An agv and inclined roller way automatic collaborative control system with high efficient material flow

Abstract

The present application relates to material flow control technical field, specifically relates to a kind of high-efficiency material flow AGV and oblique roller way automation collaborative control system.The system obtains various data in the material docking process by data acquisition module;Further according to height difference, transportation distance under each time, contact area and the weight of material carried by oblique roller way, vibration signal and reference angle under each time and before time, the predicted mutation disturbance degree corresponding to the inclination direction of material under each time and oblique roller width, material weight, speed difference and offset under each time, obtain material stability degree and then filter out abnormal time;Based on the material stability degree under abnormal time, oblique roller transportation speed and AGV pushing speed, obtain the best oblique roller transportation speed under each abnormal time.The present application accurately obtains the best oblique roller transportation speed, avoids the risk of material overturning, effectively improves the stability of material flow.

Description

Technical Field

[0001] This invention relates to the field of material flow control technology, specifically to an automated collaborative control system for efficient material flow AGVs and inclined roller conveyors. Background Technology

[0002] With the rapid development of intelligent manufacturing and flexible production technologies, modern industrial logistics systems are placing higher demands on material handling efficiency, dynamic adaptability, and equipment coordination capabilities. AGVs (Automated Guided Vehicles) and inclined roller conveyors, as core equipment for material handling, have been widely used in warehousing and automobile manufacturing. AGVs achieve efficient material handling and precise positioning through laser navigation, multi-vehicle linkage (such as master-slave collaborative mode), and scheduling algorithm optimization.

[0003] In existing technologies, AGVs and inclined roller conveyors adopt independent control modes. Therefore, during the material docking process between AGVs and inclined roller conveyors, there is a lack of dynamic coordination mechanism for the parameters of the two. In particular, there are many short-term errors during the material docking process between AGVs and inclined roller conveyors, which makes it impossible to perform high-precision coordinated control of the material docking process between AGVs and inclined roller conveyors. This can easily lead to the risk of material overturning after being pushed onto the inclined roller conveyor, affecting the stability and efficiency of material flow. Summary of the Invention

[0004] To address the technical problem of material overturning risk on the inclined roller conveyor during material handling between AGVs and the conveyor, the present invention aims to provide an efficient automated collaborative control system for AGVs and inclined roller conveyors for material flow. The specific technical solution adopted is as follows:

[0005] This invention provides an automated collaborative control system for efficient material handling using AGVs and inclined roller conveyors. The system includes the following steps:

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

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

[0008] The dynamic disturbance index acquisition module is used to acquire the dynamic disturbance index of the material on the inclined roller conveyor 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 tilt direction of the material at each moment, and the width of the inclined roller conveyor.

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

[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, 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 as follows:

[0012] For any moment during the material docking process between the AGV and the inclined roller conveyor, the arctangent of the ratio of the height difference to the transport distance at that moment is taken as the contact offset angle between the bottom surface of the material and the surface of the inclined roller conveyor at that moment.

[0013] The result of negatively correlating the cube of the cosine of the contact offset angle is used as the reference loss level at that moment.

[0014] The result of negatively correlating the product of the preset loss correction coefficient and the reference loss level is taken as the effectiveness at that moment;

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

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

[0017] 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.

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

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

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

[0021] For 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 and that moment is taken as the degree of lateral offset at that moment.

[0022] The product of the lateral offset degree, the predicted abrupt change disturbance degree corresponding to the tilt direction of the material at that moment, and the width of the inclined roller conveyor is used as the dynamic disturbance index of the material on the inclined roller conveyor at that moment.

[0023] Furthermore, the method for obtaining the predicted degree of mutation perturbation is as follows:

[0024] The working conditions of materials being pushed into the inclined roller conveyor under different preset inclination directions are simulated on a controllable experimental platform, and the degree of sudden disturbance corresponding to each preset inclination direction is obtained by specifying rules.

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

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

[0027] The analysis signal is divided into multiple local signal segments by a preset duration, and the local signal segment where the material contacts the inclined roller is taken as the target signal segment.

[0028] The mean square error between a predetermined number of local signal segments preceding the target signal segment and a predetermined number of local signal segments following the target signal segment is used as the fluctuation analysis value.

[0029] 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.

[0030] Furthermore, the method for obtaining the shock fluctuation index is as follows:

[0031] For 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 intensity 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 taken as the impact fluctuation index of the material on the inclined roller conveyor at that moment.

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

[0035] For any moment during the material docking process between the AGV and the inclined roller conveyor, the result of subtracting the dynamic disturbance index and the impact fluctuation index from 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 as follows:

[0037] Any moment when the material stability level is lower than the preset material stability threshold is considered an abnormal moment.

[0038] Furthermore, the method for obtaining the optimal inclined roller conveyor speed is as follows:

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

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

[0041] The objective function is: In the formula, v is the skew 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 transportation distance is as follows:

[0043] The distance between the foremost position of the material on the inclined roller conveyor and the entrance of the inclined roller conveyor at each moment is taken as the transport distance of the material on the inclined roller conveyor at each moment.

[0044] The method for obtaining the offset is as follows:

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

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

[0047] This invention first obtains the static contact index between the material and the inclined roller conveyor at each moment based on the height difference, the transport distance and contact area at each instant, and the weight of the material carried by the inclined roller conveyor at each instant. This accurately reflects the force with which the material maintains stability under the inclined roller conveyor at each instant during the material docking process between the AGV and the inclined roller conveyor. To accurately analyze the stability of the material on the inclined roller conveyor at each instant, the invention further obtains the dynamic disturbance index of the material on the inclined roller conveyor at each instant based on the vibration signals and reference angle at each instant and previous instants, the predicted abrupt change disturbance degree corresponding to the tilt direction of the material at each instant, and the width of the inclined roller conveyor. This accurately reflects the turbulence force of the material on the inclined roller conveyor at each instant. Finally, the invention obtains the dynamic disturbance index of the material on the inclined roller conveyor at each instant based on the material weight, the speed difference and offset at each instant. The impact fluctuation index accurately reflects the unstable impact force of the material on the inclined roller conveyor at each moment. Furthermore, based on the static contact index, dynamic disturbance index, and impact fluctuation index at each moment, the stability of the material at each moment is obtained, accurately reflecting the stability of the material on the inclined roller conveyor during the material flow process, and indirectly reflecting the risk of material tipping over at each moment. Based on the material stability level, abnormal moments are screened out, accurately determining the moments with a risk of material tipping over. To avoid material tipping over, the optimal inclined roller conveyor speed is obtained based on the material stability level, inclined roller conveyor speed, and AGV pushing speed at each abnormal moment, effectively preventing material tipping over during the material docking process between the AGV and the inclined roller conveyor, thus improving the stability and efficiency of material flow. Attached Figure Description

[0048] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 The diagram shows a structural block diagram of an automated collaborative control system for efficient material flow using AGVs and inclined roller conveyors, provided in one embodiment of the present invention.

[0050] Figure 2 This is a schematic diagram showing the inclination direction of material on an inclined roller conveyor according to an embodiment of the present invention.

[0051] Figure 3 This is a schematic diagram of a computer device provided according to an embodiment of the present invention. Detailed Implementation

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

[0053] Unless otherwise defined, 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 pertains.

[0054] The following description, in conjunction with the accompanying drawings, details the specific scheme of the automated collaborative control system for efficient material flow AGV and inclined roller conveyor provided by this invention.

[0055] Example 1:

[0056] This invention proposes an automated collaborative control system for efficient material handling using AGVs and inclined roller conveyors. Please refer to [link / reference]. Figure 1 The diagram shows a structural block diagram of an automated collaborative control system for efficient material flow using AGV and inclined roller conveyor, 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 conveyor transport speed acquisition module 50.

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

[0058] Specifically, within a production workshop, different materials are stored in designated logistics buffer areas, and multiple AGVs transport these materials to different transfer points. These transfer points may use straight roller conveyors or inclined roller conveyors. Inclined roller conveyor AGVs connect their own inclined roller conveyors to ground-based inclined roller conveyors to load and unload materials. They can handle palletized goods in both left and right directions and are commonly used for rolling pallets or heavy-duty materials (such as containers and wooden crates). Fixed inclined roller conveyors and AGVs form a circular transportation network, enabling high-frequency material flow.

[0059] The basic operating process is as follows: First, the central control system generates transportation tasks based on real-time production needs, that is, it calculates the type, quantity, and priority of the required materials by combining the current production orders (e.g., "500 car chassis need to be welded today"); then, the central control system locates the specific storage location of the required materials in the production workshop (e.g., shelf number 5, row 3, area A); and generates a transportation task order (e.g., task number #20230915003 | material: steel plate X-type | quantity: 200 pieces | starting point: A3-5 | ending point: welding station inclined roller conveyor | urgency level: high); then, the AGVs execute tasks cyclically according to the plan (e.g., from warehouse → production line → return trip), but may experience brief periods of idleness 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 equipment failure leading to accelerated consumption or defective products during production, additional materials are required. In this case, the system will scan the status of all AGVs, including their spatial positions and the priority of real-time task orders, and prioritize the idle AGV closest to the location of the material shortage. If there are no idle AGVs, the system will interrupt the AGVs performing low-priority tasks (such as an AGV transporting non-urgent packaging boxes) and redirect them to perform urgent material replenishment tasks. The system will also dynamically adjust the paths of other AGVs to avoid route conflicts with AGVs performing urgent tasks. For example, in the event of a sudden situation, if an AGV has just finished transporting tires to the final assembly workshop and is detected as idle within 30 seconds of the return trip starting, the system will immediately assign the AGV to the urgent material replenishment task.

[0060] It should be noted that the AGV adopts 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 it travels to the docking point of the inclined roller conveyor, which meets the accuracy requirements of the inclined roller conveyor. At the same time, vision sensors and photoelectric switches are installed at the end of the inclined roller conveyor to detect the material arrival status in real time and trigger the start and stop signals of the AGV and the inclined roller conveyor. After the AGV arrives at the inclined roller conveyor, it sends a ready signal through wireless communication, and the inclined roller conveyor starts transmission.

[0061] Furthermore, the AGV's arrival at the docking position of the inclined roller conveyor must be precisely matched with the start / stop status of the inclined roller conveyor. Inconsistent matching will lead to material accumulation or the inclined roller conveyor running idle, reducing material flow efficiency. Therefore, this embodiment addresses this issue by... Calculate the optimal start-stop time difference; where D AGV v represents the remaining distance between the AGV and the entrance of the inclined roller conveyor. AGV L represents the transport speed of the AGV. g v is the idle length of the inclined roller conveyor. gThe conveying speed of the inclined roller conveyor is denoted by Δt. By adjusting the AGV's conveying speed or the remaining path length between the AGV and the inclined roller conveyor entrance, the feeding time of the AGV reaching the inclined roller conveyor entrance is controlled, making Δt approach zero. This ensures that the AGV's arrival time at the inclined roller conveyor matches the start and stop status of the inclined roller conveyor, preventing material accumulation at the inclined roller conveyor entrance or the inclined roller conveyor from being unloaded.

[0062] Among them, the inclined roller conveyor utilizes the friction generated by the contact between the belt on the bottom surface of the roller and the roller to rotate the roller, thereby driving the material forward. It can transport various materials such as boxes, containers, and small pallets with flat and regular bottoms. Because the rollers are installed at an angle, they can guide the conveyed material to the side, thereby achieving directional movement, posture adjustment, and mechanical processing of the material. For example, in a steel rolling production line, the inclined roller conveyor uses inclined rollers to automatically bring the rolled pieces (such as steel plates or steel pipes) together to one side, making it easier to collect them into rows.

[0063] During the process of transporting materials to the inclined roller conveyor, the operating parameters of the AGV and the inclined roller conveyor are independent, and the materials are prone to tipping over. Therefore, during the material docking process between the AGV and the inclined roller conveyor, it is necessary to analyze the tipping risk and instability of the materials in real time, and then adjust the conveyor speed of the inclined roller conveyor in real time to improve the stability of the materials during the material docking process between the AGV and the inclined roller conveyor and avoid tipping over. To ensure the stability of material flow during the material docking process between the AGV and the inclined roller conveyor, this embodiment uses a LiDAR installed at the entrance of the inclined roller conveyor to obtain the height difference between the bottom lifting plane of the material and the plane of the inclined roller conveyor. It should be noted that the bottom lifting plane of the material must not be lower than the plane of the inclined roller conveyor, because to ensure that the material can be pushed onto the inclined roller conveyor plane, the height difference must not be negative. Furthermore, using LiDAR and visual detection, the transport distance of the material on the inclined roller conveyor at each moment during the material docking process is obtained, i.e., the shortest distance between the foremost position of the material on the inclined roller conveyor and the entrance of the inclined roller conveyor at each moment. The offset of the material's centroid is recorded, i.e., the Euclidean distance between the material's centroid at each moment and its centroid at the adjacent previous moment is obtained; the vibration signal of the AGV pushing material at each moment is obtained; the AGV pushing speed and the inclined roller conveyor speed at each moment are obtained, as well as the absolute value of the speed difference between the AGV pushing speed and the inclined roller conveyor speed at each moment; the contact area between the material and the inclined roller conveyor at each moment is obtained, and the reference angle between the material's tilt direction and the roller installation direction at each moment is obtained. The method for obtaining the material's tilt direction at each moment is as follows: the material shape is scanned by a laser radar, and the position information of the material on the AGV plane and the inclined roller conveyor plane at each moment is obtained to determine the tilt direction of the material on the inclined roller conveyor at each moment. Figure 2The diagram shows the inclination direction of the material on the inclined roller conveyor. Figure 2 The angle between the inclination direction and the material's entry direction facing the inclined roller conveyor is the material's inclination angle. The methods for obtaining the shortest distance, Euclidean distance, and centroid are all well-known techniques and will not be elaborated further. This embodiment sets the time interval between two adjacent moments to 0.1 seconds. Implementers can set the time interval between two adjacent moments according to actual conditions; no limitation is imposed here.

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

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

[0066] Specifically, during the material docking process between the AGV and the inclined roller conveyor, when there is a height difference, the bottom surface of the material will inevitably have a certain angle with the surface of the inclined roller conveyor. The larger the angle, the more unforced areas there will be in the contact area between the material and the inclined roller conveyor. That is, the force on the higher side of the contact area will decrease due to the influence of the angle. In order to analyze the force generated by the contact between the material and the inclined roller conveyor during the material flow process in real time, i.e., the frictional 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 conveyor at each moment based on the height difference and the transportation distance at each moment using an arctangent function. Then, based on the contact area at each moment, the angle between the bottom surface of the material and the surface of the inclined roller conveyor, and the weight of the material carried by the inclined roller conveyor at each moment, the static contact index between the material and the inclined roller conveyor at each moment is obtained. The larger the static contact index, the greater the frictional force that keeps the material stable on the inclined roller conveyor at the corresponding moment.

[0067] Preferably, in one feasible embodiment, the static contact index is obtained as follows: for any moment during the material docking process between the AGV and the inclined roller conveyor, the arctangent of the ratio of the height difference to the transport distance at that moment is taken as the contact offset angle between the bottom surface of the material and the surface of the inclined roller conveyor at that moment; the larger the contact offset angle, the more pressure reduction will occur in the contact area at that moment. It is known that the tilting effect corresponding to the contact offset angle exhibits nonlinear decay characteristics in three-dimensional space. Specifically, the effective contact area between the material and the inclined roller conveyor is directly proportional to the cosine value of the contact offset angle. Tilting causes the effective contact area to be concentrated on the lower side, while the lost contact area is concentrated on the higher side. The cosine value of the contact offset angle represents the projection effectiveness of the contact area on the inclined roller conveyor plane after tilting. For example, when the contact offset angle is 30°, the projection effectiveness is approximately 86%. Since there is not only contact area loss on the horizontal plane in three-dimensional space, the cube of the cosine value of the contact offset angle represents the decay effect of the effective contact area in three-dimensional space.

[0068] In reality, the contact area will not exactly follow the theoretical loss. Therefore, this embodiment sets a preset loss correction coefficient as follows: The implementer can set the magnitude of the preset loss correction coefficient according to the actual situation, which is not limited here. Furthermore, this embodiment uses the negative correlation result of the cube of the cosine of the contact offset angle as the reference loss level at that moment; then, the negative correlation result of the product of the preset loss correction coefficient and the reference loss level is used as the effectiveness level at that moment; wherein, the formula for calculating the effectiveness level is: Y t =1―δ×(1―cos 3 ω t In the formula, Y t δ represents the effectiveness at time t; δ is the preset loss correction coefficient; ω t Let be the contact offset angle between the material and the inclined roller conveyor at time t; cos is the cosine function; 1 - cos 3 ω t This represents the reference loss level at time t.

[0069] The product of the contact area and the effectiveness at that moment is taken as the effective contact area at that moment. As the material gradually advances onto the inclined roller conveyor, the weight of the material on the AGV gradually decreases, and the weight of the material gradually moves onto the inclined roller conveyor. Therefore, in this embodiment, the difference between the material gravity and the material pressure on the AGV at that moment is taken as the weight of the material carried by the inclined roller conveyor at that moment. This embodiment normalizes the material weight to avoid inconsistencies in units later. It should be noted that all subsequent material weights are assumed to be the normalized material weight. Then, the ratio of the weight of the material carried by the inclined roller conveyor at that moment to the effective contact area is taken as the effective frictional force at that moment. Considering that there is a coefficient of friction between the bottom surface of the material and the surface of the inclined roller conveyor in actual practice, in order to more accurately represent the force maintaining the stability of the material between the material and the inclined roller conveyor at that moment, the product of the coefficient of friction between the bottom surface of the material and the surface of the inclined roller conveyor and the effective frictional force is taken as the static contact index at that moment.

[0070] Thus, the static contact indicators at each moment during the material docking process between the AGV and the inclined roller conveyor are obtained.

[0071] The dynamic disturbance index acquisition module 30 is used to acquire the dynamic disturbance index of the material on the inclined roller conveyor 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 tilt direction of the material at each moment, and the width of the inclined roller conveyor.

[0072] Specifically, the reference angle represents the angle between the material's tilting direction and the inclined roller conveyor's installation direction. A larger reference angle indicates a greater deviation between the material's tilting direction and the inclined roller conveyor's installation direction at that moment, indirectly suggesting a higher probability of lateral oscillation of the material at that moment. Similarly, a stronger vibration signal at a given moment indirectly indicates a greater degree of material vibration at that moment. Considering that the risk of material overturning on the inclined roller conveyor is cumulative in practice, this embodiment first analyzes the vibration of the material on the inclined roller conveyor at each moment based on the vibration signal and reference angle at each moment and previous moments.

[0073] On the other hand, during the material docking process between the AGV and the inclined roller conveyor, the tilt direction of the material may change. It is known that different tilt directions produce different energy effects. Therefore, this embodiment combines the predicted abrupt change disturbance degree corresponding to the tilt direction of the material at each moment to further analyze the vibration of the material on the inclined roller conveyor at each moment. It is known that the wider the inclined roller conveyor, the larger the space for material oscillation, indirectly indicating that the material is more likely to vibrate on the inclined roller conveyor. Therefore, this embodiment obtains the dynamic disturbance index of the material on the inclined roller conveyor at each moment based on the vibration signal and reference angle at each moment and the predicted abrupt change disturbance degree corresponding to the tilt direction of the material at each moment, and the width of the inclined roller conveyor. The larger the dynamic disturbance index, the greater the oscillation intensity of the material on the inclined roller conveyor at the corresponding moment.

[0074] Preferably, in one feasible embodiment of this invention, the method for predicting the degree of abrupt disturbance is as follows: Simulate the process of material being pushed into the inclined roller conveyor under different preset tilt directions on a controllable experimental platform, and obtain the degree of abrupt disturbance corresponding to each preset tilt direction through specified rules; the greater the degree of abrupt disturbance, the greater the wave energy generated when the material contacts the inclined roller conveyor under the corresponding preset tilt direction. In this embodiment, the range of preset tilt directions is set to -30 degrees to 30 degrees. The implementer can set the range of preset tilt directions according to actual conditions, and it is not limited here. It should be noted that under normal circumstances, the tilt angle corresponding to the tilt direction of the material relative to the inclined roller conveyor will not exceed -30 degrees to 30 degrees.

[0075] The specified rule is as follows: For any preset tilt direction, the vibration signal of the entire material contact process during which the material is pushed into the inclined roller conveyor in that preset tilt direction is subjected to a short-time Fourier transform to identify the dominant frequency component, which is the periodic vibration signal caused by motor vibration, and can be directly read from the motor encoder; the dominant frequency component is assumed to be the standard vibration signal corresponding to the stable material push. To accurately analyze the instantaneous energy fluctuations generated by the material contacting the inclined roller conveyor in that preset tilt direction, the residual signal after subtracting the dominant frequency component from the vibration signal of the entire material contact process during which the material is pushed into the inclined roller conveyor in that preset tilt direction is used as the analysis signal. The short-time Fourier transform is a well-known technique and will not be elaborated further.

[0076] To analyze the abrupt turbulence energy generated when material contacts the inclined roller conveyor in a preset tilt direction, the analysis signal is divided into multiple local signal segments by a preset duration. In this embodiment, the preset duration is set to 1 second, but the implementer can set the size of the preset duration according to the actual situation, which is not limited here. The contact time between the material and the inclined roller conveyor is obtained by a photoelectric sensor, and the local signal segment where the material contacts the inclined roller conveyor is located is taken as the target signal segment. The mean square error between a preset number of adjacent local signal segments before the target signal segment and a preset number of adjacent local signal segments after the target signal segment is taken as the fluctuation analysis value, representing the additional vibration component that appears in the short period of time before and after the contact time. In this embodiment, the preset number is set to 3, but the implementer can set the size of the preset number according to the actual situation, which is not limited here. The method for obtaining the mean square error is a known technique and will not be described in detail here. Because the short-term additional vibration component is the vibration continuation caused by the sudden change in turbulent 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 change in the preset tilt direction; the greater the degree of sudden change in the tilt direction, the greater the instantaneous turbulent energy generated by the material contacting the inclined roller in that tilt direction.

[0077] Thus, the degree of abrupt change disturbance 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 degree of abrupt change disturbance corresponding to the preset tilt direction most identical to the tilt direction of the material at that moment is taken as the predicted degree of abrupt change disturbance corresponding to the tilt direction of the material at that moment. Thus, the predicted degree of abrupt change disturbance corresponding to the tilt direction of the material at each moment during the material docking process between the AGV and the inclined roller conveyor is obtained.

[0078] Preferably, in one feasible embodiment, the method for obtaining the dynamic disturbance index is as follows: for any moment during the material docking process between the AGV and the inclined roller conveyor, the definite integral result of the product of the vibration signal at each moment between the start of the docking process and the sine value of the reference angle is taken as the lateral offset degree at that moment; the greater the lateral offset degree, the greater the vibration degree generated by the material at that moment; and then the product of the lateral offset degree at that moment, the predicted sudden change disturbance degree corresponding to the tilt direction of the material at that moment, and the width of the inclined roller conveyor is taken as the dynamic disturbance index of the material on the inclined roller conveyor at that moment.

[0079] Thus, 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 was obtained.

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

[0081] Specifically, at a certain moment during the material docking process between the AGV and the inclined roller conveyor, the greater the speed difference at that moment, the greater the inertial impact generated by the material and the inclined roller conveyor at that moment, indicating that the material is more unstable at that moment. Furthermore, the inertial impact is also related to the material's weight. On the other hand, the greater the offset at that moment, the greater the change in the material's center of mass, indirectly indicating that the material is more unstable at that moment. Therefore, this embodiment obtains the impact fluctuation index of the material on the inclined roller conveyor at each moment based on the material weight, the speed difference at each moment, and the offset. The greater the impact fluctuation index, the greater the impact instability force of the material on the inclined roller conveyor at the corresponding moment, indirectly reflecting the greater instability of the material at that moment.

[0082] Preferably, in one feasible embodiment, the method for obtaining the impact fluctuation index is as follows: for 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; in this embodiment, the preset impact duration is set to 1 second, but the implementer can set the size of the preset impact duration according to the actual situation, which is not limited here. It should be noted that the impact duration is usually 1 to 1.5 seconds. The product of the impact force at that moment and the offset is taken as the impact fluctuation index of the material on the inclined roller conveyor at that moment.

[0083] Thus, 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 was obtained.

[0084] The optimal inclined roller conveyor speed acquisition module 50 is used to obtain the material stability at each moment based on the static contact index, dynamic disturbance index and impact fluctuation index, and then screen 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.

[0085] Specifically, the static contact index represents the force corresponding to the material being stationary at a given time, i.e., the force that keeps the material stable at that time; the dynamic disturbance index represents the turbulent force of the material at a given time; and the impact fluctuation index represents the impact instability force of the material at a given time. Therefore, in this embodiment, the material stability level at each time is obtained based on the static contact index, dynamic disturbance index, and impact fluctuation index. The lower the material stability level, the greater the risk of the material overturning at that time. Thus, abnormal times, i.e. times when the material is at risk of overturning, are screened based on the material stability level.

[0086] To prevent material from tipping over on the inclined roller conveyor during material flow, the conveyor speed needs to be reduced during abnormal periods. This reduction should compensate for the tipping risk, while ensuring the adjusted conveyor speed matches as closely as possible to the AGV pushing speed during the corresponding abnormal period, thus guaranteeing more stable material flow. Since the tipping risk at each abnormal period is indirectly reflected in the material's stability, this embodiment determines the optimal inclined roller conveyor speed for each abnormal period based on the material stability, the inclined roller conveyor speed, and the AGV pushing speed.

[0087] Preferably, in one feasible embodiment, the method for obtaining the material stability is as follows: for any moment during the material docking process between the AGV and the inclined roller conveyor, the static contact index minus the dynamic disturbance index and then the impact fluctuation index at that moment is taken as the material stability at that moment. Thus, the material stability at each moment is obtained.

[0088] Preferably, in one feasible embodiment of this invention, the method for obtaining abnormal moments is as follows: It is known that the lower the stability of the material, the greater the risk of overturning at the corresponding moment. Therefore, in this embodiment, moments corresponding to material stability levels below a preset material stability threshold are all considered abnormal moments. This embodiment sets the preset material stability threshold to 0. The implementer can set the size of the preset material stability threshold according to actual conditions, and this is not limited here.

[0089] Preferably, in one feasible manner 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, inclined roller conveyor speed, AGV pushing speed, and preset speed at that abnormal moment; when the objective function is minimized, the corresponding preset speed is the optimal inclined roller conveyor speed at that abnormal moment.

[0090] The objective function is: In the formula, v is the conveying speed of the inclined roller conveyor 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; 1―norm(F) characterizes the risk of material overturning at the abnormal moment.

[0091] This allows for the determination of the optimal conveyor speed at each abnormal moment, preventing material overturning during the docking process between the AGV and the conveyor, and effectively improving the stability and efficiency of material flow.

[0092] It should be noted that in practice, the conveyor speed of the inclined roller conveyor cannot be frequently adjusted. Therefore, for any abnormal moment, if the absolute value of the difference between the normalized material stability at that abnormal moment and the previous adjacent moment is less than the first preset threshold, the conveyor speed of the inclined roller conveyor at that abnormal moment will not be adjusted. In this embodiment, the first preset threshold is set to 0.2. Implementers can set the size of the first preset threshold according to the actual situation, which is not limited here. When the normalized material stability at the abnormal moment is too small, it indicates that the risk of material overturning at that abnormal moment is too high. At this time, the inclined roller conveyor should be stopped immediately and the AGV should be notified to reposition. If necessary, the robotic arm should be triggered to assist in correcting the deviation of the material. When the normalized material stability at the abnormal moment is less than the second preset threshold, it indicates that the risk of material overturning at the corresponding abnormal moment is too high. In this embodiment, the second preset threshold is set to 0.2. Implementers can set the size of the second preset threshold according to the actual situation, which is not limited here.

[0093] Once the material is fully connected to the inclined roller conveyor, i.e., the AGV and the inclined roller conveyor have completed the material connection, the inclined roller conveyor resumes normal transport speed and at the same time triggers the AGV to leave to perform the next task.

[0094] In summary, this embodiment acquires various data during the material handling process through a data acquisition module. Then, based on height differences, transport distance at each moment, contact area, and material weight carried by the inclined roller conveyor, vibration signals and reference angles at each moment and previous moments, the predicted abrupt change in material tilt direction at each moment, the width of the inclined roller conveyor, material weight, speed differences, and offset at each moment, the stability of the material is obtained, thus identifying abnormal moments. Based on the material stability at abnormal moments, the inclined roller conveyor speed, and the AGV pushing speed, the optimal inclined roller conveyor speed for each abnormal moment is obtained. This invention, by accurately obtaining the optimal inclined roller conveyor speed, avoids the risk of material tipping over and effectively improves the stability of material flow.

[0095] Example 2:

[0096] This invention also proposes an efficient material handling AGV and inclined roller conveyor automated collaborative control device. This device includes a memory and a processor. The memory stores executable program code, and the processor is used to call and execute the executable program code to execute the efficient material handling AGV and inclined roller conveyor automated collaborative control system provided in the embodiments of this application. Specifically, the device may be a chip, component, or module. The chip may include a connected processor and memory; the memory stores instructions, and when the processor calls and executes the instructions, the chip can execute the efficient material handling AGV and inclined roller conveyor automated collaborative control system provided in the above embodiments.

[0097] Furthermore, this application also protects a computer device; please refer to [link to relevant documentation]. 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. When the processor 402 executes the computer program 403, the computer device can execute any of the aforementioned efficient material handling AGV and inclined roller conveyor automated collaborative control systems.

[0098] Example 3:

[0099] The present invention also provides a computer-readable storage medium storing computer program code, which, when executed on a computer, causes the computer to perform the aforementioned related method steps to realize the efficient material flow AGV and inclined roller conveyor automated collaborative control system provided in the above embodiments.

[0100] Example 4:

[0101] The present invention also provides a computer program product, which, when run on a computer, causes the computer to perform the above-mentioned related steps to realize the automated collaborative control system for efficient material flow AGV and inclined roller conveyor provided in the above embodiments.

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

[0103] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some 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. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A highly efficient automated collaborative control system for AGVs and inclined roller conveyors for material handling, characterized in that, The system includes the following steps: The data acquisition module is used to acquire the height difference between the bottom lifting plane of the material and the plane of the inclined roller conveyor of the AGV; to acquire the material transportation distance on the inclined roller conveyor, the offset of the material's center of mass, the vibration signal of the AGV pushing the material, the speed difference between the AGV pushing speed and the inclined roller conveyor transportation speed, the contact area between the material and the inclined roller conveyor, and the reference angle between the material's tilt direction and the roller installation direction at each moment during the material docking process between the AGV and the inclined roller conveyor; The static contact index acquisition module is used to acquire the static contact index between the material and the inclined roller conveyor at each moment based on the height difference, the transport distance and contact area at each moment, and the weight of the material carried by the inclined roller conveyor at each moment. The dynamic disturbance index acquisition module is used to acquire the dynamic disturbance index of the material on the inclined roller conveyor 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 tilt direction of the material at each moment, and the width of the inclined roller conveyor. The impact fluctuation index acquisition module is used to acquire the impact fluctuation index of the material on the inclined roller conveyor at each moment based on the material weight, the speed difference at each moment, and the offset. 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, 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 automated collaborative control system for efficient material flow AGV and inclined roller conveyor as described in claim 1, characterized in that, The method for obtaining the static contact index is as follows: For any moment during the material docking process between the AGV and the inclined roller conveyor, the arctangent of the ratio of the height difference to the transport distance at that moment is taken as the contact offset angle between the bottom surface of the material and the surface of the inclined roller conveyor at that moment. The result of negatively correlating the cube of the cosine of the contact offset angle is used as the reference loss level at that moment. The result of negatively correlating the product of the preset loss correction coefficient and the reference loss level is taken as the effectiveness at that moment; The product of the contact area and the degree of effectiveness at that moment is taken as the effective contact area at that moment. The ratio of the weight of the material carried by the inclined roller conveyor to the effective contact area at that moment is taken as the effective frictional force at that moment. 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.

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

4. The automated collaborative control system for efficient material flow AGV and inclined roller conveyor as described in claim 1, characterized in that, The method for obtaining the dynamic disturbance index is as follows: For 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 and that moment is taken as the degree of lateral offset at that moment. The product of the lateral offset degree, the predicted abrupt change disturbance degree corresponding to the tilt direction of the material at that moment, and the width of the inclined roller conveyor is used as the dynamic disturbance index of the material on the inclined roller conveyor at that moment.

5. The automated collaborative control system for efficient material flow AGV and inclined roller conveyor as described in claim 1, characterized in that, The method for obtaining the predicted degree of mutation perturbation is as follows: The working conditions of materials being pushed into the inclined roller conveyor under different preset inclination directions are simulated on a controllable experimental platform, and the degree of sudden disturbance corresponding to each preset inclination direction is obtained by specifying rules. For any moment during the material docking process between the AGV and the inclined roller conveyor, the degree of sudden disturbance corresponding to the preset tilt direction that is most similar to the tilt direction of the material at that moment is taken as the predicted degree of sudden disturbance corresponding to the tilt direction of the material at that moment. The specified rule is as follows: For any preset tilt direction, the residual signal after subtracting the main frequency component from the vibration signal of the entire material docking process of the material being pushed into the inclined roller conveyor under the preset tilt direction is used as the analysis signal; The analysis signal is divided into multiple local signal segments by a preset duration, and the local signal segment where the material contacts the inclined roller is taken as the target signal segment. The mean square error between a predetermined number of local signal segments preceding the target signal segment and a predetermined number of local signal segments following the target signal segment is used as the fluctuation analysis value. 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.

6. The automated collaborative control system for efficient material flow AGV and inclined roller conveyor as described in claim 1, characterized in that, The method for obtaining the shock fluctuation index is as follows: For 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 intensity 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 taken as the impact fluctuation index of the material on the inclined roller conveyor at that moment.

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

8. The automated collaborative control system for efficient material flow AGV and inclined roller conveyor as described in claim 1, characterized in that, The method for obtaining the abnormal moment is as follows: Any moment when the material stability level is lower than the preset material stability threshold is considered an abnormal moment.

9. The automated collaborative control system for efficient material flow AGV and inclined roller conveyor as described in claim 1, characterized in that, The method for obtaining the optimal inclined roller conveyor speed is as follows: For any abnormal moment, construct an objective function based on the material stability, inclined roller conveyor speed, AGV pushing speed and preset speed at that abnormal moment; When the objective function is minimized, the corresponding preset speed is the optimal inclined roller conveyor speed at that abnormal moment; The objective function is: In the formula, v is the skew roller conveyor speed at the abnormal moment; The preset speed is represented by F, which represents the material stability at this abnormal moment. This refers to the AGV's feeding speed at that abnormal moment; W is the absolute value function; W is the objective function; norm is the normalization function. This is the result after normalization.

10. The automated collaborative control system for efficient material flow using AGVs and inclined roller conveyors as described in claim 1, characterized in that, The method for obtaining the transportation distance is as follows: The distance between the foremost position of the material on the inclined roller conveyor and the entrance of the inclined roller conveyor at each moment is taken as the transport distance of the material on the inclined roller conveyor at each moment. The method for obtaining the offset is as follows: The distance between the material centroid at each moment and the material centroid at the adjacent previous moment is used as the offset of the material centroid at each moment.

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