AGV conveying system of access automatic order fire assaying production line

Abstract

This invention relates to the field of automated transportation technology. It discloses an AGV conveying system integrated into a fire assay production line with automatic scheduling. The system includes an AGV module and a scheduling module for the fire assay production line. The AGV module is used to transport new waste crucibles, spare materials, empty ash dishes, and alloy granule ash dishes. It also includes a trajectory adjustment module for controlling the AGV module. The data splitting module in the scheduling module obtains transport material data and corresponding processing steps based on the processing order. The original trajectory module in the trajectory adjustment module plans the AGV module's movement route based on the data from the data splitting module. By combining the fire assay production line with AGVs, AGV scheduling is performed during the cross-operation process of the fire assay production line, utilizing the AGV's idle interval time. The system uses total weight and unit weight as the center for AGV interval time scheduling and variable speed movement, improving the dynamic adaptability of scheduling, increasing processing efficiency, reducing the number of AGVs, and lowering computing power requirements.

Description

Technical Field

[0001] This invention relates to the field of automated transportation technology, specifically an AGV conveying system connected to an automated order scheduling fire testing production line. Background Technology

[0002] Fire assay is a classic quantitative analysis method for precious metals (such as gold, silver, and platinum group metals), with lead fire assay considered the most authoritative gold analysis technique. Through high-temperature smelting, oxidation separation, and chemical treatment, it achieves the separation and determination of precious metals from other impurities. This method is particularly suitable for the precise analysis of high-content precious metals in samples such as ores, metallurgical products, and alloys, and it holds authoritative status in arbitration testing.

[0003] The automated fire assay system aims to achieve fully automated operation of the fire assay process, from sample preparation, batching, mixing, silver supplementation, addition of covering agent, melting, lead casting, automatic demolding, ash blowing to ash blowing endpoint determination, by integrating automation technology.

[0004] As can be seen from the above, there are many process steps, and AGVs are used to connect these multiple processes. AGVs can move linearly and orderly according to orders, but multi-process production lines are most efficient when production is done at cross-process intervals. To improve the efficiency of cross-process production, more AGVs must be added. The presence of multiple AGVs significantly increases the difficulty of route control and scheduling, and requires high computing power.

[0005] A Chinese patent (CN120010414A) discloses a method for collaborative scheduling of multi-stroke, multi-load AGVs in an adjustable-speed workshop. However, this patent's method of scheduling multi-load AGVs does not conform to the fire assay system. Firstly, the crucibles and ash dishes in the optical assay method have high similarity, making stacking and identification difficult. Secondly, the objects are small in size and stacked in rows, with inconsistent product classifications within a single row, making it difficult for the robot grippers on the system to hold them. Summary of the Invention

[0006] The purpose of this invention is to provide an AGV conveying system integrated into a fire assay production line with automatic scheduling. By combining fire assay with AGVs, the system allows for AGV scheduling during idle intervals in the cross-operation of fire assay. Furthermore, the system utilizes the total weight and unit weight as the central factors for AGV interval scheduling and variable speed movement, improving scheduling dynamic adaptability, increasing processing efficiency, reducing the number of AGVs, and lowering computing power requirements, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An AGV conveying system for a fire assay production line connected to an automatic order scheduling system includes an AGV module and an order scheduling module for use in the fire assay production line. The AGV module is used to convey new waste crucibles, ready-to-use materials, empty ash dishes, and alloy particle ash dishes.

[0009] It also includes a trajectory adjustment module for controlling the AGV module. The data splitting module in the scheduling module obtains the transport material data and corresponding processing procedures based on the processing order. The original trajectory module in the trajectory adjustment module plans the AGV module's movement route based on the data splitting module data.

[0010] The scheduling module continues to schedule cross-operations and calls the AGV module through the process call module. The trajectory adjustment module obtains the current information of the AGV module in operation based on the weighing module and the counting module and calculates the idle interval time of the AGV module. When the idle interval time is not less than the loading and unloading time of the response process and the round-trip time of the process position, the trajectory correction module corrects the movement trajectory of the AGV module.

[0011] As a further aspect of the present invention: the trajectory adjustment module obtains the loading time of the process call module and the unloading time of the next process based on the time recording module. The trajectory adjustment module calculates the round-trip time of the process position through the travel time module and the positioning module. The round-trip time of the process position includes the time for the AGV module to reach the call position of the process call module from its current position, the time for the call position to reach the next target process, and the time for the AGV module to reach the next target process set by the original trajectory module after the next target process is completed.

[0012] As a further aspect of the present invention: the AGV module has a speed adjustment module, the trajectory adjustment module has a speed control module, and the speed control module controls the speed adjustment module to increase or decrease speed based on the material parameters on the surface of the AGV module obtained by the weight measurement module and the counting module.

[0013] As a further aspect of the present invention: when all of the AGV modules meet the condition that the idle interval time is not less than the loading time of the response process and the round-trip time to the process position, the trajectory correction module prioritizes dispatching the AGV module that is closest to the process call module's response process position based on the positioning module.

[0014] As a further aspect of the present invention: the AGV module travels at a constant speed, and when the idle interval is less than the loading time of the response process and the round-trip time to the process position, the speed control module controls the AGV module to adjust its speed.

[0015] As a further embodiment of the present invention: the counting module and the weighing module are combined to calculate the weight of a single product, set a product weight threshold to obtain the workpiece status, and the speed control module controls the speed adjustment of the AGV module according to the workpiece status.

[0016] As a further aspect of the present invention: the AGV module is equipped with a timing module. When the positioning module is waiting at the waiting process parking point, the timing module starts timing, and the idle interval of the AGV module gradually shortens.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] By integrating the fire assay production line with AGVs, AGV scheduling is achieved during the idle intervals of the AGVs during cross-operations on the fire assay production line. Furthermore, the speed of AGVs is adjusted based on total weight and unit weight to improve dynamic adaptability, increase processing efficiency, reduce the number of AGVs, and lower computing power requirements. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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.

[0020] Figure 1 A schematic diagram of an AGV conveying system connected to an automated order scheduling fire test production line.

[0021] Figure 2 A system block diagram of an AGV conveying system connected to an automated order scheduling fire test production line.

[0022] In the diagram: 100, AGV module; 101, weighing module; 102, positioning module; 103, counting module; 104, speed control module; 105, timing module; 200, scheduling module; 201, data splitting module; 202, time recording module; 203, process call module; 300, trajectory adjustment module; 301, original trajectory module; 302, trajectory correction module; 303, travel time efficiency module; 304, speed control module. Detailed Implementation

[0023] Please see Figures 1-2In this embodiment, there are AGV modules 100 and scheduling modules 200 applied to the fire assay production line. AGV module 100 is used to transport new waste crucibles, spare materials, empty ash dishes and alloy particle ash dishes. It also includes a trajectory adjustment module 300 for controlling AGV module 100. The data splitting module 201 in scheduling module 200 splits and obtains the transport material data and corresponding processing steps according to the processing order. The original trajectory module 301 in trajectory adjustment module 300 plans the movement route of AGV module 100 according to the data splitting module 201.

[0024] Staff create production work orders based on production tasks. The data splitting module 201 reads the work order data and retrieves the corresponding product's production information from the database, thereby obtaining the corresponding process steps for the work order. Based on the process instruction manual or process standard document, the flow sequence and dwell time of multiple processes for this type of product can be determined according to the number of workpieces.

[0025] The original trajectory module 301 in the trajectory adjustment module 300 can determine the movement trajectory of the AGV based on the process flow sequence and process position. In the processing of a single product category, the flow trajectory of the AGV is fixed. However, there is a lot of dwell time for the AGV during the connection between two processes. In order to improve the efficiency of production and reduce the number of AGVs to reduce scheduling and trajectory adjustment difficulty, it is necessary to realize the connection of multiple processes of AGV flow, rather than single trajectory movement.

[0026] The scheduling module 200 continues to schedule cross-operations and calls the AGV module 100 through the process call module 203. The trajectory adjustment module 300 obtains the current information of the AGV module 100 in operation based on the weighing module 101 and the counting module 103 and calculates the idle interval of the AGV module 100. The idle interval is the waiting time for the AGV module 100 to go to the next process for loading after unloading. When the idle interval is not less than the loading and unloading time of the response process and the round-trip time of the process position, the trajectory correction module 302 corrects the movement trajectory of the AGV module 100. The trajectory adjustment module 300 obtains the loading time of the response process and the unloading time of the next process from the process call module 203 based on the time recording module 202.

[0027] In the fire assay production line, the main task of the AGV is to transport containers, which include new and old crucibles, post-processing crucibles, ash containers, and cooling ash containers.

[0028] This information reveals that the waiting period for acquiring new crucibles is short; the AGV can begin filling immediately upon arrival at the new crucible retrieval stage. However, waste crucibles require multiple crucible processing steps before acquisition, resulting in an idle interval for the AGV before it reaches the next stage. The key reason for calling this idle interval is that it is calculated after the AGV has retrieved all its cargo while en route to the next destination. Therefore, the idle interval is the waiting time for AGV module 100 to unload and proceed to the next stage for loading. During this time, AGV module 100 can be used to coordinate other processes.

[0029] Please see Figure 1 :

[0030] S1: After the AGV module 100 obtains the material through the new crucible area, it arrives at the crucible loading and unloading area. The robot unloads the material above the AGV module 100 and the AGV module 100 arrives at the waste crucible recycling position. At this time, the idle interval of the AGV module 100 is 40 minutes.

[0031] S2: During cross-operation, when the ash pan cooling process ends and no AGV is detected in the positioning area, the process call module 203 is activated. The data splitting module 201 can obtain the loading and unloading time of the process call module 203 in response to the process, the delivery time to the next process, and the loading and unloading time of the next process. The loading and unloading time is 2 minutes, the delivery time to the next process is 5 minutes, and the loading and unloading time of the next process is 3 minutes. Therefore, when the idle interval is not less than the loading and unloading time of the response process and the round-trip time of the process position, the trajectory correction module 302 corrects the movement trajectory of the AGV module 100.

[0032] During this process, the AGV module 100 is in an empty state, so it can move at high speed. However, the time it takes for the AGV module 100 to travel from the empty interval process position to the process call module 203 response process position and then back to the empty interval process position after responding to the subsequent process position is not considered. To solve this problem, the following improvements are made:

[0033] The trajectory adjustment module 300 calculates the round-trip time of the process position through the travel time module 303 and the positioning module 102. The round-trip time of the process position includes the time for the AGV module 100 to reach the calling position of the process calling module 203, the time for the calling position to reach the next target process, and the time for the AGV module 100 to reach the next target process set by the original trajectory module 301 after the next target process is completed.

[0034] At this time, the time for the AGV module 100 to reach the calling position of the process calling module 203 and the time for the AGV module 100 to reach the next target process set by the original trajectory module 301 after the next target process is completed are added, so as to ensure that the AGV module 100 can reach the initial waiting process position within the idle interval, so as not to affect the normal process flow.

[0035] In the above process, the speed was controlled at a constant rate. The advantage of a constant rate is that the operation is more stable, but the disadvantage is that the dynamic adaptability is insufficient. To solve this problem, the following improvements were made:

[0036] The AGV module 100 has a speed adjustment module 104, and the trajectory adjustment module 300 has a speed control module 304. The speed control module 304 uses the material parameters on the surface of the AGV module 100 obtained by the weighing module 101 and the counting module 103 as a reference to control the speed adjustment module 104 to increase or decrease speed.

[0037] A weighing module 101 and a counting module 103 are added to the AGV module 100. The counting module 103 and the weighing module 101 can obtain the transportation status of the AGV module 100. Since the materials on the AGV module 100 are containers, and there are multiple containers, as the number of containers increases, the containers are easily affected by inertia during the speed change of the AGV module 100, which increases the risk of them falling. Therefore, the speed adjustment module 104 can use the weighing module 101 and the counting module 103 as references, and adjust the movement speed of the module 300 by controlling the trajectory through the speed control module 304. Moreover, the weight and quantity of goods are inversely proportional to the speed. Although the data splitting module 201 can record the items currently being transported by the AGV module, the presence of residue on the AGV can also be verified by detecting gravity and quantity. When residue is generated during scheduling, process disorder problems will occur.

[0038] Furthermore, in order to improve operational stability, the AGV module 100 travels at a constant speed. When the idle interval is less than the loading time of the response process and the round-trip time to the process position, the speed control module 304 controls the AGV module 100 to adjust its speed.

[0039] When the idle interval is longer than the loading time of the response process and the round-trip time to the process position, there is no need for acceleration, so it can maintain a constant speed. When the idle interval is shorter than the loading time of the response process and the round-trip time to the process position, the speed control module 304 controls the AGV module 100 to adjust the speed, which improves dynamic adaptability and ensures safe production.

[0040] The counting module 103 and the weighing module 101 combine to calculate the weight of a single product, set a product weight threshold to obtain the workpiece status, and the speed control module 304 controls the speed adjustment of the AGV module 100 based on the workpiece status.

[0041] Based on the tasks performed by the AGV in the fire assay automated production line, it is known that alloy particles are carried in the ash container during AGV transportation. By using the weighing module 101 and the counting module 103 in conjunction, the weight of individual objects can be quickly determined, thus indicating whether the alloy particles are located in the container. Since the alloy particles are small, they are more likely to shake and fall off during AGV speed changes. Therefore, the combination of the counting module 103 and the weighing module 101 is suitable for speed regulation of the AGV in the fire assay automated production line, and combining the individual weights with the total weight is more in line with the application requirements of the fire assay automated production line.

[0042] When multiple AGV modules 100 meet the condition that the idle interval time is not less than the loading time of the response process and the round-trip time of the process position, the trajectory correction module 302 dispatches the AGV module 100 that is closest to the process call module 203 in response to the process position according to the positioning module 102.

[0043] This process aims to prioritize dispatching AGVs in this way, reducing the AGV module's travel distance by 100%. At the same time, this travel distance crosses fewer original AGV trajectories, making path interference less likely.

[0044] The AGV module 100 is equipped with a timing module 105. When the positioning module 102 is in the waiting process parking point, the timing module 105 starts timing, and the idle interval of the AGV module 100 gradually shortens.

[0045] In practical applications, it is common for the AGV module 100 to be on standby at the waiting process parking point, and the process call module 203 to be activated. Therefore, when the timing module 105 is on standby at the waiting process parking point, the timing module 105 starts timing, and the idle interval of the AGV module 100 gradually shortens. The timing module 105 can be activated by contact positioning, area triggering, or other methods.

[0046] Additional notes: The data splitting module 201 and the time recording module 202 can both be implemented using computers, software, and networks. The original trajectory module 301 and the correction trajectory module 302 can use dynamic trajectory algorithms or fixed trajectories, and appropriate trajectories can be selected based on the process position. The weight measurement module 101 can be implemented using a gravity sensor, and the counting module 103 can be implemented using a camera or array sensor. Ultimately, the entire process of fire assay, from sample preparation, batching, mixing, silver supplementation, addition of covering agent, melting, lead casting, automatic demolding, ash blowing, to ash blowing endpoint determination, is fully automated. The melting batch capacity is ≥40 samples / batch, and the maximum daily processing capacity is ≥300 samples.

[0047] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An AGV conveying system for a fire assay production line integrated with an automatic order scheduling system, comprising an AGV module (100) and an order scheduling module (200) for use in the fire assay production line, characterized in that: The AGV module (100) is used to transport new waste crucibles, pre-loaded materials, empty ash dishes, and alloy particle ash dishes; It also includes a trajectory adjustment module (300) for controlling the AGV module (100), wherein the data splitting module (201) in the scheduling module (200) splits and obtains the transportation material data and corresponding processing procedures according to the processing order, and the original trajectory module (301) in the trajectory adjustment module (300) plans the movement route of the AGV module (100) according to the data of the data splitting module (201); The scheduling module (200) continues to schedule cross-operations and calls the AGV module (100) through the process call module (203). The trajectory adjustment module (300) obtains the current information of the AGV module (100) in operation based on the weighing module (101) and the counting module (103) and calculates the idle interval time of the AGV module (100). When the idle interval time is not less than the loading and unloading time of the response process and the round-trip time of the process position, the trajectory correction module (302) corrects the movement trajectory of the AGV module (100).

2. The AGV conveying system for an automated order scheduling fire testing production line according to claim 1, characterized in that: The trajectory adjustment module (300) obtains the loading time of the process call module (203) and the unloading time of the next process according to the time recording module (202). The trajectory adjustment module (300) calculates the round-trip time of the process position through the travel time efficiency module (303) and the positioning module (102). The round-trip time of the process position includes the time when the current position of the AGV module (100) reaches the call position of the process call module (203), the time when the call position reaches the next target process, and the time when the next target process is completed and the next target process is reached by the original trajectory module (301).

3. The AGV conveying system for an automated order scheduling fire testing production line according to claim 2, characterized in that: The AGV module (100) has a speed adjustment module (104), and the trajectory adjustment module (300) has a speed control module (304). The speed control module (304) uses the material parameters on the surface of the AGV module (100) obtained by the weighing module (101) and the counting module (103) as a reference to control the speed adjustment module (104) to speed up and slow down.

4. The AGV conveying system for an automated order scheduling fire testing production line according to claim 2, characterized in that: When multiple AGV modules (100) meet the condition that the empty interval time is not less than the loading time of the response process and the round-trip time of the process position, the trajectory correction module (302) dispatches the AGV module (100) that is far from the response process position of the process call module (203) according to the positioning module (102).

5. The AGV conveying system for an automated order scheduling fire testing production line according to claim 3, characterized in that: The AGV module (100) travels at a constant speed. When the empty vehicle interval is less than the loading time of the response process and the round-trip time of the process position, the speed control module (304) controls the AGV module (100) to adjust its speed.

6. The AGV conveying system for an automated order scheduling fire testing production line according to claim 3, characterized in that: The counting module (103) and the weighing module (101) combine to calculate the weight of a single product, set a product weight threshold to obtain the workpiece status, and the speed control module (304) controls the speed adjustment of the AGV module (100) according to the workpiece status.

7. The AGV conveying system for an automated order scheduling fire testing production line according to claim 2, characterized in that: The AGV module (100) is equipped with a timing module (105). When the positioning module (102) is waiting at the waiting process parking point, the timing module (105) starts timing, and the idle interval of the AGV module (100) gradually shortens.

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