Collaborative control method of multiple stacker cranes based on industrial Ethernet

Abstract

The invention discloses a collaborative control method for multiple stackers based on industrial Ethernet, which belongs to the field of program control and relates to the collaborative control technology of multiple machines, which is used to avoid mechanical waste and significantly improve work efficiency. The operating parameters of the stacker in the area are combined with the processor to project the positions of multiple stackers into the plan area; the master controller is connected to the independent controller to obtain the current status of the stacker, and obtain the task position and idle stacking The shortest walking distance of the stacker; then the processor marks the initial selection of the stacker and runs the simulation at the same time; when the routes of multiple stackers do not conflict and the distance between multiple stackers is greater than two stackers during operation The sum of the safe radius of the machine determines the target stacker; finally the processor sends the target stacker to the general controller, and the total controller connects the independent controller of the target stacker and sends the task to the target stacker, and completes collaborative control.

Description

technical field [0001] The invention belongs to the field of program control and relates to a multi-machine cooperative control technology, in particular to a multi-machine cooperative control method based on industrial Ethernet. Background technique [0002] The stacker is the key equipment that operates in the shelf area and picks and places the goods. The workflow is to move the coil from the specified translation and rotation RGV or transition rack to the specified shelf or take the coil from the specified shelf and transport it to the specified shelf. Translation and rotation in RGV or transition racks. [0003] Each stacker is independently equipped with PLC, independent touch screen, walking frequency converter, lifting frequency converter, fork frequency converter, and the frequency converter is equipped with braking resistors to facilitate quick parking. The touch screen can replace the button operation and can be operated manually, and manual operation is required ...

AI Technical Summary

Problems solved by technology

[0004] The stacker cranes in the existing factory area are completing the same work. The number of stacker cranes can significantly improve the work efficiency, but simply increasing the number of stacker cranes lacks a coordinated control system, so it will still Cause waste of machinery and efficiency improvement can not achieve the desired effect

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