CN109885048A - AGV trolley information automatic interaction device and control method under a kind of secure environment - Google Patents
AGV trolley information automatic interaction device and control method under a kind of secure environment Download PDFInfo
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- CN109885048A CN109885048A CN201910089217.7A CN201910089217A CN109885048A CN 109885048 A CN109885048 A CN 109885048A CN 201910089217 A CN201910089217 A CN 201910089217A CN 109885048 A CN109885048 A CN 109885048A
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Abstract
It include AGV trolley, First look camera, the first LCD display, vehicle task receiving station the invention discloses AGV trolley information automatic interaction device under a kind of secure environment；Vehicle task receiving station includes the second vision camera, the second LCD display；Second vision camera and the second LCD display are connect with plant control system respectively；Assignment instructions are shown that, in the second LCD display, First look camera identifies second display screen two dimensional code and obtains mission bit stream by plant control system in the form of two dimensional code；AGV trolley carries out task after obtaining mission bit stream, First look camera identifies identification to the fixation two dimensional code on driving path after the completion, it drives to nearest vehicle task receiving station and carries out new task reception, and by the status information feedback of AGV trolley to plant control system.In the case where not using Radio Transmission Technology, information automatic interaction improves AGV vehicle application level, while promoting AGV vehicle operational efficiency to realize that Full-automatic logistic system provides technical support in secure environment.
Description
Technical field
The present invention relates to factory management system technical fields, specifically, be under a kind of secure environment AGV trolley information from
Dynamic interactive device and control method.
Background technique
With information-based, digitized continuous development and gradually mature, the intelligent work of artificial intelligence related art method
The Advanced Manufacturing Modes such as factory, unmanned factory (blackout factory) continue to bring out, and wherein AGV trolley is in intelligent plant for full-automatic
Change the most commonly seen tool of logistics transportation.And information, data are to drive the basis of AGV trolley automatic work, how quickly, efficiently
Acquisition, transmitting information have a direct impact to the realization of AGV trolley automatization level.
Currently, Radio Transmission Technology is to use to obtain most wide and maximally efficient side in AGV trolley information exchanging process
Method, but in many secure environments, wireless technology is not available, this brings great difficulty to the application of AGV trolley.?
It in secure environment, since the small truck position AGV is not fixed, but is constantly moving, plant control system can not be automatic, quick
Information command is sent to AGV trolley, it is even more impossible to obtain the location information of AGV trolley, work state information automatically, under normal conditions
Need the secondary ferry-boat by manually carrying out information.Therefore, other manufactures, object in AGV trolley and factory to a certain extent
An information island is formd between flow device, it is difficult to the Collaborative Control between other manufacture, logistics equipments is realized, to full-automatic
The implementation of compound stream causes a breakpoint, which is also that many military project manufacturings realize the pass that intelligence manufacture needs to solve
One of key technology problem.
From it is described above as can be seen that at present under secure environment AGV trolley can not directly, fast and automatically and factory
Control system carries out information exchange, needs to bring greatly by manually carrying out indirect ferrying information to the application of AGV trolley
Inconvenience, bring challenge to the implementation of full-automatic material flow line.
Summary of the invention
The purpose of the present invention is to provide AGV trolley information automatic interaction device and control method under a kind of secure environment,
The information command of plant control system not only can be automatically transferred to AGV trolley, while AGV trolley can also be obtained automatically
Location information and work state information etc., realize the automation interaction of information.
The present invention is achieved through the following technical solutions:
AGV trolley information automatic interaction device under a kind of secure environment, connect with plant control system, including AGV trolley,
The First look camera that is mounted on AGV trolley, is mounted on the small garage of AGV at the first LCD display being mounted on AGV trolley
The vehicle task receiving station sailed on path and connect respectively with the first LCD display and First look camera；The vehicle task
Receiving station includes that the second vision camera connecting with the first LCD display, the 2nd LCD connecting with First look camera are shown
Screen；Second vision camera and the second LCD display are connect with plant control system respectively.
Further, in order to preferably realize the present invention, multiple fixed two dimensional code marks are provided on the driving path.
Further, it in order to preferably realize the present invention, is provided on the AGV trolley for AGV trolley control system,
The AGV trolley control system is connect with the first LCD display and First look camera respectively.
Further, in order to preferably realize the present invention, the quantity of vehicle task receiving station is multiple and uniform
It is arranged on driving path, fixed two dimensional code mark is arranged between two vehicle task receiving stations.
The control method of AGV trolley information automatic interaction device, plant control system refer to task under a kind of secure environment
Order is shown on the second LCD display in the form of two dimensional code, and First look camera carries out the two dimensional code on second display screen
It identifies and obtains mission bit stream；AGV trolley carries out task after obtaining mission bit stream, the First look camera pair after the completion of task
Fixation two dimensional code on driving path identifies identification, drives to nearest vehicle task receiving station and carries out next subtask reception,
And by the status information feedback of AGV trolley to plant control system.
Further, in order to preferably realize the present invention, specifically includes the following steps:
Step L1: plant control system release task message, and mission bit stream is converted into two dimensional code and is connect in vehicle task
It receives and is shown on second LCD display at station；
Step L2: the First look camera rested in the AGV trolley of some vehicle task receiving station carries out two dimensional code
It identifies and obtains mission bit stream；
Step L3:AGV trolley works under the control of AGV trolley control system, and completes this task；
Step L4: after completing upper primary task, AGV trolley control system will control First look camera to driving path
Upper nearest fixation two dimensional code is identified, so that AGV trolley drives to nearest vehicle task receiving station；
After step L5:AGV trolley rests in nearest vehicle task receiving station, AGV trolley control system will be to AGV trolley
Status information integrated and be converted to two dimensional code；
Step L6: the second vision camera in vehicle task receiving station identifies two dimensional code, and status information is passed
Plant control system is passed, plant control system judges whether that task can be continued to execute according to status information:
If continuing to execute task, if continuing to execute task, step L1- step L6 will be repeated；
If task cannot be executed, the two-dimensional barcode information for stopping this AGV trolley task will be sent.
Further, in order to preferably realize the present invention, the Task Switching in the step L1, step L5 is two dimensional code
Conversion method are as follows: mission bit stream is encoded to generation two dimensional code in a manner of data flow, and passes through First look camera/second vision
Camera scanning two dimensional code reads file stream, to realize that mission bit stream network is sent.
Further, in order to preferably realize the present invention, the mission bit stream segmentation be input file is converted to two into
Stream is made, and be decomposed into N number of QR Code two dimensional code to accommodate the data block block Size of size；File size is recorded simultaneously
File Size, file type file Type, the parameters such as total block data N after segmentation, and calculate the total block data N after segmentation；Each
Record data block number block No is also needed in data block.
Further, in order to preferably realize the present invention, the segmentation of the mission bit stream specifically includes the following steps:
Step S1: mission bit stream to be split and partitioning parameters block Size are inputted；
Step S2: mission bit stream size file Size, file type file Type are obtained；
Step S3: the total block data N after calculating segmentation；
If file Size aliquot block Size, N=file Size/block Size；
If file Size aliquant block Size, N=file Size/block Size+1；
Step S4: data block beginning plus 8 binary codes after each segmentation, for recording data block number block
No；
Step S5: the error correcting code of N number of data block after the segmentation of calculating task information, and data encoding is carried out, production is completed
Two dimensional code file.
Further, in order to preferably realize the present invention, step S5 specifically includes the following steps:
Step S51: calculating the error correcting code of N number of data block, and generates final data coding；
Step S52: according to the size of the good rectangle of two dimensional code version definition；
Step S53: defined rectangle, the fixed part including QR Code two dimensional code functional areas are filled according to data encoding
Point.
Compared with prior art, the present invention have the following advantages that and the utility model has the advantages that
In secure environment, in the case where not using Radio Transmission Technology, realize between AGV vehicle and plant control system
Information automatic interaction automatically controls AGV vehicle and executes assignment instructions in the factory, and receives the status information of AGV vehicle automatically, reduces
The information island between free state AGV vehicle and fixed equipment facility is eliminated in manual intervention, to realize full-automatic logistics in secure environment
System provides technical support, improves AGV vehicle application level, while promoting AGV vehicle operational efficiency.
Detailed description of the invention
Fig. 1 is connection relationship diagram of the invention；
Fig. 2 is use state diagram of the present invention；
Wherein 1-AGV trolley, 2- vehicle task receiving station, the fixed two dimensional code mark of 3-, 4- First look camera, 40- the
Two vision cameras, the first LCD display of 5-, the second LCD display of 50-, 6-AGV trolley control system, 7-LCD data line, 8-
Vision camera data line, 9- plant control system.
Specific embodiment
The present invention is described in further detail below with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1:
The present invention is achieved through the following technical solutions, as shown in Figure 1 and Figure 2, under a kind of secure environment AGV trolley information from
Dynamic interactive device, connect with plant control system 9, including AGV trolley 1, the First look camera 4 being mounted on AGV trolley 1,
The first LCD display 5 for being mounted on AGV trolley 1 is mounted on 1 driving path of AGV trolley and shows respectively with the first LCD
The vehicle task receiving station 2 that screen 5 and First look camera 4 connect；Vehicle task receiving station 2 includes showing with the first LCD
Second vision camera 40 of 5 connection of screen, the second LCD display 50 being connect with First look camera 4；Second vision camera
40 and second LCD display 50 connect respectively with plant control system 9.
Further, in order to preferably realize the present invention, multiple fixed two dimensional code marks are provided on the driving path
3。
Further, it in order to preferably realize the present invention, is provided on the AGV trolley 1 for AGV trolley control system
6, the AGV trolley control system 6 is connect with the first LCD display 5 and First look camera 4 respectively.
Further, in order to preferably realize the present invention, the quantity of vehicle task receiving station 2 is multiple and uniform
It is arranged on driving path, fixed two dimensional code mark 3 is arranged between two vehicle task receiving stations 2.
It should be noted that plant control system 9 is provided with server, the First look camera 4 by above-mentioned improvement
And model Cognex Dm100x identical with the second vision camera 40；First LCD display 5 and the second LCD display 50
Identical and model GDO-050VA；AGV control computer is installed as AGV trolley control system 6 on AGV trolley 1, first
Vision camera 4 is connect with the port RS232 of AGV control computer, the end HDMI of the first LCD display 5 and AGC control computer
Mouth is attached；Second vision camera 40 is connect with the port RS232 of server, the second LCD display 50 and server
The port HDMI is attached；
In use, the First look camera 4 rested on the AGV trolley 1 of some vehicle task receiving station 2 controls factory
Being known on the second LCD display 50 in vehicle task receiving station 2 by the two dimensional code that mission bit stream is converted into of system 9
Not, the two-dimensional barcode information of identification is passed to AGV trolley control system 6 by First look camera 4, and AGV trolley control system 6 is to two
Dimension code information carries out information conversion and obtains the mission bit stream issued of plant control system 9, and AGV trolley control system 6 is according to appointing
Information of being engaged in control AGV trolley 1 carries out task execution, until task is completed；First look after the completion of task, on AGV trolley 1
Camera 4 scans 3 identification of fixation two dimensional code mark on driving path, and the information of fixed two dimensional code mark 3 is passed to AGV trolley
Control system 6, AGV trolley control system 6 stop information according to provided by fixed two dimensional code mark 3, rest in the vehicle closed on
Task receiving station 2 and a two dimensional code is generated simultaneously and is shown on the first LCD display 5；In vehicle task receiving station 2
Second vision camera 40 two dimensional code generated to the AGV trolley 1 rested in beside it identifies, obtains the AGV trolley 1
Status information, i.e., whether can continue to execute next subtask；If can continue to execute next subtask, plant control system 9
It incites somebody to action release task message again and mission bit stream is converted into two dimensional code, AGV trolley 1 will start to identify that two dimensional code and execution are appointed
Business.
During entire task execution, the task of publication is all made of two dimensional code and is converted, and effectively strengthens to task
During the secrecy of information, entire task publication and the acquisition obtained, do not need using Radio Transmission Technology；It reduces artificial dry
In advance, the information island between free state AGV trolley 1 and fixed equipment facility is eliminated, to realize full-automatic logistics system in secure environment
System provides technical support, improves 1 application level of AGV trolley, while promoting 1 operational efficiency of AGV trolley.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 2:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Figure 1 and Figure 2, under a kind of secure environment
The control method of AGV trolley information automatic interaction device, plant control system 9 show assignment instructions in the form of two dimensional code
On second LCD display 50, First look camera 4 identifies the two dimensional code on second display screen and obtains mission bit stream；
AGV trolley 1 carries out task after obtaining mission bit stream, and First look camera 4 is to the fixation on driving path after the completion of task
3 identification of two dimensional code mark, drives to nearest vehicle task receiving station 2 and carries out next subtask reception, and by AGV trolley 1
Status information feedback is to plant control system 9.
Further, in order to preferably realize the present invention, specifically includes the following steps:
Step L1: 9 release task message of plant control system, and mission bit stream is converted into two dimensional code and is connect in vehicle task
It receives and is shown on second LCD display 50 at station 2；
Step L2: rest in First look camera 4 in the AGV trolley 1 of some vehicle task receiving station 2 to two dimensional code into
Row identifies and obtains mission bit stream；
The First look camera 4 rested in the AGV trolley 1 of some vehicle task receiving station 2 identifies two dimensional code
And obtain mission bit stream；Mission bit stream is passed into AGV trolley control system 6 after acquisition mission bit stream, AGV trolley 1 controls system
Mission bit stream is identified, and controls AGC trolley and executes task
Step L3:AGV trolley 1 works under the control of AGV trolley control system 6, and completes this task；
Step L4:AGV trolley control system 6 will control First look camera 4 to fixed two dimension nearest on driving path
Code mark 3 is identified, so that AGV trolley 1 drives to nearest vehicle task receiving station 2；
After step L5:AGV trolley 1 rests in nearest vehicle task receiving station 2, AGV trolley control system 6 will be to AGV
The status information of trolley 1 is integrated and is converted to two dimensional code；
Step L6: the second vision camera 40 in vehicle task receiving station 2 identifies two dimensional code, and by status information
Plant control system 9 is passed to, plant control system 9 judges whether that task can be continued to execute according to status information:
If continuing to execute task, if continuing to execute task, step L1- step L6 will be repeated；
If task cannot be executed, the two-dimensional barcode information for stopping 1 task of this AGV trolley will be sent.
One the first LCD display 5 is installed on AGV trolley 1, while a First look camera 4 being installed, is passed through respectively
LCD data line 7 and vision camera data line 8 are connect with AGV trolley control system 6, and the first LCD display 5 is for showing that AGV is small
The status information of vehicle 1, First look camera 4 are used to read the information command of plant control system 9；In 1 driving path of AGV trolley
The place setting vehicle task receiving station 2 of upper fixation, vehicle task receiving station 2, between AGV trolley 1 and plant control system 9
Information exchange is carried out, it is true according to 1 path length of AGV trolley and the mission bit stream generation frequency that quantity is arranged in vehicle task receiving station 2
It is fixed, second LCD display 50 and second vision camera 40 are installed in vehicle task receiving station 2, pass through LCD respectively
Data line 7 and vision camera data line 8 are connect with plant control system 9, and the second LCD display 50 is for showing control system, factory
The information command that system 9 issues, the second vision camera 40 are used to read the information state of the sending of AGV trolley 1.
1 information state of AGV trolley and 9 information command of plant control system are first converted into the form of two dimensional code in output,
It is respectively outputted on AGV trolley 1 and the LCD display of vehicle task receiving station 2, then by the vision technique of vision camera, it is right
Two dimensional code on LCD display is identified, to obtain information.
On the driving path of AGV trolley 1, at vehicle task receiving station 2, it is small to be provided with 3, AGV of fixed two dimensional code mark
Vehicle 1 can accurately position vehicle task receiving station 2 by reading fixation two dimensional code mark 3 using First look camera 4
Position.After 1 completion task of AGV trolley, it can be known by the fixation two dimensional code mark 3 on identification path and be automatically positioned to nearest
Vehicle task receiving station 2, receive the assignment instructions of plant control system 9, and 1 oneself state information of AGV trolley fed back to
Plant control system 9, to realize the automatic interaction of information.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 3:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Figure 1 and Figure 2, the step L1, step
Task Switching in rapid L5 is the conversion method of two dimensional code are as follows: mission bit stream is encoded to generation two dimensional code in a manner of data flow,
And by 4/ second visual scanning two dimensional code of First look camera, file stream is read, to realize that mission bit stream network is sent.
Further, in order to preferably realize the present invention, the mission bit stream segmentation be input file is converted to two into
Stream is made, and be decomposed into N number of QR Code two dimensional code to accommodate the data block block Size of size；File size is recorded simultaneously
File Size, file type file Type, the parameters such as total block data N after segmentation, and calculate the total block data N after segmentation；Each
Record data block number block No is also needed in data block.
Further, in order to preferably realize the present invention, the segmentation of the mission bit stream specifically includes the following steps:
Step S1: mission bit stream to be split and partitioning parameters block Size are inputted；
Step S2: mission bit stream size file Size, file type file Type are obtained；
Step S3: the total block data N after calculating segmentation；
If file Size aliquot block Size, N=file Size/block Size；
If file Size aliquant block Size, N=file Size/block Size+1；
Step S4: data block beginning plus 8 binary codes after each segmentation, for recording data block number block
No；
Step S5: the error correcting code of N number of data block after the segmentation of calculating task information, and data encoding is carried out, production is completed
Two dimensional code file.
Further, in order to preferably realize the present invention, step S5 specifically includes the following steps:
Step S51: calculating the error correcting code of N number of data block, and generates final data coding；
Step S52: according to the size of the good rectangle of two dimensional code version definition；
Step S53: defined rectangle, the fixed part including QR Code two dimensional code functional areas are filled according to data encoding
Point.
It should be noted that file division realizes that code is as follows by above-mentioned improvement:
It generates QR two-dimension code image method and realizes that code is as follows:
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit any simple modification to the above embodiments of the invention, equivalent variations, protection of the invention is each fallen within
Within the scope of.
Claims (10)
1. AGV trolley information automatic interaction device under a kind of secure environment, connect with plant control system (9) it is characterized by:
Including AGV trolley (1), the First look camera (4) being mounted on AGV trolley (1), be mounted on AGV trolley (1) first
LCD display (5), be mounted on AGV trolley (1) driving path and respectively with the first LCD display (5) and First look camera
(4) the vehicle task receiving station (2) connected；Vehicle task receiving station (2) includes connecting with the first LCD display (5)
Second vision camera (40), the second LCD display (50) being connect with First look camera (4)；Second vision camera
(40) it is connect respectively with plant control system (9) with the second LCD display (50).
2. AGV trolley information automatic interaction device under a kind of secure environment according to claim 1, it is characterised in that: institute
It states and is provided with multiple fixed two dimensional code marks (3) on driving path.
3. AGV trolley information automatic interaction device under a kind of secure environment according to claim 2, it is characterised in that: institute
It states and is provided on AGV trolley (1) for AGV trolley control system (6), the AGV trolley control system (6) is respectively with first
LCD display (5) and First look camera (4) connection.
4. AGV trolley information automatic interaction device under a kind of secure environment according to claim 3, it is characterised in that: institute
The quantity for stating vehicle task receiving station (2) is multiple and uniform setting on driving path, and fixed two dimensional code mark setting exists
Between two vehicle task receiving stations (2).
5. the control of AGV trolley information automatic interaction device under a kind of secure environment according to claim 1-4
Method, it is characterised in that: plant control system (9) shows assignment instructions in the form of two dimensional code in the second LCD display
(50) on, First look camera (4) identifies the two dimensional code on second display screen and obtains mission bit stream；AGV trolley (1)
Task is carried out after obtaining mission bit stream, First look camera (4) is to the fixation two dimensional code on driving path after the completion of task
Mark identification drives to nearest vehicle task receiving station (2) and carries out next subtask reception, and by the state of AGV trolley (1)
Information feeds back to plant control system (9).
6. the control method of AGV trolley information automatic interaction, feature exist under a kind of secure environment according to claim 1
In: specifically includes the following steps:
Step L1: plant control system (9) release task message, and mission bit stream is converted into two dimensional code and is received in vehicle task
Stand (2) the second LCD display (50) on shown；
Step L2: the First look camera (4) in the AGV trolley (1) of some vehicle task receiving station (2) is rested in two dimensional code
It is identified and obtains mission bit stream；
Step L3:AGV trolley (1) works under the control of AGV trolley control system (6), and completes this task；
Step L4:AGV trolley control system (6) will control First look camera (4) to fixed two dimension nearest on driving path
Code is identified, so that AGV trolley (1) drives to nearest vehicle task receiving station (2)；
After step L5:AGV trolley (1) rests in nearest vehicle task receiving station (2), AGV trolley control system (6) will be right
The status information of AGV trolley (1) is integrated and is converted to two dimensional code；
Step L6: the second vision camera (40) in vehicle task receiving station (2) identifies two dimensional code, and by status information
It passes to plant control system (9), plant control system (9) judges whether that task can be continued to execute according to status information:
If continuing to execute task, step L1- step L6 will be repeated；
If task cannot be executed, the two-dimensional barcode information for stopping this AGV trolley (1) task will be sent.
7. the control method of AGV trolley information automatic interaction, feature exist under a kind of secure environment according to claim 6
In: the Task Switching in the step L1, step L5 is the conversion method of two dimensional code are as follows: by mission bit stream in a manner of data flow
Coding generates two dimensional code, and is scanned the two-dimensional code by First look camera (4)/second vision camera (40), reads file stream, from
And it realizes mission bit stream network and sends.
8. the control method of AGV trolley information automatic interaction device under a kind of secure environment according to claim 7, special
Sign is: the mission bit stream segmentation is input file to be converted to binary stream, and be decomposed into N number of QR Code two dimensional code
The data block block Size of size can be accommodated；File size file Size, file type file Type are recorded simultaneously,
The parameters such as total block data N after segmentation, and calculate the total block data N after segmentation；Record data block number is also needed in each data block
block No。
9. the control method of AGV trolley information automatic interaction device under a kind of secure environment according to claim 8, special
Sign is: the segmentation of the mission bit stream specifically includes the following steps:
Step S1: mission bit stream to be split and partitioning parameters block Size are inputted；
Step S2: mission bit stream size file Size, file type file Type are obtained；
Step S3: the total block data N after calculating segmentation；
If file Size aliquot block Size, N=file Size/block Size；
If file Size aliquant block Size, N=file Size/block Size+1；
Step S4: data block beginning plus 8 binary codes after each segmentation, for recording data block number block No；
Step S5: the error correcting code of N number of data block after the segmentation of calculating task information, and data encoding is carried out, produce the two of completion
Tie up code file.
10. AGV trolley information automatic interaction device and control method under a kind of secure environment according to claim 9,
Be characterized in that: step S5 specifically includes the following steps:
Step S51: calculating the error correcting code of N number of data block, and generates final data coding；
Step S52: according to the size of the good rectangle of two dimensional code version definition；
Step S53: defined rectangle, the fixed part including QR Code two dimensional code functional areas are filled according to data encoding.
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| CN112209235A (en) * | 2020-11-06 | 2021-01-12 | 三一海洋重工有限公司 | Trolley control device and method and crane |
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| CN113110420A (en) * | 2021-03-23 | 2021-07-13 | 中国电子科技集团公司第二十九研究所 | Wireless communication-free non-contact method and system for exchanging information with automatic guided transport vehicle |
| CN113219977A (en) * | 2021-05-12 | 2021-08-06 | 北京京东乾石科技有限公司 | Navigation control system, method and device |
| CN113378819A (en) * | 2021-06-24 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Rapid identification method for airborne software version |
| CN113467458A (en) * | 2021-07-06 | 2021-10-01 | 鼎豪智能装备科技(重庆)有限公司 | Information interaction method, system, readable storage medium and equipment |
| CN113759840A (en) * | 2021-08-05 | 2021-12-07 | 南京英尼格玛工业自动化技术有限公司 | AGV navigation communication system and method under non-wireless scene |
| CN114331272A (en) * | 2021-12-29 | 2022-04-12 | 北京众驰自动化设备有限公司 | Cooperative operation system and management and control method for multiple AGV of intelligent warehouse |
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