Cleaning control system and detection method for running trundles of carrying AGV (Automatic Guided Vehicle) in clean workshop

Abstract

The invention discloses a cleaning control system and a detection method for carrying AGV driving trundles in a clean workshop. The cleaning control system comprises a wheel washing control system, an AGV scheduling system, a visual identification system, a wheel washing machine and an AGV. The wheel washing control system detects the current state of the wheel washing machine, and if the wheel washing machine is in an idle state, the AGV directly drives into the wheel washing machine for positioning; the AGV dispatching system carries out statistics on the number of AGV carrying times; the visual recognition system judges the wheel cleaning state according to the wheel color matching degree before and after cleaning. The cleaning effect is judged by adding visual comparison, the cleaning effect of the wheel washing machine on the AGV wheels can be remarkably improved, it is ensured that the AGV wheels are cleaned thoroughly, and whether the wheels are cleaned thoroughly or not and whether the cleaning time needs to be prolonged or not can be accurately judged.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics handling in a photovoltaic cell workshop, and in particular to a cleaning control system and a detection method for a traveling caster of an AGV used for handling in a clean workshop. Background Art

[0002] At present, photovoltaic cell production workshops mostly use AGV to automatically transport and load materials. The AGVs frequently travel back and forth and follow a planned route. Therefore, if the AGV wheels are contaminated with fine sand and dust, it will increase the wear on the ground. In the long run, it will cause heavy wheel marks and wear on the ground, affecting the cleanliness of the workshop and the service life of the ground. Therefore, it is necessary to clean the AGV wheels in time to ensure the cleanliness of the wheels. The wheel washing machine is a special equipment for cleaning the AGV wheels. However, the existing wheel washing machines on the market can only clean the AGV wheels, but cannot check the cleaning effect. After the cleaning is completed, it is impossible to confirm whether the wheels are clean.

[0003] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0004] In view of the problems in the related art, the present invention proposes a cleaning control system and a detection method for the travel casters of an AGV for transporting goods in a clean workshop, so as to overcome the above-mentioned technical problems existing in the existing related art.

[0005] To this end, the specific technical solution adopted by the present invention is as follows: A cleaning control system for a clean workshop transport AGV running caster, comprising a wheel washing control system, an AGV dispatching system, a visual recognition system, a wheel washing machine and an AGV; The wheel washing control system detects the current state of the wheel washing machine. If it is in an idle state, the AGV directly drives into the wheel washing machine for positioning; The AGV dispatching system counts the number of AGV transports; The visual recognition system determines the wheel cleaning status according to the color matching of the wheels before and after cleaning.

[0006] According to another aspect of the present invention, a cleaning detection method for a clean workshop transport AGV running caster is provided, which is used for a cleaning control system for the clean workshop transport AGV running caster, and comprises the following steps: S1. The AGV dispatching system selects the AGVs that need wheel cleaning by counting the number of AGV handling times; S2, the dispatching system issues a wheel-washing task instruction to the AGV that needs to wash its wheels; S3, after receiving the wheel washing instruction, the AGV with the designated number automatically drives to the wheel washing machine for wheel washing; S4. If the current state of the wheel washer is idle, the AGV directly drives into the wheel washer for positioning and fixing, and then the wheel washer cleans the wheels of the AGV; S5. After the cleaning operation is completed, the visual probe moves to the bottom of the AGV running wheel and takes a photo of the running wheel for comparison; S6. The wheel cleaning status is determined based on the color matching of the wheels before and after cleaning. If the wheel is clean, the AGV drives out of the wheel washer and joins the handling operation queue.

[0007] Preferably, in step S4, if the current state of the wheel washer is in operation, the AGV drives to the waiting area, and after the wheel washer completes the previous operation, the AGV drives into the wheel washer again, and then the wheel washer executes the operation process of cleaning the AGV wheels.

[0008] Preferably, in step S6, if the result of the judgment is that the wheel is not clean, the wheel washer starts to re-clean the AGV.

[0009] Preferably, the visual recognition system is configured with a comparison base map in advance. After the wheel washer finishes cleaning the AGV running wheels, the visual camera extends to a set position, takes a picture of the wheels, and then compares the obtained picture with the base map for matching.

[0010] Preferably, if the color difference deviation of the obtained photo and the base map is within the set value, it is determined to be clean and the result is fed back to the wheel washing machine control system. After receiving the feedback, the wheel washing machine releases the AGV, and the AGV drives out of the wheel washing machine to complete this round of cleaning operation.

[0011] Preferably, if the deviation of the comparison result exceeds the set value, the visual system will feedback that the wheels are not cleaned thoroughly, and the wheel washer will re-clean the wheels of the AGV according to the set procedure until they are cleaned thoroughly or the set maximum number of cleaning times is reached and the alarm prompt ends.

[0012] The beneficial effects of the present invention are as follows: by adding visual comparison to judge the cleaning effect, the cleaning effect of the wheel washer on the AGV wheels can be significantly improved, ensuring that the AGV wheels are cleaned, and accurately judging whether the wheels are cleaned and whether the cleaning time needs to be increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 This is a flow chart of a method for cleaning and detecting the travel casters of a clean workshop transport AGV according to an embodiment of the present invention; Figure 2 is a schematic diagram of an idle state of a wheel washer according to an embodiment of the present invention; Figure 3 Schematic diagram of the cleaning operation state of a wheel washer according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in the field should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0016] According to an embodiment of the present invention, a cleaning control system and a detection method for the travel casters of an AGV for transporting goods in a clean workshop are provided.

[0017] Embodiment 1:

[0018] like Figure 1-3 As shown, a cleaning control system and a detection method for the travel casters of a clean workshop transport AGV according to an embodiment of the present invention include a wheel washing control system, an AGV scheduling system, a visual recognition system, a wheel washing machine and an AGV; The wheel washing control system detects the current state of the wheel washing machine. If it is in an idle state, the AGV directly drives into the wheel washing machine for positioning; The AGV dispatching system counts the number of AGV transports; The visual recognition system determines the wheel cleaning status according to the color matching of the wheels before and after cleaning.

[0019] Embodiment 2:

[0020] like Figure 1-3 As shown, a cleaning detection method for a clean workshop transport AGV running caster is provided, which is used for the cleaning control system of the clean workshop transport AGV running caster, and includes the following steps: Step S1, the AGV dispatching system selects the AGVs that need wheel cleaning by counting the number of AGV handling times; Step S2: The dispatching system issues a wheel-washing task instruction to the AGV that needs to wash its wheels; Step S3: After receiving the wheel washing instruction, the AGV with the designated number automatically drives to the wheel washing machine for wheel washing; Step S4: If the current state of the wheel washer is idle, the AGV directly enters the wheel washer for positioning and fixing, and then the wheel washer cleans the wheels of the AGV; Step S5: After the cleaning operation is completed, the visual probe moves to the bottom of the AGV running wheel and takes a photo of the running wheel for comparison; Step S6: judging the wheel cleaning status according to the color matching of the wheels before and after cleaning. If the judgment result is that the wheel is clean, the AGV drives out of the wheel washing machine and joins the handling operation queue.

[0021] Embodiment three:

[0022] like Figure 1-3 As shown, in step S4, if the current state of the wheel washer is in operation, the AGV drives to the waiting area, and after the wheel washer completes the previous operation, the AGV drives into the wheel washer again, and then the wheel washer executes the operation process of cleaning the AGV wheels.

[0023] In step S6, if the result of the judgment is that the wheel is not clean, the wheel washer starts to re-clean the AGV.

[0024] The visual recognition system is configured with a comparison base map in advance. After the wheel washer finishes cleaning the AGV running wheels, the visual camera extends to a set position, takes a picture of the wheel, and then compares the obtained picture with the base map for matching.

[0025] If the color difference deviation of the obtained photo and the base map is within the set value, it is judged to be clean and the result is fed back to the wheel washing machine control system. After receiving the feedback, the wheel washing machine releases the AGV, and the AGV drives out of the wheel washing machine to complete this round of cleaning operation.

[0026] If the deviation of the comparison result exceeds the set value, the visual system will feedback that the wheels are not cleaned thoroughly. The wheel washer will re-clean the wheels of the AGV according to the set procedure until they are cleaned thoroughly or the set maximum number of cleaning times is reached and the alarm prompt ends.

[0027] To sum up, with the help of the above-mentioned technical scheme of the present invention, by adding visual comparison to judge the cleaning effect, the cleaning effect of the wheel washing machine on the AGV wheels can be significantly improved, ensuring that the AGV wheels are cleaned, and it can accurately judge whether the wheels are cleaned and whether the cleaning time needs to be increased.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning control system for the casters of AGVs used in clean workshops, characterized in that: Including wheel washing control system, AGV dispatching system, visual recognition system, wheel washing machine and AGV; The wheel washing control system detects the current state of the wheel washing machine. If it is in an idle state, the AGV directly drives into the wheel washing machine for positioning; The AGV dispatching system counts the number of AGV transports; The visual recognition system determines the wheel cleaning status according to the color matching of the wheels before and after cleaning.

2. A cleaning and testing method for the casters of AGV used in clean workshops, characterized in that: The cleaning control system for the clean workshop transport AGV travel casters as claimed in claim 1 comprises the following steps: S1. The AGV dispatching system selects the AGVs that need wheel cleaning by counting the number of AGV handling times; S2, the dispatching system issues a wheel-washing task instruction to the AGV that needs to wash its wheels; S3, after receiving the wheel washing instruction, the AGV with the designated number automatically drives to the wheel washing machine for wheel washing; S4. If the current state of the wheel washer is idle, the AGV directly drives into the wheel washer for positioning and fixing, and then the wheel washer cleans the wheels of the AGV; S5. After the cleaning operation is completed, the visual probe moves to the bottom of the AGV running wheel and takes a photo of the running wheel for comparison; S6. The wheel cleaning status is determined based on the color matching of the wheels before and after cleaning. If the wheel is clean, the AGV drives out of the wheel washer and joins the handling operation queue.

3. The method for cleaning and detecting the casters of the AGV used in clean workshop transportation according to claim 2 is characterized in that: In step S4, if the current state of the wheel washer is in operation, the AGV drives to the waiting area, and after the wheel washer completes the previous operation, the AGV drives into the wheel washer again, and then the wheel washer executes the operation process of cleaning the AGV wheels.

4. The method for cleaning and detecting the casters of the AGV used in clean workshop transportation according to claim 3 is characterized in that: In step S6, if the result of the judgment is that the wheel is not clean, the wheel washer starts to re-clean the AGV.

5. The method for cleaning and detecting the casters of the AGV used in clean workshop transportation according to claim 4 is characterized in that: The visual recognition system is configured with a comparison base map in advance. After the wheel washer finishes cleaning the AGV running wheels, the visual camera extends to a set position, takes a picture of the wheel, and then compares the obtained picture with the base map for matching.

6. The method for cleaning and testing the casters of the AGV used in clean workshop transportation according to claim 5 is characterized in that: If the color difference deviation of the obtained photo and the base map is within the set value, it is judged to be clean and the result is fed back to the wheel washing machine control system. After receiving the feedback, the wheel washing machine releases the AGV, and the AGV drives out of the wheel washing machine to complete this round of cleaning operation.

7. The method for cleaning and testing the casters of the AGV used in clean workshop transportation according to claim 6 is characterized in that: If the deviation of the comparison result exceeds the set value, the visual system will feedback that the wheels are not cleaned thoroughly. The wheel washer will re-clean the wheels of the AGV according to the set procedure until they are cleaned thoroughly or the set maximum number of cleaning times is reached and the alarm prompt ends.

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