CN114527712A - AGV task modification method and modification system - Google Patents
AGV task modification method and modification system Download PDFInfo
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- CN114527712A CN114527712A CN202111385879.2A CN202111385879A CN114527712A CN 114527712 A CN114527712 A CN 114527712A CN 202111385879 A CN202111385879 A CN 202111385879A CN 114527712 A CN114527712 A CN 114527712A
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- 238000002715 modification method Methods 0.000 title claims abstract description 12
- 230000004048 modification Effects 0.000 title abstract description 10
- 238000012986 modification Methods 0.000 title abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000014509 gene expression Effects 0.000 claims description 47
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an AGV task modification method and a modification system, which comprise the following steps: the instruction pre-definition compiler sets a pre-defined instruction and sends the pre-defined instruction to the compiler, and the compiler stores the pre-defined instruction; the task editor inputs a task instruction input by a user; the compiler receives a task instruction input by a user and screens out a readable programming language of a central control corresponding to the task instruction from a predefined instruction; the compiler sends the screened computer readable programming language to the central control of the AGV; the central control receives the programming language and controls the AGV to execute the task according to the programming language. The AGV task modification method of the invention enables a user to input the predefined instruction and translate the predefined instruction into the corresponding programming language by the compiler when the user needs to modify the AGV task by setting the predefined instruction, thereby enabling the central control to control the AGV to execute the corresponding task according to the programming language. The task modification process is simple, and the work efficiency is improved. In addition, the system of the present invention can be applied to the above-described method.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a method and a system for modifying an AGV task.
Background
AGV tasks typically have only four simple instructions, walk, lift, set down, and wait. The system development often needs to arrange and combine the four operations to form tasks required by the field. In past tasks, only hard coding into the system was possible. So that the client cannot modify the corresponding task information by himself/herself whenever the client's needs change. The developer also needs to develop again according to the requirements of the client and then release the new product to the client for trial use. The whole process often requires one week or more.
Existing AGVs modify tasks that require further adjustments.
Disclosure of Invention
The invention aims to solve the problems of complicated flow and long time of the conventional AGV task modification method and provides an AGV task modification method.
In order to realize the purpose, the invention adopts the following technical scheme:
the AGV task modification method comprises the following steps:
the instruction pre-definition compiler sets a pre-defined instruction and sends the pre-defined instruction to the compiler, and the compiler stores the pre-defined instruction;
the task writer inputs a task instruction to the compiler;
the compiler receives a task instruction input by a user and screens out a readable programming language of a central control corresponding to the task instruction from predefined instructions;
the compiler sends the screened computer readable programming language to the central control of the AGV;
the central control receives the programming language and controls the AGV to execute the task according to the programming language.
Compared with the prior art, the AGV task modification method has the advantages that the predefined instruction is set, so that when a user needs to modify the AGV task, the user can input the predefined instruction and translate the predefined instruction into the corresponding programming language through the compiler, and the central control controls the AGV to execute the corresponding task according to the programming language. The method has the advantages of simple task modification process and high efficiency, and is favorable for daily maintenance and use of the AGV.
Preferably, the predefined instructions include a plain expression of a number of AGV commands, and a programming language corresponding to the plain expression. In the scheme, the simple expression is set, so that the user can conveniently memorize and input the simple expression.
Preferably, the simplified expression includes a basic expression for defining an execution action. The basic expression of the scheme is used for defining each action of the AGV, such as walking, stopping, lifting, putting down and the like.
Preferably, the simplified expression includes an execution expression for defining an execution manner. The execution expression in the scheme is used for expressing a scheme for executing a certain task, such as timing execution and cycle execution.
Preferably, the plain expression includes an allocation expression for specifying an AGV. The allocation expression of the present solution is used to define a specific AGV, such as AGV model or type, that executes the task.
Preferably, the simple expression includes a keyword, a bracket and a parameter, the keyword is represented by an english letter, the bracket is written on the rear side of the keyword, and the parameter is inserted into the bracket.
Another object of the present invention is to provide a modification system for an AGV task, which includes a command predefined writer, a task writer, a compiler and a central controller, wherein the compiler is communicatively connected to the task writer, the central controller and the predefined writer, respectively, the predefined writer is configured to input a predefined command, the task writer inputs a task command entered by a user, the task writer stores the predefined command, receives the task command and screens out a corresponding programming language readable by a central controller, so that the central controller controls the AGV to execute the task according to the programming language.
Compared with the prior art, the system can be applied to the method, has simple structure and convenient use process, and can effectively improve the working efficiency.
Drawings
FIG. 1 is a simplified flow diagram of the present invention;
fig. 2 is a flow diagram of the prior art.
Detailed Description
The technical scheme of the invention is further explained according to the attached drawings:
the invention discloses a method for modifying an AGV task, which comprises the following steps:
the instruction pre-definition compiler sets a pre-defined instruction and sends the pre-defined instruction to the compiler, and the compiler stores the pre-defined instruction;
the method comprises the steps of setting a predefined instruction through an instruction predefined compiler and storing the predefined instruction by the compiler.
The task writer inputs a task instruction to the compiler;
in this step, when the user needs the AGV to execute a certain task or needs to modify a certain task, the user may input a task instruction through the compiler.
The compiler receives the task instruction and screens out a readable programming language of the central control corresponding to the task instruction from the predefined instruction;
in this step, after receiving the task instruction, the compiler screens out the programming language corresponding to the task instruction.
The compiler sends the screened computer readable programming language to the central control of the AGV;
in this step, the compiler sends the programming language to the central control, which updates the task.
The central control receives the programming language and controls the AGV to execute the task according to the programming language.
The predefined instructions include simplified expressions of a number of AGV commands and programming languages corresponding to the simplified expressions. In the scheme, the simple expression is set, so that the user can conveniently memorize and input the simple expression.
The above simple expression includes a basic expression for defining an execution action. The basic expression of the scheme is used for defining each action of the AGV, such as walking, stopping, lifting, lowering and the like.
The simple expression includes an execution expression for defining an execution manner. The execution expression in the scheme is used for expressing a scheme for executing a certain task, such as timing execution and cycle execution.
The simple expression described above includes an allocation expression for specifying an AGV. The allocation expression of the present solution is used to define a specific AGV, such as AGV model or type, that executes the task.
The simple expression comprises keywords, brackets and parameters, wherein the keywords are represented by English letters, the brackets are written on the rear sides of the keywords, and the parameters are inserted into the brackets.
In one embodiment, a developer can basically meet the task requirements of a client site by predefining four basic expressions, two execution expressions and one distribution expression.
The allocation expression is set to a (I), where a is a key used to indicate allocation, I is a parameter, which may be assigned by designating device I D as a parameter, and when I is 0, it is randomly allocated, e.g., a (123) refers to allocation of tasks to AGVs I D and 123.
The four basic expressions are respectively M (X, Y)/M (P); h (X, Y)/H (P); p (X, Y)/P (P); u (X, Y)/U (P);
the actions corresponding to the above basic expressions are: moving; waiting; lifting; and (5) putting down. If the motion command M (X, Y)/M (P) is a parameter X, Y, it is regarded as coordinates (X, Y), and if the parameter P is a parameter P, it is regarded as point I D, and if M (6,7) is moved to the position corresponding to the origin (X, Y).
The two execution expressions are PT (HH: MM: SS) { }; w (N, E) { }. The two execution expressions respectively represent timing execution and cycle execution. PT of PT (HH: MM: SS) { } is a key word for representing timing execution, and the HH: MM: SS is execution time, and is used for filling a respective expression and a basic expression in the { }; w of W (N, E) is used for representing loop execution, N is used for representing the number of execution times, if N is 6, E represents the execution interval, and the unit is second, if W (6,5) represents the loop execution times, and each time interval is five seconds.
The client creates a corresponding task by the client. And filling corresponding task information in the task content box. Example code W (1,20) { A (0); p (1, 2); u (2, 4); }; here a simple cyclic lift-down task. After filling in the task information, the client executes the task information by clicking. The task is executed by the compiler and according to the content.
Compared with the prior art, the AGV task modification method enables a user to input the predefined instruction and translate the predefined instruction into the corresponding programming language by the compiler when the user needs to modify the AGV task, so that the central control controls the AGV to execute the corresponding task according to the programming language. The method has the advantages of simple task modification process and high efficiency, and is favorable for daily maintenance and use of the AGV.
The invention also discloses an AGV task modification system which comprises a command pre-defined compiler, a task compiler, a compiler and a central controller, wherein the compiler is respectively in communication connection with the task compiler, the central controller and the pre-defined compiler, the pre-defined compiler is used for inputting and setting a pre-defined command, the task compiler inputs a task command input by a user, the task compiler stores the pre-defined command, receives the task command and screens out a corresponding readable programming language of a central control, so that the central controller controls the AGV to execute a task according to the programming language.
Compared with the prior art, the system can be applied to the method, has simple structure and convenient use process, and can effectively improve the working efficiency.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (7)
- The method for modifying the AGV task is characterized by comprising the following steps of:the instruction pre-definition compiler sets a pre-defined instruction and sends the pre-defined instruction to the compiler, and the compiler stores the pre-defined instruction;the task writer inputs a task instruction to the compiler;the compiler receives the task instruction and screens out a readable programming language of the central control corresponding to the task instruction from the predefined instruction;the compiler sends the screened computer readable programming language to the central control of the AGV;the central control receives the programming language and controls the AGV to execute the task according to the programming language.
- 2. The AGV task modification method of claim 1, wherein the predefined command includes a simple expression of a number of AGV commands and a programming language corresponding to the simple expression.
- 3. A modification method for AGV tasks according to claim 1 or 2, characterized in that said plain expression comprises a basic expression defining the execution action.
- 4. The AGV task modifying method according to claim 3, wherein said simplified expression includes an execution expression for defining an execution manner.
- 5. The AGV task modifying method according to claim 4, wherein said plain expression includes an allocation expression for specifying the AGV.
- 6. The AGV task modification method according to claim 5, wherein the simple expression includes a keyword represented by english letters, parentheses written on the rear side of the keyword, and a parameter inserted in the parentheses.
- The system for modifying the AGV task is characterized by comprising a command predefined compiler, a task writer, a compiler and a central controller, wherein the compiler is in communication connection with the task writer, the central controller and the predefined writer respectively, the predefined writer is used for inputting and setting predefined commands, the task writer inputs task commands input by a user, the task writer stores the predefined commands, receives the task commands and screens out corresponding readable programming languages of a central control, and the central controller controls the AGV to execute the task according to the programming languages.
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