Efficient and reliable EMS lifting appliance control method and system

Abstract

The invention relates to the technical field of EMS lifting appliance control, and particularly discloses an efficient and reliable EMS lifting appliance control method and system, and the method comprises the steps: selecting a test point in a distribution region according to a preset selection grid, obtaining the motion trail of any test point and any station, and constructing a motion trail library; receiving a task starting point and a task ending point input by a worker, querying a movement track in a movement track library according to the task starting point and the task ending point, and determining a position set containing time information of each EMS lifting appliance; generating a control instruction set according to the position set containing the time information, and sending the control instruction set to a controller of the corresponding EMS lifting appliance; the control instruction is used for adjusting the position; and the position of each EMS lifting appliance is collected based on the dynamic frequency, the position of each EMS lifting appliance is verified, an active adjustment instruction is generated according to a verification result, and the frequency is synchronously adjusted. Waveguide tubes or communication sliding contact rails do not need to be laid, and convenience is extremely high.

Description

Technical Field

[0001] The present invention relates to the technical field of EMS spreader control, and specifically to an efficient and reliable EMS spreader control method and system. Background Art

[0002] An EMS spreader, that is, an electromagnetic spreader, is a device that uses the electromagnetic principle to lift and transport heavy objects. It mainly consists of an electromagnet, a hook, and a control system. The working principle of an EMS conveyor line is based on a sliding contact line power supply method, and functions such as starting, stopping, moving, and lifting of the car body system are realized through PLC programming. An overhead conveyor line is an overhead suspension conveyor system that runs along a preset overhead track, and multiple load-carrying vehicles work independently. Using a modular design, it can be designed into many operating forms according to customer needs, and the layout is flexible. Equipped with a spreader lifting unit, it can form a three-dimensional transportation in the horizontal and vertical directions. The spreader can automatically adjust the height according to different workpieces and different processes, greatly optimizing the ergonomics. EMS can also be widely used in industries and fields such as agricultural machinery, household appliances, tobacco, warehousing logistics, motorcycles, metallurgy, and machining.

[0003] In the EMS solution, most traditional communication methods use sliding contact line communication or waveguide communication. The installation of the terminal is even less flexible, and the movement is restricted within the laid waveguide or communication sliding contact track. The deployment labor and hardware costs are very high, the maintenance difficulty is large, and it occupies a large amount of equipment space in the production workshop. How to provide a more efficient and convenient EMS architecture is the technical problem that the technical solution of the present invention wants to solve. Summary of the Invention

[0004] The purpose of the present invention is to provide an efficient and reliable EMS spreader control method and system to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An efficient and reliable EMS spreader control method, the method includes:

[0007] Obtain the EMS conveyor line, determine the distribution area according to the EMS conveyor line, and mark the workstations in the distribution area; the distribution area is a three-dimensional area, and the workstations are three-dimensional coordinates;

[0008] Select test points in the distribution area according to a preset selection grid, obtain the movement trajectories of any test point and any workstation, and construct a movement trajectory library;

[0009] Receive the task start point and task end point input by the staff, query the movement trajectory in the movement trajectory library according to the task start point and task end point, and determine the position set with time information of each EMS spreader;

[0010] Generate a control instruction set based on the position set containing time information and send it to the controller of the corresponding EMS spreader; the control instruction is used to adjust the position.

[0011] Collect the positions of each EMS spreader based on the dynamic frequency, verify the positions of each EMS spreader, generate an active adjustment instruction according to the verification result, and synchronously adjust the frequency.

[0012] Among them, data is transmitted between the controller of the EMS spreader and the EMS spreader through a wired connection method, and the active adjustment instruction is transmitted to the EMS spreader through a 5G wireless network.

[0013] As a further solution of the present invention: the step of selecting test points in the distribution area according to the preset selection grid, obtaining the motion trajectories of any test point and any work station, and constructing a motion trajectory library includes:

[0014] Receive the grid cell size input by the staff, and insert grids in the distribution area according to the grid cell size; one end point of the grid coincides with one end point of the distribution area.

[0015] Read the intersection points of the grid and use the intersection points as test points.

[0016] Select any test point from the test points and any work station from the work stations to obtain a combination plan.

[0017] Determine the shortest motion trajectory of each combination plan in the conveying line.

[0018] Statistically analyze all combination plans and their shortest motion trajectories to obtain a motion trajectory library.

[0019] As a further solution of the present invention: the step of receiving the task start point and task end point input by the staff, querying the motion trajectory in the motion trajectory library according to the task start point and task end point, and determining the position set containing time information of each EMS spreader includes:

[0020] Receive the time task start point and time task end point input by the staff.

[0021] Obtain the test point closest to the task start point and the work station corresponding to the task end point.

[0022] Match the combination plan in the motion trajectory library according to the obtained test point and work station, and query the corresponding motion trajectory.

[0023] Calculate the minimum motion speed according to the time of the task start point and the time of the task end point, and convert the motion trajectory into a set of positions containing time based on the minimum motion speed.

[0024] Among them, the calculation process of the minimum movement speed is as follows:

[0025] In the formula, v represents the minimum movement speed, l represents the distance of the movement trajectory, dt represents the difference between the time at the task end point and the time at the task start point; α is a preset correction coefficient greater than one.

[0026] As a further solution of the present invention: The steps of collecting the positions of each EMS spreader based on the dynamic frequency, verifying the positions of each EMS spreader, generating an active adjustment instruction according to the verification result, and synchronously adjusting the frequency include:

[0027] Collect the positions of each EMS spreader based on the dynamic frequency;

[0028] Statistically analyze each position based on the distribution area to obtain a spreader distribution map; the spreader distribution map is a zero-one matrix, where one indicates that there is a spreader at that position, and zero indicates that there is no spreader at that position;

[0029] Read the position at the current moment in each position set containing time information as the theoretical position;

[0030] Statistically analyze all theoretical positions based on the distribution area to obtain a theoretical distribution map;

[0031] Compare the spreader distribution map with the theoretical distribution map, generate an active adjustment instruction according to the comparison result, and synchronously adjust the frequency.

[0032] As a further solution of the present invention: The steps of comparing the spreader distribution map with the theoretical distribution map, generating an active adjustment instruction according to the comparison result, and synchronously adjusting the frequency include:

[0033] Compare the spreader distribution map with the theoretical distribution map, and pair the row and column positions with a value of one among them; the pairing rule is that for a row and column position with a value of one in the spreader distribution map, match it with the row and column position with a value of one in the theoretical distribution map that is closest to it;

[0034] Read the distance between any pair of row and column positions. When the distance reaches the preset threshold, use the row and column position in the spreader distribution map as the starting point and the row and column position in the theoretical distribution map as the ending point to determine the active adjustment vector;

[0035] Generate an active adjustment instruction according to the active adjustment vector;

[0036] Statistically analyze the magnitudes of all active adjustment vectors and synchronously adjust the frequency;

[0037] The relationship between the frequency and the magnitude is as follows:

[0038] Wherein, f represents the adjusted frequency, f0 represents the preset base frequency, β is the preset correction coefficient, N represents the total number of active adjustment vectors, and R i represents the i-th active adjustment vector, and |R i | represents the modulus of the i-th active adjustment vector.

[0039] As a further solution of the present invention: The method further includes:

[0040] An obstacle avoidance detection module is built in the EMS spreader;

[0041] When the obstacle avoidance detection module is activated, the activation period is recorded;

[0042] The activation period is fed back to the master control terminal, and the master control terminal adjusts the dynamic frequency within the activation period to the preset maximum value.

[0043] The technical solution of the present invention also provides an efficient and reliable EMS spreader control system, and the system includes:

[0044] A station marking module, configured to obtain the EMS conveying line, determine the distribution area according to the EMS conveying line, and mark stations in the distribution area; the distribution area is a three-dimensional area, and the stations are three-dimensional coordinates;

[0045] A trajectory pre-generation module, configured to select test points in the distribution area according to a preset selection grid, obtain the movement trajectories of any test point and any station, and construct a movement trajectory library;

[0046] A position set determination module, configured to receive the task start point and task end point input by the staff, query the movement trajectory in the movement trajectory library according to the task start point and task end point, and determine the position set with time information of each EMS spreader;

[0047] An instruction set sending module, configured to generate a control instruction set according to the position set with time information and send it to the controller of the corresponding EMS spreader; the control instruction is used to adjust the position;

[0048] A position verification module, configured to collect the positions of each EMS spreader based on the dynamic frequency, verify the positions of each EMS spreader, generate an active adjustment instruction according to the verification result, and synchronously adjust the frequency;

[0049] Wherein, data is transmitted between the controller of the EMS spreader and the EMS spreader through a wired connection method, and the active adjustment instruction is transmitted to the EMS spreader through a 5G wireless network.

[0050] As a further solution of the present invention: The trajectory pre-generation module includes:

[0051] A grid insertion unit, configured to receive the grid cell size input by a staff member, and insert a grid in the distribution area according to the grid cell size; one end point of the grid coincides with one end point of the distribution area;

[0052] A test point determination unit, configured to read the intersection points of the grid and use the intersection points as test points;

[0053] A combination unit, configured to select one test point from the test points and select one work station from the work stations to obtain a combination scheme;

[0054] A shortest trajectory determination unit, configured to determine the shortest movement trajectory of each combination scheme in the conveying line;

[0055] A trajectory statistics unit, configured to count all combination schemes and their shortest movement trajectories to obtain a movement trajectory library.

[0056] As a further scheme of the present invention: the position set determination module includes:

[0057] A task receiving unit, configured to receive the time task start point and the time task end point input by a staff member;

[0058] A first query unit, configured to obtain the test point closest to the task start point and obtain the work station corresponding to the task end point;

[0059] A second query unit, configured to match a combination scheme in the movement trajectory library according to the obtained test point and work station, and query the corresponding movement trajectory;

[0060] A trajectory conversion unit, configured to calculate the minimum movement speed according to the time of the task start point and the time of the task end point, and convert the movement trajectory into a set of positions with time based on the minimum movement speed;

[0061] Wherein, the calculation process of the minimum movement speed is:

[0062] In the formula, v represents the minimum movement speed, l represents the distance of the movement trajectory, dt represents the difference between the time of the task end point and the time of the task start point; α is a preset correction coefficient greater than one.

[0063] As a further scheme of the present invention: the position verification module includes:

[0064] A position acquisition unit, configured to acquire the positions of each EMS spreader based on a dynamic frequency;

[0065] A distribution map generation unit, configured to count each position based on the distribution area to obtain a spreader distribution map; the spreader distribution map is a zero-one matrix, where one indicates that there is a spreader at this position, and zero indicates that there is no spreader at this position;

[0066] A position set access unit for reading the position at the current moment in each position set containing time information as the theoretical position.

[0067] A theoretical diagram construction unit for statistically obtaining all theoretical positions based on the distribution area to obtain a theoretical distribution diagram.

[0068] A comparison unit for comparing the spreader distribution diagram and the theoretical distribution diagram, generating an active adjustment instruction according to the comparison result, and synchronously adjusting the frequency.

[0069] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention pre-obtains the movement trajectories of all EMS spreaders. When a demand is received, an instruction set is generated according to the movement trajectories and sent to the controller of the EMS spreader, making the control process of the EMS spreader independent. On this basis, the position of the EMS spreader is obtained regularly, and then some active adjustment instructions are generated to ensure the accuracy of the control result. Among them, data is transmitted between the controller of the EMS spreader and the EMS spreader through a wired connection method, and the active adjustment instruction is transmitted to the EMS spreader through a 5G wireless network. The performance requirements of the controller of the EMS spreader are extremely low, the cost is very low, and there is no need to lay waveguide pipes or communication sliding contact tracks, with extremely high convenience. Description of the Drawings

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0071] Figure 1 It is a structural schematic diagram of an efficient and reliable EMS spreader control method.

[0072] Figure 2 It is a first sub-structural schematic diagram of an efficient and reliable EMS spreader control method.

[0073] Figure 3 It is a second sub-structural schematic diagram of an efficient and reliable EMS spreader control method.

[0074] Figure 4 It is a third sub-structural schematic diagram of an efficient and reliable EMS spreader control method.

[0075] Figure 5 It is a block diagram of the composition structure of an efficient and reliable EMS spreader control system. Detailed Embodiments

[0076] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0077] Figure 1 It is a schematic structural diagram of an efficient and reliable EMS spreader control method. In an embodiment of the present invention, an efficient and reliable EMS spreader control method, the method includes:

[0078] Step S100: Obtain the EMS conveying line, determine the distribution area according to the EMS conveying line, and mark the workstations in the distribution area; the distribution area is a three-dimensional area, and the workstations are three-dimensional coordinates;

[0079] The EMS spreader, that is, the electromagnetic spreader, is a device that uses the electromagnetic principle to lift and transport heavy objects. It mainly consists of an electromagnet, a hook and a control system. The working principle of the EMS conveying line is based on the sliding contact line power supply method, and the start-stop, walking, lifting and other functions of the car group system are realized through PLC programming; the EMS conveying line in the above content refers to the position that the control device of the spreader can reach, which is a pre-set fixed line; determine the distribution area according to the EMS conveying line, the distribution area is the range that the EMS conveying line can affect, mark the workstations in the distribution area, the workstations refer to the positions that the EMS conveying line can transport the EMS spreader to, and the workstations are the working positions in the production activities. The EMS spreader transports the corresponding parts to the workstations for processing.

[0080] It should be noted that the EMS spreader can move in three dimensions. Therefore, the distribution area is actually a three-dimensional area, and each workstation is also a three-dimensional coordinate.

[0081] Step S200: Select test points in the distribution area according to the preset selection grid, obtain the movement trajectories of any test point and any workstation, and construct a movement trajectory library;

[0082] The difference between the technical solution of the present invention and the prior art is that after the distribution area is determined, multiple test points are selected in the distribution area, the test points are used as the starting points, the movement trajectories of them reaching any workstation are obtained, the test points and the workstations are paired. If there are A test points and B workstations, then there are A*B pairing methods, and all the obtained movement trajectories are stored in a database, which is called the movement trajectory library.

[0083] Step S300: Receive the task start point and task end point input by the staff, query the movement trajectory in the movement trajectory library according to the task start point and task end point, and determine the position set with time information of each EMS spreader;

[0084] In actual application, the starting point and ending point of the task input by the receiving staff are received. According to the starting point and ending point of the task, the motion trajectory can be queried in the motion trajectory library, and then the motion trajectory is converted into a position set containing time information. It should be noted that the process of converting the motion trajectory into a position set containing time information is as follows:

[0085] The required moment input by the receiving staff is received. The required moment refers to the time when reaching the ending point of the task. When starting to transport, the current moment is recorded. According to the current moment and the required moment, the motion speed can be determined. Then, taking the unit time as the step length, the positions corresponding to each unit time between the current moment and the required moment are sequentially obtained, so as to simplify the motion trajectory into a position set. Generally speaking, points are selected at intervals in the motion trajectory, the corresponding time is determined, and the points containing time are the positions, and the set of positions is the position set.

[0086] Step S400: Generate a control instruction set according to the position set containing time information, and send it to the controller of the corresponding EMS spreader; the control instruction is used to adjust the position.

[0087] The position set can be used as a reference for generating control instructions, continuously generating displacement instructions pointing to the next position, which are the control instructions. The speed adopts the motion speed determined by the current moment and the required moment. That is to say, the control instruction is used to adjust the position. After the control instruction set is generated, the control instruction set is sent to the controller of the corresponding EMS spreader. At this time, the control process becomes a local process of the EMS spreader and its controller relatively speaking, and the data transmission efficiency is very high. The controller only needs to consider the position problem, and the generation process of the local control instruction is very simple. High performance is not required to achieve the control process.

[0088] Step S500: Collect the positions of each EMS spreader based on dynamic frequency, verify the positions of each EMS spreader, and generate an active adjustment instruction according to the verification result to synchronously adjust the frequency.

[0089] However, since some other control rules will be introduced in the control process of the EMS spreader itself, such as obstacle avoidance rules or emergency handling rules, which are used for avoiding obstacles and emergency handling respectively. At this time, the control instruction will change, mainly the speed needs to be adjusted. For example, if an EMS spreader stops at a certain position for a few seconds, then the original motion speed will change, and the changed control instruction is generated by the execution subject of this method, that is, the master control end, collects the positions of each EMS spreader, verifies the positions of each EMS spreader, and generates an active adjustment instruction according to the verification result.

[0090] It should be noted that the verification process of the master control terminal is carried out at a dynamic frequency. According to the verification results, the frequency at which errors occur is determined. The higher the frequency of errors, the higher the frequency of the acquisition position.

[0091] In addition, data transmission between the controller of the EMS spreader and the EMS spreader is carried out through a wired connection method, and the active adjustment command is transmitted to the EMS spreader through a 5G wireless network. The control process between the controller of the EMS spreader and the EMS spreader is the main process. The control instruction set is sent to the controller of the EMS spreader. In most cases, the EMS spreader is controlled by the controller of the EMS spreader, and the generation frequency of the active adjustment command is not high. Therefore, wireless transmission is adopted. In addition, the EMS spreader and its controller are almost integrated, and wired connection is very convenient. It is almost impossible to use a wired connection method between the EMS spreader and the master control terminal, unless the line is built into the guide rail of the EMS spreader, which will be very costly.

[0092] Specifically, through the low latency and high bandwidth characteristics of the 5G network, combined with the Overlay tunnel technology and VXLAN technology, the present invention can ensure that the control signals of the Profinet protocol can be transmitted stably and in real time.

[0093] Figure 2 For the first sub-structure schematic diagram of an efficient and reliable EMS spreader control method, the steps of selecting test points in the distribution area according to a preset selection grid and obtaining the motion trajectories of any test point and any work station and constructing a motion trajectory library include:

[0094] Step S201: Receive the grid cell size input by the staff, and insert grids in the distribution area according to the grid cell size; one of the endpoints of the grid coincides with one of the endpoints of the distribution area;

[0095] Step S202: Read the intersection points of the grids and use the intersection points as test points;

[0096] Step S203: Select any one test point from the test points and any one work station from the work stations to obtain a combination scheme;

[0097] Step S204: Determine the shortest motion trajectory of each combination scheme in the conveying line;

[0098] Step S205: Statistically analyze all combination schemes and their shortest motion trajectories to obtain a motion trajectory library.

[0099] Receive the grid cell size input by the staff. The grid cell is generally a cube, and the grid cell size is the side length. Construct a grid according to the grid cell size, and then make one of its endpoints coincide with an endpoint of the distribution area, so as to divide the distribution area into small cells; among them, the intersection points of the grid are the test points. Select a test point from the test points and a work station from the work stations to obtain a combination plan. For each combination plan, determine the shortest movement trajectory in the conveying line as the path from the test point to the work station. Count all combination plans and their shortest movement trajectories to obtain a movement trajectory library.

[0100] Figure 3 It is a schematic diagram of the second sub-structure of an efficient and reliable EMS spreader control method. The steps of receiving the task start point and the task end point input by the staff and querying the movement trajectory in the movement trajectory library according to the task start point and the task end point to determine the position set with time information of each EMS spreader include:

[0101] Step S301: Receive the time-containing task start point and the time-containing task end point input by the staff;

[0102] Step S302: Obtain the test point closest to the task start point and obtain the work station corresponding to the task end point;

[0103] Step S303: Match the combination plan in the movement trajectory library according to the obtained test point and work station, and query the corresponding movement trajectory;

[0104] Step S304: Calculate the minimum movement speed according to the time of the task start point and the time of the task end point, and convert the movement trajectory into a set of positions with time based on the minimum movement speed;

[0105] In an example of the technical solution of the present invention, receiving the time-containing task start point and the time-containing task end point input by the staff means where the EMS spreader grabs parts at what time and then transports them to where at what time. There are many task start points, and any point in the conveying line can be used as the task start point. The number of test points is limited. The smaller the grid cell size, the more test points. Therefore, it is almost difficult for the task start point to overlap with the test point. For any task start point, obtain the test point closest to the task start point, then obtain the work station corresponding to the task end point, and match the combination plan in the movement trajectory library according to the obtained test point and work station, and query the corresponding movement trajectory.

[0106] Finally, combining the time at the start point of the task and the time at the end point of the task, calculate the movement speed, multiply the movement speed by the unit time, and use the obtained value as the interval. Starting from the development platform at the start point of the task, select positions sequentially based on this interval to obtain a set of positions; correspondingly, compared with the previous position, each position has an additional unit time, so the obtained positions are positions containing time.

[0107] Among them, the calculation process of the minimum movement speed is as follows:

[0108] In the formula, v represents the minimum movement speed, l represents the distance of the movement trajectory, dt represents the difference between the time at the end point of the task and the time at the start point of the task; α is a preset correction coefficient greater than one.

[0109] In the above content, a correction coefficient is introduced. The function of the correction coefficient is to magnify the distance, so that the minimum movement speed is as large as possible, leaving a certain space for the hysteresis phenomenon, making it easier to reach the end point of the task within the specified time.

[0110] Figure 4 It is a schematic diagram of the third sub-structure of an efficient and reliable EMS spreader control method. The steps of collecting the positions of each EMS spreader based on dynamic frequency, verifying the positions of each EMS spreader, generating an active adjustment instruction according to the verification result, and synchronously adjusting the frequency include:

[0111] Step S501: Collect the positions of each EMS spreader based on dynamic frequency;

[0112] Step S502: Statistically analyze each position based on the distribution area to obtain a spreader distribution map; the spreader distribution map is a zero-one matrix, where one indicates that there is a spreader at that position, and zero indicates that there is no spreader at that position;

[0113] Step S503: Read the position at the current moment in each position set containing time information as the theoretical position;

[0114] Step S504: Statistically analyze all theoretical positions based on the distribution area to obtain a theoretical distribution map;

[0115] Step S505: Compare the spreader distribution map and the theoretical distribution map, generate an active adjustment instruction according to the comparison result, and synchronously adjust the frequency.

[0116] The above content specifically describes the working process of the master control terminal. Based on dynamic frequency, the positions of each EMS spreader are collected, and they are inserted into the distribution area according to the scale of the distribution area to obtain a spreader distribution map; the spreader distribution map is also a 3D model; then, a position set containing time information is read. The position set containing time information represents the positions where the EMS spreaders should be in the theoretical state, which is called the theoretical distribution map. The theoretical distribution map is also a 3D model.

[0117] Finally, taking the spreader distribution map as the actual state and the theoretical distribution map as the theoretical state, an active adjustment instruction is generated to make the spreader distribution map approach the theoretical distribution map.

[0118] It should be noted that under normal circumstances, the spreader distribution map and the theoretical distribution map are the same. Only in special cases will the spreader distribution map change. Therefore, according to the comparison result, the number of special cases can also be determined, and the dynamic frequency is adjusted according to the number. The adjustment logic is that the more special the situation, the higher the required frequency.

[0119] As a preferred embodiment of the technical solution of the present invention, the steps of comparing the spreader distribution map and the theoretical distribution map, generating an active adjustment instruction according to the comparison result, and synchronously adjusting the frequency include:

[0120] Compare the spreader distribution map and the theoretical distribution map, and pair the row and column positions with a value of one among them; the pairing rule is that for a row and column position with a value of one in the spreader distribution map, match it with the row and column position with a value of one in the theoretical distribution map that is closest to it.

[0121] Read the distance between any pair of row and column positions. When the distance reaches the preset threshold, take the row and column position in the spreader distribution map as the starting point and the row and column position in the theoretical distribution map as the ending point to determine the active adjustment vector.

[0122] Generate an active adjustment instruction according to the active adjustment vector.

[0123] Statistically analyze the magnitudes of all active adjustment vectors and synchronously adjust the frequency.

[0124] Compare the spreader distribution map and the theoretical distribution map. The row and column positions with a value of one represent the positions of the spreaders. Take the two closest positions in the two maps as a pair; among them, the closest distance implies that the distance has been calculated, so the distance can be directly further analyzed.

[0125] Read the distance between any pair of row and column positions. When the distance is large enough, active adjustment is required. Take the row and column positions in the spreader distribution diagram as the starting point and the row and column positions in the theoretical distribution diagram as the ending point to determine the active adjustment vector, and generate an active adjustment instruction according to the active adjustment vector.

[0126] Based on the above content, calculate the norms of all active adjustment vectors, which represents the amplitude of adjustment required at the current moment, and then adjust the dynamic frequency. The greater the amplitude of adjustment, the more times of active adjustment are needed, that is, the higher the dynamic frequency.

[0127] The relationship between the frequency and the norm is as follows:

[0128] In the formula, f represents the adjusted frequency, f0 represents the preset basic frequency, β is the preset correction coefficient, N represents the total number of active adjustment vectors, R i represents the i-th active adjustment vector, and |R i | represents the norm of the i-th active adjustment vector.

[0129] The above content provides a specific frequency determination scheme. Determine a basic frequency, and on the basis of the basic frequency, introduce an additional frequency, which is determined by the sum of the norms of all active adjustment vectors. The greater the sum of the norms, the higher the additional frequency. In addition, when calculating the sum of the norms of all active adjustment vectors, a weight term is also introduced. The greater the norm of the active adjustment vector, the greater the corresponding weight.

[0130] As an embodiment of the technical solution of the present invention, the method further includes:

[0131] Install an obstacle avoidance detection module in the EMS spreader;

[0132] When the obstacle avoidance detection module is activated, record the activation period;

[0133] Feed back the activation period to the master control terminal, and the master control terminal adjusts the dynamic frequency within the activation period to the preset maximum value.

[0134] Install an obstacle avoidance detection module in the EMS spreader, and at the same time record how long each obstacle avoidance behavior takes, which is called the activation period. The activation period will definitely cause some spreaders to have a certain lag compared with the theoretical state. At this time, adjustment is definitely required. Therefore, the dynamic frequency is directly set to the maximum value.

[0135] Figure 5 For the composition structure block diagram of an efficient and reliable EMS spreader control system, in an embodiment of the present invention, an efficient and reliable EMS spreader control system, the system 10 includes:

[0136] The station marking module 11 is used to obtain the EMS conveying line, determine the distribution area according to the EMS conveying line, and mark the stations in the distribution area; the distribution area is a three-dimensional area, and the stations are three-dimensional coordinates;

[0137] The trajectory pre-generation module 12 is used to select test points in the distribution area according to the preset selected grid, obtain the movement trajectories between any test point and any station, and construct a movement trajectory library;

[0138] The position set determination module 13 is used to receive the task start point and task end point input by the staff, query the movement trajectories in the movement trajectory library according to the task start point and task end point, and determine the position set containing time information of each EMS spreader;

[0139] The instruction set sending module 14 is used to generate a control instruction set according to the position set containing time information and send it to the controller of the corresponding EMS spreader; the control instruction is used to adjust the position;

[0140] The position verification module 15 is used to collect the positions of each EMS spreader based on a dynamic frequency, verify the positions of each EMS spreader, generate an active adjustment instruction according to the verification result, and synchronously adjust the frequency;

[0141] Among them, the data transmission between the controller of the EMS spreader and the EMS spreader is carried out by a wired connection method, and the active adjustment instruction is transmitted to the EMS spreader through a 5G wireless network.

[0142] Further, the trajectory pre-generation module 12 includes:

[0143] The grid insertion unit is used to receive the grid cell size input by the staff and insert the grid in the distribution area; one of the endpoints of the grid coincides with one of the endpoints of the distribution area;

[0144] The test point determination unit is used to read the intersection points of the grid and use the intersection points as test points;

[0145] The combination unit is used to randomly select one test point from the test points and randomly select one station from the stations to obtain a combination scheme;

[0146] The shortest trajectory determination unit is used to determine the shortest movement trajectory of each combination scheme in the conveying line;

[0147] The trajectory statistics unit is used to count all combination schemes and their shortest movement trajectories to obtain a movement trajectory library.

[0148] Specifically, the position set determination module 13 includes:

[0149] A task receiving unit, configured to receive the time task start point and the time task end point input by a staff member;

[0150] A first query unit, configured to obtain the test point closest to the task start point and obtain the work station corresponding to the task end point;

[0151] A second query unit, configured to match a combination scheme in a motion trajectory library according to the obtained test point and work station, and query the corresponding motion trajectory;

[0152] A trajectory conversion unit, configured to calculate the minimum motion speed according to the time of the task start point and the time of the task end point, and convert the motion trajectory into a set of positions with time based on the minimum motion speed;

[0153] Wherein, the calculation process of the minimum motion speed is as follows:

[0154] In the formula, v represents the minimum motion speed, l represents the distance of the motion trajectory, dt represents the difference between the time of the task end point and the time of the task start point; α is a preset correction coefficient greater than one.

[0155] Furthermore, the position verification module 15 includes:

[0156] A position acquisition unit, configured to acquire the positions of each EMS spreader based on a dynamic frequency;

[0157] A distribution map generation unit, configured to count each position based on the distribution area to obtain a spreader distribution map; the spreader distribution map is a zero-one matrix, where one indicates that there is a spreader at this position, and zero indicates that there is no spreader at this position;

[0158] A position set access unit, configured to read the position at the current moment in each position set with time information as the theoretical position;

[0159] A theoretical map construction unit, configured to count all theoretical positions based on the distribution area to obtain a theoretical distribution map;

[0160] A comparison unit, configured to compare the spreader distribution map with the theoretical distribution map, generate an active adjustment instruction according to the comparison result, and synchronously adjust the frequency.

[0161] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An efficient and reliable control method for an EMS spreader, characterized in that, The method includes: Obtain the EMS conveying line, determine the distribution area according to the EMS conveying line, and mark workstations in the distribution area; the distribution area is a three-dimensional area, and the workstations are three-dimensional coordinates; Select test points in the distribution area according to a preset selection grid, obtain the movement trajectories of any test point and any workstation, and construct a movement trajectory library; Receive the task start point and task end point input by the staff, query the movement trajectory in the movement trajectory library according to the task start point and task end point, and determine the position set with time information for each EMS spreader; Generate a control instruction set according to the position set with time information and send it to the controller of the corresponding EMS spreader; the control instruction is used to adjust the position; Collect the positions of each EMS spreader based on a dynamic frequency, verify the positions of each EMS spreader, generate an active adjustment instruction according to the verification result, and synchronously adjust the frequency; Among them, data is transmitted between the controller of the EMS spreader and the EMS spreader through a wired connection method, and the active adjustment instruction is transmitted to the EMS spreader through a 5G wireless network.

2. The efficient and reliable EMS spreader control method according to claim 1, wherein, The step of selecting test points in the distribution area according to a preset selection grid, obtaining the movement trajectories of any test point and any workstation, and constructing a movement trajectory library includes: Receive the grid cell size input by the staff, and insert a grid in the distribution area according to the grid cell size; one end point of the grid coincides with one end point of the distribution area; Read the intersection points of the grid and use the intersection points as test points; Select any one test point from the test points and any one workstation from the workstations to obtain a combination scheme; Determine the shortest movement trajectory of each combination scheme in the conveying line; Count all combination schemes and their shortest movement trajectories to obtain a movement trajectory library.

3. The efficient and reliable EMS spreader control method according to claim 1, characterized in that, The step of receiving the task start point and task end point input by the staff, querying the movement trajectory in the movement trajectory library according to the task start point and task end point, and determining the position set with time information for each EMS spreader includes: Receive the time-containing task start point and time-containing task end point input by the staff; Obtain the test point closest to the task start point and obtain the workstation corresponding to the task end point; Match the combination scheme in the movement trajectory library according to the obtained test point and workstation, and query the corresponding movement trajectory; Calculate the minimum movement speed according to the time of the task start point and the time of the task end point, and convert the movement trajectory into a set of positions with time based on the minimum movement speed; Among them, the calculation process of the minimum movement speed is: In the formula, v represents the minimum motion speed, l represents the distance of the motion trajectory, dt represents the difference between the time at the task end point and the time at the task start point; α is a preset correction coefficient greater than one.

4. The efficient and reliable EMS spreader control method according to claim 1, characterized in that, The step of collecting the positions of each EMS spreader based on a dynamic frequency, verifying the positions of each EMS spreader, generating an active adjustment instruction according to the verification result, and synchronously adjusting the frequency includes: Collect the positions of each EMS spreader based on a dynamic frequency; Statistically analyze each position based on the distribution area to obtain a spreader distribution map; the spreader distribution map is a zero-one matrix, where one indicates that there is a spreader at that position and zero indicates that there is no spreader at that position; Read the position at the current moment in each position set with time information as the theoretical position; Statistically analyze all theoretical positions based on the distribution area to obtain a theoretical distribution map; Compare the spreader distribution map with the theoretical distribution map, generate an active adjustment instruction according to the comparison result, and synchronously adjust the frequency.

5. The efficient and reliable EMS spreader control method according to claim 4, wherein The steps of comparing the spreader distribution map with the theoretical distribution map, generating an active adjustment instruction according to the comparison result, and synchronously adjusting the frequency include: Compare the spreader distribution map with the theoretical distribution map, and pair the row and column positions with a value of one among them; the pairing rule is that for a row and column position with a value of one in the spreader distribution map, match it with the row and column position with a value of one in the theoretical distribution map that is closest to it in distance; Read the distance between any pair of row and column positions. When the distance reaches the preset threshold, use the row and column position in the spreader distribution map as the starting point and the row and column position in the theoretical distribution map as the ending point to determine the active adjustment vector; Generate an active adjustment instruction according to the active adjustment vector; Statistically calculate the magnitudes of all active adjustment vectors and synchronously adjust the frequency; The relationship between the frequency and the magnitude is: Wherein, f represents the adjusted frequency, f0 represents the preset base frequency, β is the preset correction coefficient, N represents the total number of active adjustment vectors, and R i represents the i-th active adjustment vector, and |R i | represents the modulus of the i-th active adjustment vector.

6. The efficient and reliable EMS spreader control method according to claim 5, wherein, The method further includes: Install an obstacle avoidance detection module in the EMS spreader; When the obstacle avoidance detection module is activated, record the activation period; Feed back the activation period to the master control terminal, and the master control terminal adjusts the dynamic frequency within the activation period to the preset maximum value.

7. An efficient and reliable EMS spreader control system, characterized in that, The system includes: A station marking module for obtaining the EMS conveying line, determining the distribution area according to the EMS conveying line, and marking stations in the distribution area; the distribution area is a three-dimensional area, and the stations are three-dimensional coordinates; A trajectory pre-generation module for selecting test points in the distribution area according to a preset selected grid, obtaining the movement trajectories between any test point and any station, and constructing a movement trajectory library; A position set determination module for receiving the task starting point and task ending point input by the staff, querying the movement trajectories in the movement trajectory library according to the task starting point and task ending point, and determining the position set with time information for each EMS spreader; An instruction set sending module for generating a control instruction set according to the position set with time information and sending it to the controller of the corresponding EMS spreader; the control instruction is used to adjust the position; A position verification module for collecting the positions of each EMS spreader based on the dynamic frequency, verifying the positions of each EMS spreader, generating an active adjustment instruction according to the verification result, and synchronously adjusting the frequency; Among them, data is transmitted between the controller of the EMS spreader and the EMS spreader through a wired connection method, and the active adjustment instruction is transmitted to the EMS spreader through a 5G wireless network.

8. The efficient and reliable EMS spreader control system according to claim 7, characterized in that, The trajectory pre-generation module includes: A grid insertion unit for receiving the grid cell size input by the staff and inserting grids in the distribution area according to the grid cell size; one of the endpoints of the grid coincides with one of the endpoints of the distribution area; A test point determination unit for reading the intersection points of the grids and using the intersection points as test points; A combination unit for arbitrarily selecting one test point from the test points and arbitrarily selecting one station from the stations to obtain a combination scheme; A shortest trajectory determination unit for determining the shortest movement trajectory of each combination scheme in the conveying line; A trajectory statistics unit for statistically calculating all combination schemes and their shortest movement trajectories to obtain a movement trajectory library.

9. The efficient and reliable EMS spreader control system according to claim 7, characterized in that The position set determination module includes: A task receiving unit, configured to receive the time task start point and the time task end point input by the staff; A first query unit, configured to obtain the test point closest to the task start point and obtain the work station corresponding to the task end point; A second query unit, configured to match a combination scheme in the motion trajectory library according to the obtained test point and work station, and query the corresponding motion trajectory; A trajectory conversion unit, configured to calculate the minimum motion speed according to the time of the task start point and the time of the task end point, and convert the motion trajectory into a set of positions with time based on the minimum motion speed; Among them, the calculation process of the minimum motion speed is: Wherein, v represents the minimum movement speed, l represents the distance of the movement trajectory, dt represents the difference between the time at the task end point and the time at the task start point; α is a preset correction coefficient greater than one.

10. The efficient and reliable EMS spreader control system according to claim 7, wherein The position verification module includes: A position acquisition unit, configured to acquire the positions of each EMS spreader based on a dynamic frequency; A distribution map generation unit, configured to count each position based on the distribution area to obtain a spreader distribution map; the spreader distribution map is a zero-one matrix, where one indicates that there is a spreader at this position, and zero indicates that there is no spreader at this position; A position set access unit, configured to read the position at the current moment in each position set containing time information as the theoretical position; A theoretical map construction unit, configured to count all theoretical positions based on the distribution area to obtain a theoretical distribution map; A comparison unit, configured to compare the spreader distribution map and the theoretical distribution map, generate an active adjustment instruction according to the comparison result, and synchronously adjust the frequency.

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