AGV and inclined roller way automatic cooperative control system for efficient material circulation

Abstract

The invention relates to the technical field of material circulation control, in particular to an AGV and inclined roller way automatic cooperative control system for efficient material circulation. According to the system, various data in the material docking process are acquired through a data acquisition module; according to the height difference, the transportation distance and the contact area at each moment, the weight of the material borne by the inclined roller way, the vibration signal and the reference included angle at each moment and the moment before the moment, the predicted sudden change disturbance degree corresponding to the inclination direction of the material at each moment and the width of the inclined roller way, the height of the inclined roller way is calculated; the stability degree of the materials is obtained according to the weight of the materials and the speed difference and offset at each moment, and then abnormal moments are screened out; and based on the material stability degree, the inclined roller way transportation speed and the AGV pushing speed at the abnormal moments, the optimal inclined roller way transportation speed at each abnormal moment is obtained. According to the method, the optimal inclined roller way transportation speed is accurately obtained, so that the overturning risk of the materials is avoided, and the stability of material circulation is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material flow control, and in particular to an automated coordinated control system of AGVs and inclined rollers for efficient material flow. Background Art

[0002] With the rapid development of intelligent manufacturing and flexible production technologies, modern industrial logistics systems are placing higher demands on material flow efficiency, dynamic adaptability, and equipment collaboration. AGVs (Automated Guided Vehicles) and inclined roller conveyors, core equipment for material flow, have been widely used in fields such as warehousing and automotive manufacturing. AGVs utilize laser navigation, multi-vehicle linkage (such as master-slave collaboration), and optimized scheduling algorithms to achieve efficient material handling and precise positioning.

[0003] In the existing technology, AGV and inclined roller conveyor adopt independent control mode. Therefore, during the material docking process between AGV and inclined roller conveyor, the parameters of the two lack a dynamic coordination mechanism. In particular, there are many short-term errors in the material docking process between AGV and inclined roller conveyor. The material docking process between AGV and inclined roller conveyor cannot be coordinated and controlled with high precision, which easily leads to the risk of overturning of materials after being pushed to the inclined roller conveyor, affecting the stability and efficiency of material flow. Summary of the Invention

[0004] In order to solve the technical problem of the risk of material overturning on the inclined roller conveyor during the material docking process between the AGV and the inclined roller conveyor, the purpose of the present invention is to provide an AGV and inclined roller conveyor automatic collaborative control system for efficient material flow. The technical solution adopted is as follows:

[0005] An embodiment of the present invention provides an automated coordinated control system for AGVs and inclined roller conveyors for efficient material flow, the system comprising the following steps:

[0006] The data acquisition module is used to obtain the height difference between the AGV's material bottom lifting plane and the inclined roller plane; obtain the material transportation distance on the inclined roller at each moment during the material docking process between the AGV and the inclined roller, the offset of the material's center of mass, the AGV's material pushing vibration signal, the speed difference between the AGV's material pushing speed and the inclined roller's transportation speed, the contact area between the material and the inclined roller, and the reference angle between the material's inclination direction and the roller's installation direction;

[0007] The static contact index acquisition module is used to obtain the static contact index between the material and the inclined roller at each moment based on the height difference, the transportation distance and contact area at each moment, and the weight of the material carried by the inclined roller at each moment;

[0008] The dynamic disturbance index acquisition module is used to obtain the dynamic disturbance index of the material on the inclined roller at each moment based on the vibration signal and reference angle at each moment and the previous moment, the predicted sudden disturbance degree corresponding to the inclination direction of the material at each moment, and the width of the inclined roller;

[0009] The impact fluctuation index acquisition module is used to obtain the impact fluctuation index of the material on the inclined roller at each moment based on the material weight, speed difference and offset at each moment;

[0010] The optimal inclined roller conveyor speed acquisition module is used to obtain the material stability at each moment based on the static contact index, dynamic disturbance index and impact fluctuation index at each moment, and then filter out abnormal moments; based on the material stability, inclined roller conveyor speed and AGV pushing speed at each abnormal moment, the optimal inclined roller conveyor speed at each abnormal moment is obtained.

[0011] Furthermore, the method for obtaining the static contact index is:

[0012] At any moment during the material docking process between the AGV and the inclined roller, the arc tangent of the ratio of the height difference to the transport distance at that moment is used as the contact offset angle between the bottom surface of the material and the surface of the inclined roller at that moment;

[0013] The result of negative correlation of the cube of the cosine value of the contact offset angle is used as the reference loss degree at that moment;

[0014] The result of negative correlation between the product of the preset loss correction coefficient and the reference loss level is used as the effective level at that moment;

[0015] The product of the contact area at that moment and the effectiveness degree is taken as the effective contact area at that moment;

[0016] The ratio of the weight of the material carried by the inclined roller at that moment to the effective contact area is taken as the effective friction force at that moment;

[0017] The product of the friction coefficient and the effective friction force between the bottom surface of the material and the inclined roller surface is used as the static contact index at that moment.

[0018] Furthermore, the method for obtaining the weight of the material carried by the downward inclined roller at each moment is:

[0019] At any moment during the material docking process between the AGV and the inclined roller, the difference between the material gravity and the material pressure on the AGV at that moment is taken as the material weight carried by the inclined roller at that moment.

[0020] Furthermore, the method for obtaining the dynamic disturbance index is:

[0021] At any moment during the material docking process between the AGV and the inclined roller conveyor, the definite integral of the product of the vibration signal and the sine value of the reference angle at each moment between the start of the docking process between the AGV and the inclined roller conveyor and that moment is taken as the lateral deviation degree at that moment;

[0022] The product of the lateral deviation degree, the predicted sudden disturbance degree corresponding to the inclination direction of the material at that moment and the width of the inclined roller is used as the dynamic disturbance index of the material on the inclined roller at that moment.

[0023] Furthermore, the method for obtaining the predicted mutation disturbance degree is:

[0024] On a controllable experimental platform, simulate the working conditions of materials being pushed into an inclined roller conveyor at different preset tilt directions, and obtain the degree of sudden disturbance corresponding to each preset tilt direction through specified rules;

[0025] For any moment in the process of material docking between the AGV and the inclined roller, the sudden disturbance degree corresponding to the preset tilt direction that is most similar to the tilt direction of the material at that moment is used as the predicted sudden disturbance degree corresponding to the tilt direction of the material at that moment;

[0026] The specified rule is: for any preset tilt direction, the residual signal after subtracting the main frequency component from the vibration signal of the entire material docking process when the material is pushed into the inclined roller in the preset tilt direction is used as the analysis signal;

[0027] The analysis signal is divided into multiple local signal segments according to a preset time length, and the local signal segment where the material contacts the inclined roller is used as the target signal segment;

[0028] taking the mean square error between a preset number of adjacent local signal segments preceding the target signal segment and a preset number of adjacent local signal segments following the target signal segment as a fluctuation analysis value;

[0029] The ratio of the fluctuation analysis value to the signal definite integral in the target signal segment is used as the sudden disturbance degree corresponding to the preset tilt direction.

[0030] Furthermore, the method for obtaining the shock volatility index is:

[0031] At any moment during the material docking process between the AGV and the inclined roller conveyor, the product of the material weight and the speed difference at that moment is taken as the overall impact degree at that moment;

[0032] The ratio of the overall impact degree to the preset impact duration is taken as the impact force at that moment;

[0033] The product of the impact force and the offset at that moment is used as the impact fluctuation index of the material on the inclined roller at that moment.

[0034] Furthermore, the method for obtaining the material stability is:

[0035] At any moment in the process of material docking between the AGV and the inclined roller, the result of subtracting the dynamic disturbance index from the impact fluctuation index at the static contact index at that moment is taken as the material stability at that moment.

[0036] Furthermore, the method for obtaining the abnormal moment is:

[0037] The moments corresponding to the material stability level being less than the preset material stability level threshold are regarded as abnormal moments.

[0038] Furthermore, the method for obtaining the optimal inclined roller conveying speed is:

[0039] For any abnormal moment, the objective function is constructed based on the material stability, inclined roller conveyor speed, AGV pushing speed and preset speed at the abnormal moment;

[0040] When the objective function is minimized, the corresponding preset speed is the optimal inclined roller conveyor speed at the abnormal moment;

[0041] Among them, the objective function is: Where v is the inclined roller conveyor speed at the abnormal moment; v′ is the preset speed; F is the material stability at the abnormal moment; v″ is the AGV pushing speed at the abnormal moment; || is the absolute value function; W is the objective function; and norm is the normalization function.

[0042] Furthermore, the method for obtaining the transport distance is:

[0043] The distance between the front end of the material on the inclined roller conveyor and the entrance of the inclined roller conveyor at each moment is taken as the transportation distance of the material on the inclined roller conveyor at each moment;

[0044] The method for obtaining the offset is:

[0045] The distance between the material center of mass at each moment and its adjacent previous moment is used as the offset of the material center of mass at each moment.

[0046] The present invention has the following beneficial effects:

[0047] The present invention first obtains the static contact index of the material and the inclined roller at each moment according to the height difference, the transportation distance and contact area at each moment, and the weight of the material carried by the inclined roller at each moment, accurately reflecting the force of the material maintaining stability on the inclined roller at each moment during the material docking between the AGV and the inclined roller; in order to subsequently accurately analyze the stability of the material on the inclined roller at each moment, the present invention obtains the dynamic disturbance index of the material on the inclined roller at each moment according to the vibration signal and reference angle at each moment and the moment before, the predicted sudden disturbance degree corresponding to the tilt direction of the material at each moment and the width of the inclined roller, accurately reflecting the turbulent force of the material on the inclined roller at each moment; further, according to the weight of the material, the speed difference and the offset at each moment, the dynamic disturbance index of the material on the inclined roller at each moment is obtained. The impact fluctuation index on the inclined roller conveyor accurately reflects the impact instability of the material on the inclined roller conveyor at each moment; then, based on the static contact index, dynamic disturbance index and impact fluctuation index at each moment, the material stability at each moment is obtained, accurately reflecting the stability of the material on the inclined roller conveyor at each moment during the material flow process, and indirectly reflecting the overturning risk of the material at each moment; then, based on the material stability, the abnormal moments are screened out, and the moments when there is a risk of material overturning are accurately determined; in order to avoid the overturning of the material, the optimal inclined roller conveyor transport speed at each abnormal moment is obtained based on the material stability at each abnormal moment, the inclined roller conveyor transport speed and the AGV pushing speed, which effectively avoids the overturning of the material during the material docking process between the AGV and the inclined roller conveyor, thereby improving the stability and efficiency of the material flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. 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 any creative work.

[0049] Figure 1 This is a structural block diagram of an AGV and inclined roller conveyor automated collaborative control system for efficient material flow provided by one embodiment of the present invention;

[0050] Figure 2 A schematic diagram of the inclination direction of materials on an inclined roller conveyor provided by one embodiment of the present invention;

[0051] Figure 3 A schematic diagram of a computer device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0052] To further illustrate the technical means and effectiveness of the present invention in achieving its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effectiveness of an automated coordinated control system for AGVs and inclined roller conveyors for efficient material flow proposed by the present invention. In the following description, references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0053] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0054] The following describes in detail a specific solution of an AGV and inclined roller automated collaborative control system for efficient material flow provided by the present invention in conjunction with the accompanying drawings.

[0055] Example 1:

[0056] This invention proposes an AGV and inclined roller conveyor automatic coordinated control system for efficient material flow. Figure 1 , which shows a structural block diagram of an AGV and inclined roller automated collaborative control system for efficient material flow provided by an embodiment of the present invention. The system includes: a data acquisition module 10, a static contact index acquisition module 20, a dynamic disturbance index acquisition module 30, an impact fluctuation index acquisition module 40 and an optimal inclined roller transport speed acquisition module 50.

[0057] The data acquisition module 10 is used to obtain the height difference between the bottom lifting plane of the AGV material and the plane of the inclined roller; obtain the material transportation distance on the inclined roller, the offset of the material center of mass, the vibration signal of the AGV pushing the material, the speed difference between the AGV pushing speed and the inclined roller transportation speed, the contact area between the material and the inclined roller, and the reference angle between the inclination direction of the material and the installation direction of the roller at each moment during the material docking process between the AGV and the inclined roller.

[0058] Specifically, within a production workshop, different materials are stored in designated logistics buffers, and multiple AGVs transport them to different transfer points. These transfer points may utilize either straight or angled rollers. Inclined roller AGVs connect their own inclined rollers to those on the ground platform to load and unload materials. They can load and unload pallets in both the left and right directions, and are commonly used for rolling pallets or heavy materials (such as containers and crates). Fixed inclined rollers and AGVs form a circular transport network, enabling high-frequency material flow.

[0059] The basic operation process is as follows: First, the central control system generates a transportation task according to the real-time production demand, that is, it calculates the type, quantity and priority of the required materials in combination with the current production order (such as "500 car chassis weldings need to be completed today"); then, the central control system locates the specific storage location of the required materials in the production workshop (such as shelf No. 5, row 3, area A); generates a transportation task order (such as task number #20230915003 | material: X-shaped steel plate | quantity: 200 pieces | starting point: A3-5 | end point: inclined roller conveyor at welding station | urgency level: high); then, the AGV executes the task in a planned cycle (such as from warehouse → production line → return), but the AGV may be temporarily idle due to path congestion, charging and waiting for loading and unloading materials; in addition, when In the event of a sudden shortage of materials on the inclined roller conveyor, such as accelerated consumption due to equipment failure or defective products in the production process, additional materials will be required. At this time, the system will scan the status of all AGVs, including the spatial location of all AGVs and the priority of real-time task orders, and give priority to the idle AGV closest to the location where the materials are missing. If there are no idle AGVs, the AGVs with low-priority tasks (such as an AGV that is transporting non-emergency packaging boxes) will be interrupted and directed to perform emergency material replenishment tasks. The paths of other AGVs will be dynamically adjusted to avoid route conflicts with emergency AGVs. For example, when an emergency occurs, an AGV has just completed delivering tires to the final assembly workshop and is captured by the system as idle within 30 seconds of the start of the return journey. The AGV will then be immediately assigned to the emergency material replenishment task.

[0060] It should be noted that the AGV uses laser SLAM (Simultaneous Localization And Mapping) navigation and RFID (Radio Frequency Identification) landmark recognition technology to ensure that the position error is ≤10 mm when driving to the inclined roller docking point, meeting the accuracy requirements of the inclined roller transmission; at the same time, a visual sensor and a photoelectric switch are installed at the end of the inclined roller to detect the material arrival status in real time and trigger the start and stop signals of the AGV and the inclined roller; after the AGV reaches the inclined roller, it sends a ready signal through wireless communication, and the inclined roller starts transmission.

[0061] In addition, when the AGV reaches the docking position of the inclined roller, it must accurately match the start and stop states of the inclined roller. If the matching is inconsistent, it will cause material accumulation or idling of the inclined roller, reducing the efficiency of material flow. Calculate the optimal start-stop time difference; where D AGV is the remaining distance between AGV and the entrance of the inclined roller conveyor; v AGV is the transport speed of AGV; L g is the idle length of the inclined roller; v gis the transmission speed of the inclined roller conveyor. By adjusting the AGV's transport speed or the remaining path length between the AGV and the inclined roller conveyor entrance, the feeding time of the AGV at the inclined roller conveyor entrance is controlled so that Δt approaches zero. This ensures that the time when the AGV arrives at the inclined roller conveyor matches the start and stop status of the inclined roller conveyor, avoiding material accumulation at the inclined roller conveyor entrance or the inclined roller conveyor being unloaded.

[0062] Among them, inclined roller sideways conveyors utilize friction generated by the contact between the belt and the rollers on their undersides to rotate the rollers, thereby driving the material forward. These conveyors can transport materials with flat and regular bottoms, such as boxes, cartons, and small pallets of various materials. Because the rollers are installed at an angle, they can guide the conveyed material sideways, thereby achieving directional movement, posture adjustment, and mechanical processing of the material. For example, in a steel rolling production line, inclined rollers use tilted rollers to automatically pull rolled materials (such as steel plates or steel pipes) to one side, facilitating their collection into rows.

[0063] When materials are transported to the inclined roller conveyor, the operating parameters of the AGV and the inclined roller conveyor are independent, so the materials are prone to overturning risks. Therefore, during the process of docking the materials between the AGV and the inclined roller conveyor, it is necessary to analyze the overturning risk of the materials, that is, the degree of instability, in real time, and then adjust the transport speed of the inclined roller conveyor in real time to improve the stability of the materials during the docking process between the AGV and the inclined roller conveyor and avoid overturning of the materials. In order to ensure the stability of material flow during the material docking between the AGV and the inclined roller in real time, this embodiment uses the laser radar installed at the entrance of the inclined roller to obtain the height difference between the material bottom lifting plane of the AGV and the inclined roller plane, that is, the height difference between the material bottom lifting plane and the inclined roller plane. It should be noted that the material bottom lifting plane must not be lower than the inclined roller plane, because it is necessary to ensure that the material can be pushed to the inclined roller plane. Therefore, the height difference must not be negative; further use the laser radar and visual detection to obtain the transportation distance of the material on the inclined roller at each moment during the material docking between the AGV and the inclined roller, that is, obtain the shortest distance between the front end position of the material on the inclined roller and the entrance of the inclined roller at each moment; obtain the distance between the front end position of the material on the inclined roller and the entrance of the inclined roller at each moment. Record the offset of the material mass center, that is, obtain the Euclidean distance between the material mass center at each moment and the material mass center at the previous moment; obtain the vibration signal of the AGV pushing material at each moment; obtain the AGV pushing material speed and the inclined roller transportation speed at each moment, as well as the speed difference between the AGV pushing material speed and the inclined roller transportation speed at each moment, that is, the absolute value of the speed difference; obtain the contact area between the material and the inclined roller at each moment, and the reference angle between the inclination direction of the material and the roller installation direction at each moment. Among them, the method for obtaining the inclination direction of the material at each moment is: scan the shape of the material through the laser radar, and obtain the position information of the material on the AGV plane and the inclined roller plane at each moment, and determine the inclination direction of the material on the inclined roller at each moment, such as Figure 2The figure shows the inclination direction of the material on the inclined roller. Figure 2 The angle between the middle inclination direction and the direction in which the material enters the inclined roller conveyor is the material inclination angle. The methods for obtaining the shortest distance, Euclidean distance, and center of mass are well-known techniques and will not be described in detail. This embodiment sets the time interval between two adjacent moments to 0.1 seconds. The implementer can adjust the time interval between two adjacent moments based on actual conditions and is not limited here.

[0064] It should be noted that in order to conduct better subsequent analysis and avoid the impact of inconsistent units, this embodiment normalizes the height difference, transportation distance, offset, vibration signal, AGV pushing speed, inclined roller transportation speed and contact area.

[0065] The static contact index acquisition module 20 is used to obtain the static contact index between the material and the inclined roller at each moment based on the height difference, the transportation distance and contact area at each moment, and the weight of the material carried by the inclined roller at each moment.

[0066] Specifically, when there is a height difference during the material docking process between the AGV and the inclined roller, there must be a certain angle between the bottom surface of the material and the surface of the inclined roller. When the angle is larger, there will be more unstressed parts in the contact area between the material and the inclined roller, that is, the high side of the contact area is affected by the angle and the corresponding force will decrease. In order to analyze in real time the force generated by the contact between the material and the inclined roller during the material flow process, that is, the friction force that keeps the material stable, this embodiment first obtains the angle between the bottom surface of the material and the surface of the inclined roller at each moment based on the height difference and the transportation distance at each moment through the inverse tangent function, and then obtains the static contact index between the material and the inclined roller at each moment based on the contact area at each moment, the angle between the bottom surface of the material and the surface of the inclined roller, and the weight of the material carried by the inclined roller at each moment. The larger the static contact index, the greater the friction force that keeps the material stable on the inclined roller at the corresponding moment.

[0067] Preferably, in one possible implementation of this embodiment, the method for obtaining the static contact index is: for any moment in the process of material docking between the AGV and the inclined roller, the arc tangent of the ratio of the height difference to the transportation distance at that moment is used as the contact offset angle between the bottom surface of the material and the surface of the inclined roller at that moment; the larger the contact offset angle, the more parts of the contact area at that moment will have reduced pressure. It is known that the tilt effect corresponding to the contact offset angle presents a nonlinear attenuation characteristic in three-dimensional space. Specifically, the effective contact area between the material and the inclined roller is directly proportional to the cosine value of the contact offset angle. The tilt causes the effective contact area to be concentrated on the low side, and the loss contact area to be concentrated on the high side. The cosine value of the contact offset angle represents the effectiveness of the projection of the contact area on the plane of the inclined roller after tilting. For example, when the contact offset angle is 30°, the projection effectiveness is about 86%. Since there is more than just contact area loss on the horizontal plane in three-dimensional space, the cube of the cosine value of the contact offset angle represents the attenuation effect of the effective contact area in three-dimensional space.

[0068] In actual situations, the contact area will not completely follow the theoretical loss. Therefore, this embodiment sets the preset loss correction coefficient to The implementer can set the value of the preset loss correction coefficient according to the actual situation, and it is not limited here. In this embodiment, the result of negative correlation of the cube of the cosine value of the contact offset angle is used as the reference loss degree at that moment; then the result of negative correlation of the product of the preset loss correction coefficient and the reference loss degree is used as the effective degree at that moment; wherein, the calculation formula of the effective degree is: Y t =1―δ×(1―cos 3 ω t );where Y t is the effectiveness at the tth moment; δ is the preset loss correction coefficient; ω t is the contact deviation angle between the material and the inclined roller at the tth moment; cos is the cosine function; 1-cos 3 ω t is the reference loss degree at the tth moment;

[0069] Then, the product of the contact area and the effective degree at that moment is used as the effective contact area at that moment; as the material gradually pushes onto the inclined roller, the weight of the material on the AGV gradually decreases, and the weight of the material gradually moves onto the inclined roller. Then, in this embodiment, the difference between the material gravity and the material pressure on the AGV at that moment is used as the weight of the material carried by the inclined roller at that moment. This embodiment normalizes the weight of the material to avoid the problem of inconsistent units in the future. It should be noted that the subsequent weight of the material is defaulted to the normalized weight of the material. Then, the ratio of the weight of the material carried by the inclined roller at that moment to the effective contact area is used as the effective friction force at that moment; considering that there is a friction coefficient between the bottom surface of the material and the surface of the inclined roller in actual situations, in order to more accurately represent the force between the material and the inclined roller at that moment to maintain the stability of the material, the product of the friction coefficient between the bottom surface of the material and the surface of the inclined roller and the effective friction force is used as the static contact index at that moment.

[0070] At this point, the static contact index at each moment during the material docking process between the AGV and the inclined roller conveyor is obtained.

[0071] The dynamic disturbance index acquisition module 30 is used to obtain the dynamic disturbance index of the material on the inclined roller at each moment based on the vibration signal and reference angle at each moment and the moment before, the predicted sudden disturbance degree corresponding to the inclination direction of the material at each moment, and the width of the inclined roller.

[0072] Specifically, it is known that the reference angle represents the angle between the material's tilt direction and the inclined roller's installation direction. The larger the reference angle, the greater the deviation between the material's tilt direction and the inclined roller's installation direction at the corresponding moment, indirectly indicating a greater likelihood of lateral material oscillation at that moment. The larger the vibration signal at a certain moment, the greater the degree of material vibration at that moment. Considering that the risk of material overturning on an inclined roller is a cumulative process in actual situations, this embodiment first performs a preliminary analysis of the material's vibration on the inclined roller at each moment based on the vibration signal and reference angle at each moment and the moment before it.

[0073] On the other hand, during the material docking process between the AGV and the inclined roller, the inclination direction of the material may change. It is known that different inclination directions of the material will produce different energy impacts. Therefore, this embodiment combines the predicted sudden disturbance degree corresponding to the inclination direction of the material at each moment to further analyze the vibration of the material on the inclined roller at each moment. It is known that the larger the width of the inclined roller, the larger the oscillation space of the material, which indirectly indicates that the material is more likely to vibrate on the inclined roller. Furthermore, this embodiment obtains the dynamic disturbance index of the material on the inclined roller at each moment based on the vibration signal and reference angle at each moment and the moment before, the predicted sudden disturbance degree corresponding to the inclination direction of the material at each moment, and the width of the inclined roller. The larger the dynamic disturbance index, the greater the oscillation force of the material on the inclined roller at the corresponding moment.

[0074] Preferably, in one achievable method of this embodiment, the method for obtaining the predicted degree of sudden disturbance is: simulating the working condition of pushing the material into the inclined roller at different preset inclination directions on a controllable experimental platform, and obtaining the degree of sudden disturbance corresponding to each preset inclination direction by specifying rules; the greater the degree of sudden disturbance, the greater the wave energy generated by the contact between the material and the inclined roller at the corresponding preset inclination direction. This embodiment sets the range of the preset inclination direction to -30 degrees to 30 degrees. The implementer can set the range of the preset inclination direction according to actual conditions, and it is not limited here. It should be noted that under normal circumstances, the range of the inclination angle of the material corresponding to the inclination direction of the inclined roller will not exceed -30 degrees to 30 degrees;

[0075] Among them, the specified rules are: for any preset inclination direction, the vibration signal of the entire material docking process in which the material is pushed into the inclined roller in the preset inclination direction is subjected to short-time Fourier transform, and the main frequency component, that is, the periodic vibration signal caused by the motor vibration, is identified, which can be directly read from the motor encoder; wherein, the main frequency component defaults to the standard vibration signal corresponding to the stable pushing of the material. In order to accurately analyze the instantaneous energy fluctuations generated by the material contacting the inclined roller in the preset inclination direction, the residual signal after subtracting the main frequency component from the vibration signal of the entire material docking process in which the material is pushed into the inclined roller in the preset inclination direction is used as the analysis signal. Among them, short-time Fourier transform is a well-known technology and will not be described in detail;

[0076] In order to analyze the sudden turbulent energy generated when the material contacts the inclined roller in the preset tilt direction, the analysis signal is divided into multiple local signal segments according to the preset time length. The preset time length is set to 1 second in this embodiment. The implementer can set the size of the preset time length according to the actual situation, and it is not limited here. The contact moment of the material and the inclined roller is obtained by the photoelectric sensor, and the local signal segment where the material contacts the inclined roller is used as the target signal segment; the mean square error between the preset number of local signal segments before the target signal segment and the preset number of local signal segments after the target signal segment is used as the fluctuation analysis value, representing the additional vibration components that appear in the short time before and after the contact moment; the preset number is set to 3 in this embodiment. The implementer can set the size of the preset number according to the actual situation, and it is not limited here; wherein, the method for obtaining the mean square error is a well-known technology and will not be described in detail. Because the short-term additional vibration component is the continuation of vibration caused by the sudden turbulence energy at the moment of contact between the material and the inclined roller, the ratio of the fluctuation analysis value to the definite integral of the signal in the target signal segment is used as the degree of sudden disturbance corresponding to the preset tilt direction; the greater the degree of sudden disturbance, the greater the instantaneous turbulence energy generated by the contact between the material and the inclined roller in this tilt direction.

[0077] At this point, the sudden disturbance level corresponding to each preset tilt direction is obtained. For any moment during the material docking process between the AGV and the inclined roller conveyor, the sudden disturbance level corresponding to the preset tilt direction that is most similar to the material's tilt direction at that moment is used as the predicted sudden disturbance level corresponding to the material's tilt direction at that moment. At this point, the predicted sudden disturbance level corresponding to the material's tilt direction at each moment during the material docking process between the AGV and the inclined roller conveyor is obtained.

[0078] Preferably, in a manner that can be implemented in this embodiment, the method for obtaining the dynamic disturbance index is: for any moment in the process of material docking between the AGV and the inclined roller, the definite integral result of the product of the vibration signal and the sine value of the reference angle at each moment between the start moment of the docking process between the AGV and the inclined roller and that moment is used as the lateral deviation degree at that moment; the greater the lateral deviation degree, the greater the vibration degree generated by the material at that moment; and then the product of the lateral deviation degree at that moment, the predicted sudden disturbance degree corresponding to the inclination direction of the material at that moment and the width of the inclined roller is used as the dynamic disturbance index of the material on the inclined roller at that moment.

[0079] At this point, the dynamic disturbance index of the material on the inclined roller conveyor at each moment during the material docking process between the AGV and the inclined roller conveyor is obtained.

[0080] The impact fluctuation index acquisition module 40 is used to acquire the impact fluctuation index of the material on the inclined roller at each moment according to the weight of the material, the speed difference and the offset at each moment.

[0081] Specifically, at a certain moment in the process of material docking between the AGV and the inclined roller, the greater the speed difference at that moment, the greater the inertial impact generated by the material and the inclined roller at that moment should be, and the more unstable the material at that moment. In addition, the inertial impact is also related to the weight of the material. On the other hand, when the offset at that moment is larger, it means that the position change of the center of mass of the material at that moment is greater, which indirectly means that the material at that moment is more unstable. Then, this embodiment obtains the impact fluctuation index of the material on the inclined roller at each moment based on the material weight, the speed difference and the offset at each moment. The larger the impact fluctuation index, the greater the impact instability force of the material on the inclined roller at the corresponding moment, which indirectly reflects that the material is more unstable at the corresponding moment.

[0082] Preferably, in a manner that can be implemented in this embodiment, the method for obtaining the impact fluctuation index is: for any moment in the process of material docking between the AGV and the inclined roller, the product of the material weight and the speed difference at that moment is used as the overall impact degree at that moment; the ratio of the overall impact degree to the preset impact duration is used as the impact force at that moment; this embodiment sets the preset impact duration to 1 second, and the implementer can set the size of the preset impact duration according to actual conditions, which is not limited here. It should be noted that the impact duration is usually 1 second to 1.5 seconds. The product of the impact force at that moment and the offset is used as the impact fluctuation index of the material on the inclined roller at that moment.

[0083] At this point, the impact fluctuation index of the material on the inclined roller conveyor at each moment during the material docking process between the AGV and the inclined roller conveyor is obtained.

[0084] The optimal inclined roller conveyor speed acquisition module 50 is used to obtain the material stability at each moment and then filter out abnormal moments based on the static contact index, dynamic disturbance index and impact fluctuation index at each moment; based on the material stability, inclined roller conveyor speed and AGV pushing speed at each abnormal moment, the optimal inclined roller conveyor speed at each abnormal moment is obtained.

[0085] Specifically, it is known that the static contact index represents the corresponding force when the material is stationary at the corresponding moment, that is, the force that can keep the material stable at the corresponding moment, the dynamic disturbance index represents the turbulent force of the material at the corresponding moment, and the impact fluctuation index represents the impact instability force of the material at the corresponding moment. Therefore, this embodiment obtains the stability of the material at each moment based on the static contact index, dynamic disturbance index and impact fluctuation index at each moment; when the material stability is smaller, the risk of overturning of the material at the corresponding moment is greater, and then the abnormal moment is screened out based on the stability of the material, that is, the moment when the material is at risk of overturning.

[0086] In order to prevent materials from tipping over on the inclined roller conveyor during material flow, it is necessary to reduce the inclined roller conveyor speed at abnormal moments so that the reduction in the inclined roller conveyor speed can compensate for the risk of material tipping over. At the same time, the adjusted inclined roller conveyor speed is as close as possible to the AGV pushing speed at the corresponding abnormal moment to ensure a more stable material flow. It is known that the tipping risk at each abnormal moment can be indirectly reflected by the material stability. Therefore, this embodiment obtains the optimal inclined roller conveyor speed at each abnormal moment based on the material stability, inclined roller conveyor speed, and AGV pushing speed at each abnormal moment.

[0087] Preferably, in one possible implementation of this embodiment, the material stability is determined by subtracting the dynamic disturbance index from the static contact index and then the impact fluctuation index from the static contact index at any moment during the material docking process between the AGV and the inclined roller conveyor. This determines the material stability at that moment. Thus, the material stability at each moment is determined.

[0088] Preferably, in one possible implementation of this embodiment, the abnormal moment is determined as follows: the lower the known material stability, the greater the risk of material tipping at that moment. Consequently, this embodiment defines any moment corresponding to a material stability level less than a preset material stability threshold as an abnormal moment. This embodiment sets the preset material stability threshold to 0; implementers may adjust the preset material stability threshold based on actual circumstances, and this is not limited herein.

[0089] Preferably, in one possible implementation of this embodiment, the method for obtaining the optimal inclined roller conveyor speed is as follows: for any abnormal moment, an objective function is constructed based on the material stability, the inclined roller conveyor speed, the AGV pushing speed, and the preset speed at the abnormal moment; when the objective function is minimized, the corresponding preset speed is the optimal inclined roller conveyor speed at the abnormal moment;

[0090] Among them, the objective function is: Where v is the inclined roller conveyor speed at the abnormal moment; v′ is the preset speed; F is the material stability at the abnormal moment; v″ is the AGV pushing speed at the abnormal moment; || is the absolute value function; W is the objective function; norm is the normalization function; and 1-norm(F) represents the overturning risk of the material at the abnormal moment.

[0091] At this point, the optimal inclined roller conveyor transport speed at each abnormal moment is obtained to avoid material overturning during the material docking process between the AGV and the inclined roller conveyor, effectively improving the stability and efficiency of material flow.

[0092] It should be noted that in actual situations, the speed of the inclined roller conveyor cannot be frequently adjusted. Therefore, for any abnormal moment, when the absolute value of the difference between the normalized material stability at the abnormal moment and the previous adjacent moment is less than the first preset threshold, the inclined roller conveyor speed at the abnormal moment will not be adjusted; this embodiment sets the first preset threshold to 0.2, and the implementer can set the size of the first preset threshold according to the actual situation, and it is not limited here. When the normalized material stability at the abnormal moment is too small, it means that the risk of overturning of the material at the abnormal moment is too high. At this time, it is necessary to immediately suspend the inclined roller conveyor and notify the AGV to reposition, and trigger the robotic arm to assist in correcting the deviated material if necessary; wherein, when the normalized material stability at the abnormal moment is less than the second preset threshold, it means that the risk of overturning of the material at the corresponding abnormal moment is too high. This embodiment sets the second preset threshold to 0.2, and the implementer can set the size of the second preset threshold according to the actual situation, and it is not limited here.

[0093] When the material is completely docked on the inclined roller conveyor, that is, the AGV completes the material docking with the inclined roller conveyor, the inclined roller conveyor resumes its normal transport speed and triggers the AGV to leave to perform the next task.

[0094] In summary, this embodiment obtains various data during the material docking process through the data acquisition module; then, based on the height difference, the transportation distance at each moment, the contact area and the weight of the material carried by the inclined roller, the vibration signal and reference angle at each moment and the moment before, the predicted sudden disturbance degree corresponding to the tilt direction of the material at each moment and the width of the inclined roller, the material weight, the speed difference and offset at each moment, the material stability is obtained and the abnormal moments are screened out; based on the material stability at the abnormal moment, the inclined roller transportation speed and the AGV pushing speed, the optimal inclined roller transportation speed at each abnormal moment is obtained. The present invention avoids the risk of material overturning and effectively improves the stability of material flow by accurately obtaining the optimal inclined roller transportation speed.

[0095] Example 2:

[0096] The present invention also proposes an automated collaborative control device for AGVs and inclined roller conveyors for efficient material flow, comprising a memory and a processor. The memory stores executable program code, and the processor is configured to call and execute the executable program code to implement an automated collaborative control system for AGVs and inclined roller conveyors for efficient material flow provided in an embodiment of the present application. The device can be a chip, component, or module, and the chip can include a connected processor and memory. The memory is configured to store instructions, and when the processor calls and executes the instructions, the chip can execute the automated collaborative control system for AGVs and inclined roller conveyors for efficient material flow provided in the above embodiment.

[0097] In addition, the present application also protects a computer device, see Figure 3 The computer device includes a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and running on the processor 402, wherein when the processor 402 executes the computer program 403, the computer device can execute any one of the aforementioned efficient material flow AGV and inclined roller automated collaborative control systems.

[0098] Example 3:

[0099] The present invention also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement an AGV and inclined roller automated collaborative control system for efficient material flow provided by the above-mentioned embodiment.

[0100] Example 4:

[0101] The present invention also provides a computer program product, which, when running on a computer, enables the computer to execute the above-mentioned related steps to implement an AGV and inclined roller automated collaborative control system for efficient material flow provided by the above embodiment.

[0102] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0103] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0104] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. An AGV and inclined roller conveyor automated collaborative control system for efficient material flow, characterized in that: The system includes the following steps: The data acquisition module is used to obtain the height difference between the AGV's material bottom lifting plane and the inclined roller plane; obtain the material transportation distance on the inclined roller at each moment during the material docking process between the AGV and the inclined roller, the offset of the material's center of mass, the AGV's material pushing vibration signal, the speed difference between the AGV's material pushing speed and the inclined roller's transportation speed, the contact area between the material and the inclined roller, and the reference angle between the material's inclination direction and the roller's installation direction; The static contact index acquisition module is used to obtain the static contact index between the material and the inclined roller at each moment based on the height difference, the transportation distance and contact area at each moment, and the weight of the material carried by the inclined roller at each moment; The dynamic disturbance index acquisition module is used to obtain the dynamic disturbance index of the material on the inclined roller at each moment based on the vibration signal and reference angle at each moment and the previous moment, the predicted sudden disturbance degree corresponding to the inclination direction of the material at each moment, and the width of the inclined roller; The impact fluctuation index acquisition module is used to obtain the impact fluctuation index of the material on the inclined roller at each moment based on the material weight, speed difference and offset at each moment; The optimal inclined roller conveyor speed acquisition module is used to obtain the material stability at each moment based on the static contact index, dynamic disturbance index and impact fluctuation index at each moment, and then filter out abnormal moments; based on the material stability, inclined roller conveyor speed and AGV pushing speed at each abnormal moment, the optimal inclined roller conveyor speed at each abnormal moment is obtained.

2. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the static contact index is: At any moment during the material docking process between the AGV and the inclined roller, the arc tangent of the ratio of the height difference to the transport distance at that moment is used as the contact offset angle between the bottom surface of the material and the surface of the inclined roller at that moment; The result of negative correlation of the cube of the cosine value of the contact offset angle is used as the reference loss degree at that moment; The result of negative correlation between the product of the preset loss correction coefficient and the reference loss level is used as the effective level at that moment; The product of the contact area at that moment and the effectiveness degree is taken as the effective contact area at that moment; The ratio of the weight of the material carried by the inclined roller at that moment to the effective contact area is taken as the effective friction force at that moment; The product of the friction coefficient and the effective friction force between the bottom surface of the material and the inclined roller surface is used as the static contact index at that moment.

3. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the weight of the material carried by the downward inclined roller at each moment is: At any moment during the material docking process between the AGV and the inclined roller, the difference between the material gravity and the material pressure on the AGV at that moment is taken as the material weight carried by the inclined roller at that moment.

4. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the dynamic disturbance index is: At any moment during the material docking process between the AGV and the inclined roller conveyor, the definite integral of the product of the vibration signal and the sine value of the reference angle at each moment between the start of the docking process between the AGV and the inclined roller conveyor and that moment is taken as the lateral deviation degree at that moment; The product of the lateral deviation degree, the predicted sudden disturbance degree corresponding to the inclination direction of the material at that moment and the width of the inclined roller is used as the dynamic disturbance index of the material on the inclined roller at that moment.

5. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the predicted mutation disturbance degree is: On a controllable experimental platform, simulate the working conditions of materials being pushed into an inclined roller conveyor at different preset tilt directions, and obtain the degree of sudden disturbance corresponding to each preset tilt direction through specified rules; For any moment in the process of material docking between the AGV and the inclined roller, the sudden disturbance degree corresponding to the preset tilt direction that is most similar to the tilt direction of the material at that moment is used as the predicted sudden disturbance degree corresponding to the tilt direction of the material at that moment; The specified rule is: for any preset tilt direction, the residual signal after subtracting the main frequency component from the vibration signal of the entire material docking process when the material is pushed into the inclined roller in the preset tilt direction is used as the analysis signal; The analysis signal is divided into multiple local signal segments according to a preset time length, and the local signal segment where the material contacts the inclined roller is used as the target signal segment; taking the mean square error between a preset number of adjacent local signal segments preceding the target signal segment and a preset number of adjacent local signal segments following the target signal segment as a fluctuation analysis value; The ratio of the fluctuation analysis value to the signal definite integral in the target signal segment is used as the sudden disturbance degree corresponding to the preset tilt direction.

6. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the shock volatility index is as follows: At any moment during the material docking process between the AGV and the inclined roller conveyor, the product of the material weight and the speed difference at that moment is taken as the overall impact degree at that moment; The ratio of the overall impact degree to the preset impact duration is taken as the impact force at that moment; The product of the impact force and the offset at that moment is used as the impact fluctuation index of the material on the inclined roller at that moment.

7. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the stability of the material is: At any moment in the process of material docking between the AGV and the inclined roller, the result of subtracting the dynamic disturbance index from the impact fluctuation index at the static contact index at that moment is taken as the material stability at that moment.

8. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the abnormal moment is: The moments corresponding to the material stability level being less than the preset material stability level threshold are regarded as abnormal moments.

9. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the optimal inclined roller conveying speed is: For any abnormal moment, the objective function is constructed based on the material stability, inclined roller conveyor speed, AGV pushing speed and preset speed at the abnormal moment; When the objective function is minimized, the corresponding preset speed is the optimal inclined roller conveyor speed at the abnormal moment; Among them, the objective function is: Where, v is the inclined roller conveyor speed at the abnormal moment; v ′ is the preset speed; F is the material stability at the abnormal moment; v″ is the AGV pushing speed at the abnormal moment; || is the absolute value function; W is the objective function; norm is the normalization function.

10. The AGV and inclined roller conveyor automated collaborative control system for efficient material flow according to claim 1, characterized in that: The method for obtaining the transport distance is: The distance between the front end of the material on the inclined roller conveyor and the entrance of the inclined roller conveyor at each moment is taken as the transportation distance of the material on the inclined roller conveyor at each moment; The method for obtaining the offset is: The distance between the material center of mass at each moment and its adjacent previous moment is used as the offset of the material center of mass at each moment.

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