the work frame to the workstation, wireless charging can be carried out. The positioning source adopts reflective anti-collision cotton or reflective column, and a positioning source is set up every 5-8 meters. The self-propelled tractor relies on the positioning source to play an auxiliary positioning role.

[0027] S5: During the working process of the work assembly line, the work station time rhythm is set to realize automatic operation, the working time is set, and the working content of each work station is adjusted so that the working time of each work station is set equal to form the operating conditions of the assembly line. When the working time is met, all self-driving tractors go to the previous work station according to the movement trajectory of the work assembly line to complete a transfer of the assembly line. The above process is repeated, and the work assembly line runs automatically; When the pipeline operation process needs to be regulated, there are two control methods, network control and console control, as follows: Network control: The network sends commands to the self-propelled tractor through the host computer, controls the direction and route of the self-propelled tractor, and solves the abnormalities that occur during the work of the self-propelled tractor. If the abnormality cannot be solved, the corresponding staff will be alerted, and the staff will solve the abnormality through network control combined with on-site solution. Console control: Through the console, the staff gives instructions to the self-tractor, and the self-tractor moves forward according to the instructions.

[0028] Therefore, the present invention adopts a method for arranging a linear AGV work line, and realizes a safer human-machine mixed workspace through the solution of a self-propelled tractor. By dividing the work frame and the self-propelled tractor, it is convenient to replace each other, can adapt to the working conditions of more different working situations, has better durability and versatility, and by setting up wireless charging piles on the ground, the self-propelled tractor can be charged during the work process to meet the work requirements of long battery life.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for arranging a linear AGV work line, characterized in that: The following steps are involved: S1: A plurality of workstations are arranged to form a work assembly line, each of which is provided with a gap, each of which is provided with a plurality of work racks, each of which is provided with a control console, a vehicle slot for a self-propelled tractor is provided at the bottom of the work rack, and the control console is connected to the vehicle slot of the self-propelled tractor; S2: Arrange the on-site environment and determine the movement trajectory of the work assembly line; S3: Setting a self-propelled tractor and determining the route of the self-propelled tractor. The movement trajectory of the work line is consistent with the route of the self-propelled tractor. S4: Set up charging piles and positioning sources corresponding to the travel route of the self-driving tractor; S5: During the working process of the work assembly line, set the workstation time rhythm to achieve automatic operation.

2. The method for arranging a linear AGV work line according to claim 1, characterized in that: The work frame in step S1 includes a work surface, and a moving component is arranged below the work surface, including four moving wheels, which are connected to the work surface through support rods, and a vehicle slot for a self-tractor is arranged between the support rods, and the self-tractor enters and exits the vehicle slot.

3. The method for arranging a linear AGV work line according to claim 2, characterized in that: The specific contents of step S2 are as follows: arranging the on-site environment, which includes the operating environment and the network environment; The operating environment is indoors, and there must be no sudden changes in the light source environment. The ground must be wear-resistant, static-free, and dust-free. At the same time, the load-bearing index is required to be: 2000kg / ㎡, flatness ≤10mm / ㎡, groove width ≤15mm, step height ≤10mm, slope ≤3% / 1.7°; Network environment: Wi-Fi signals are used to lay the network. There must be no signal blind spots in the route of the self-propelled tractor. For Wi-Fi in the 2.4GHz band, the signal strength must be greater than -60dB, and the ping 1500Byte packet delay must be less than 80ms. For Wi-Fi in the 5.8GHz band, the signal strength must be greater than -57dB, and the ping 1500Byte packet delay must be less than 80ms. Determine the motion trajectory of the work assembly line, the motion trajectory of the work assembly line is the travel route of the work frame, and the travel route of the work frame forms a closed loop.

4. The method for arranging a linear AGV work line according to claim 3, characterized in that: In step S3, the self-driving tractor includes a visual camera, an automatic driving camera, a network locator, an emergency stop button, an anti-collision bar, a laser radar, a light strip, a power button and a contact connection point; Visual camera: obtains depth maps, perceives the surrounding environment, and helps the robot plan routes and avoid obstacles; Autonomous driving camera: senses the surrounding environment, identifies obstacles, and helps the robot with visual positioning and intelligent obstacle avoidance; Network locator: using the network to locate the self-propelled tractor through the on-site environment of step S2; Emergency stop button: In case of emergency, press this button to stop the self-tractor; Anti-collision bar: When a collision occurs, the anti-collision bar will be triggered and the self-tracting vehicle will stop moving; Lidar: Two Lidars are installed at the diagonal positions of the self-propelled tractor, and cooperate with the camera to achieve accurate distance measurement; Light strip: Use different colors to indicate the status of the self-tractor; Contact connection point: The self-propelled tractor is connected to the control console via the connection point using the vehicle slot.

5. The method for arranging a linear AGV work line according to claim 4, characterized in that: In step S4, the process of setting the charging pile and the positioning source is as follows: Charging piles are set at the bottom of the workstation in an interval or continuous manner. Wireless charging is adopted. After the self-propelled tractor drags the work frame to the workstation, wireless charging can be performed; The positioning source adopts reflective anti-collision cotton or reflective column. A positioning source is set up every 5-8 meters in the workplace. The positioning source plays an auxiliary positioning role for the self-propelled tractor.

6. The method for arranging a linear AGV work line according to claim 1, characterized in that: In step S5, the specific contents of realizing automatic operation are as follows: setting working time, the working time of each workstation is set to be equal, when the working time is met, all self-driving tractors go to the previous workstation according to the motion trajectory of the work assembly line, complete one transfer of the assembly line, repeat the above process, and the work assembly line runs automatically; When the pipeline operation process needs to be regulated, there are two control methods, network control and console control, as follows: Network control: The network sends commands to the self-propelled tractor through the host computer, controls the direction and route of the self-propelled tractor, and solves the abnormalities that occur during the work of the self-propelled tractor. If the abnormalities cannot be solved, the corresponding staff will be alerted; Console control: Through the console, the staff gives instructions to the self-tractor, and the self-tractor moves forward according to the instructions.

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