CN104122879A - AGV (Automatic Guided Vehicle) calling display control system based on ZIGBEE local area network - Google Patents
AGV (Automatic Guided Vehicle) calling display control system based on ZIGBEE local area network Download PDFInfo
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- CN104122879A CN104122879A CN201410396795.2A CN201410396795A CN104122879A CN 104122879 A CN104122879 A CN 104122879A CN 201410396795 A CN201410396795 A CN 201410396795A CN 104122879 A CN104122879 A CN 104122879A
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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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- 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
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The invention discloses an AGV (Automatic Guided Vehicle) calling display control system based on the ZIGBEE local area network. The system comprises a calling terminal module, a master control decision-making module, a ZIGBEE local area network module, an AGV vehicle-mounted control and communication module and an LED display module; the terminal calling module and the AGV vehicle-mounted control and communication module are connected with the master control decision-making module through the ZIGBEE local network area module; the LED display module is connected with a master control module. According to the system, ZIGBEE is utilized to perform wireless transmission, the system controls the AGV, and thus the AGV management labor is decreased, the conflict between management staffs is avoided, the AGV can be dispatched in sequence, the idling and waiting time of the AGV is decreased, and the production of a plant can be matched well; the ZIGBEE local area network applies to a complex electromagnetic space environment of the plant; an LED display screen can be used for displaying the state of the AGV.
Description
Technical field
The present invention relates to AGV and automatically measure and control field, particularly a kind of AGV based on ZIGBEE LAN (Local Area Network) calls out aobvious control system.
Background technology
AGV (automatically guiding trolley) has become the visual plant in intelligent manufacture, Advanced Logistics and digital factory at present, and as facilitating, factory transports, enhancing productivity has very important effect.But the more or bicycle AGV operation that factory is used now, but comparatively complicated for route, when AGV quantity is more, between bicycle, may occurring waits for bus mutually there is the phenomenon of endless loop.
And for a lot of large factory buildings, area is large, in the large situation of noise, and in the situation of the more orderly demand material of station, if request AGV transported material, to link up by AGV full-time administrative person and dispatch by intercom at present, so very inconvenient, factual survey discovery, the demand that station proposes is difficult to just, lately send the not late material that send, be easy to like this cause AGV free time or station to wait for for some time material; And keeper is difficult to statistics and calculates the traffic condition of AGV, therefore causes AGV utilization factor very low; Intercom manual calling is difficult to not hear in the very large factory of noise, between keeper, easily therefore misunderstands, and produces contradiction, incurs loss through delay what is more plant produced.And first the networking of the ZIGBEE constituent of low-power consumption long haul communication becomes factory local area network.Therefore in order to solve such problem, invented a kind of wireless local net mode AGV based on ZIGBEE here and called out aobvious control system.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of AGV based on ZIGBEE LAN (Local Area Network) to call out line control system, this system adopts ZIGBEE wireless transmission, system is controlled AGV, reduced the managing human of AGV, avoided the generation of contradiction between keeper, the scheduling of AGV dolly in order, reduce the AGV idle waiting time, can coordinate well the production of factory, ZIGBEE LAN (Local Area Network) is more suitable for factory's electromagnetic space complex environment, adopts LED display, can in real time the state of AGV dolly be shown.
The object of the invention is to be achieved through the following technical solutions: a kind of AGV based on ZIGBEE LAN (Local Area Network) calls out aobvious control system, it comprises terminal call module, master control decision-making module, ZIGBEE LAN module, AGV vehicle-mounted control and communication module and LED display module, terminal call module, AGV vehicle-mounted control are connected with master control decision-making module by ZIGBEE LAN module with communication module, and LED display module is connected with top control module;
Terminal call module: arrive master control decision-making module for sending the AGV requirement request of current station, when master control decision-making module returns to the information that there is no idle AGV, pilot lamp in terminal call module is reminded, when AGV is about to arrive at a station, hummer and lamp in terminal call module are reminded simultaneously;
Master control decision-making module: when receiving terminal station requirement request, by station position calculation, go out nearest AGV, before it executes, task is just carried out current task, if there is no the AGV free time, ask to enter buffer queue after passing through request decision-making, determine while executing the task AGV, task list is sent on AGV bicycle; When AGV enters traffic control area startup traffic, enable, the AGV that enters traffic control area is carried out to traffic control, suspended task, enters waiting status;
ZIGBEE LAN module: module comprises a host node and a plurality of child node, and host node has PAN address, and each child node is assigned short address, form LAN (Local Area Network), host node and child node communicate, and between child node, can not communicate, and need to transfer by host node;
AGV vehicle-mounted control and communication module: this module forms LAN (Local Area Network) by ZIGBEE T/R assembly; Can receive the current task list that master control is sent, and be stored on bicycle, control AGV and carry out; When AGV runs to RFID radio-frequency (RF) tag position, communication module will report mark information to master control decision-making module.
LED display module: the task situation that shows each AGV by map; In the AGV district that awaits orders, show AGV free time or busy condition, during through radio-frequency card road sign, show the position of this AGV.
Described terminal call module is arranged on station place.
The host node of described ZIGBEE LAN module is arranged in master control.
Described AGV vehicle-mounted control and communication module are arranged on AGV dolly.
The invention has the beneficial effects as follows: this system adopts ZIGBEE wireless transmission, system is controlled AGV, reduced the managing human of AGV, avoided the generation of contradiction between keeper, the scheduling of AGV dolly in order, reduces the AGV idle waiting time, can coordinate well the production of factory, ZIGBEE LAN (Local Area Network) is more suitable for factory's electromagnetic space complex environment, adopts LED display, can in real time the state of AGV dolly be shown.
Accompanying drawing explanation
Fig. 1 is for calling out aobvious control system module connection layout;
Fig. 2 is ZIGBEE local area network communication schematic diagram;
Fig. 3 is LED displaying principle figure;
Fig. 4 is traffic control schematic diagram;
Fig. 5 is ZIGBEE module circuit diagram;
Fig. 6 is push button signalling treatment circuit figure.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, a kind of AGV based on ZIGBEE LAN (Local Area Network) calls out aobvious control system, it comprises terminal call module, master control decision-making module, ZIGBEE LAN module, AGV vehicle-mounted control and communication module and LED display module, terminal call module, AGV vehicle-mounted control are connected with master control decision-making module by ZIGBEE LAN module with communication module, and LED display module is connected with top control module;
Terminal call module: arrive master control decision-making module for sending the AGV requirement request of current station, when master control decision-making module returns to the information that there is no idle AGV, pilot lamp in terminal call module is reminded, when AGV is about to arrive at a station, hummer and lamp in terminal call module are reminded simultaneously;
Master control decision-making module: when receiving terminal station requirement request, go out nearest AGV by station position calculation, just task is carried out current task before it executes, if there is no the AGV free time, ask to enter buffering team; After by request decision-making, determine while executing the task AGV, task list is sent on AGV bicycle; When AGV enters traffic control area startup traffic, enable, the AGV that enters traffic control area is carried out to traffic control, suspended task, enters waiting status;
ZIGBEE LAN module: module comprises a host node and a plurality of child node, and host node has PAN address, and each child node is assigned short address, form LAN (Local Area Network), host node and child node communicate, and between child node, can not communicate, and need to transfer by host node;
AGV vehicle-mounted control and communication module: this module forms LAN (Local Area Network) by ZIGBEE T/R assembly; Can receive the current task list that master control is sent, and be stored on bicycle, control AGV and carry out; When AGV runs to RFID radio-frequency (RF) tag position, communication module will report mark information to master control decision-making module.
LED display module: the task situation that shows each AGV by map; In the AGV district that awaits orders, show AGV free time or busy condition, during through radio-frequency card road sign, show the position of this AGV.
Described terminal call module is arranged on station place.
The host node of described ZIGBEE LAN module is arranged in master control.
Described AGV vehicle-mounted control and communication module are arranged on AGV dolly.
Shown in Fig. 2 and Fig. 3, the ZIGBEE network transmitting-receiving subassembly (T/R assembly) after the aobvious control system of AGV calling powers in terminal call module, master control decision-making and AGV vehicle-mounted control and communication module initiatively forms LAN (Local Area Network), waits for the call request of station terminal; Master control decision-making module receives the request that station terminal call module sends, calculate nearest awaiting orders a little, the a little available free AGV if awaited orders, master control decision-making module is directly dispatched idle AGV and is removed the station of calling out, if there is no idle AGV, enters request buffer queue, when selected certain AGV carries out after this task, the task list that master control decision-making module need to be carried out current AGV sends to AGV, and AGV vehicle-mounted control and communication module receive this task list, and controls AGV and finish the work.AGV is in the process of executing the task, whenever having upgraded radio-frequency card mark information, vehicle-mounted control and communication module general active are by information reporting to master control decision-making module, and master control decision-making module is controlled LED display module in the position of each AGV of LED screen display, with clear and definite its task status.
As shown in Figure 4, if AGV enters traffic control area, AGV vehicle-mounted control and communication module feed back to master control decision-making module by traffic control enable card information, master control decision-making module suspends the task of AGV, enter waiting status, when AGV removes card through traffic control, traffic control is removed, AGV recovery tasks.
Be illustrated in figure 5 ZIGBEE module, the LAN (Local Area Network) that signal forms by ZIGBEE module transmits, and is illustrated in figure 6 push button signalling treatment circuit, and pull-up resistor is pressed onto 5V by initialize signal embedding, and decoupling capacitor filters push button signalling burr over the ground.
Claims (5)
1. the AGV based on ZIGBEE LAN (Local Area Network) calls out aobvious control system, it is characterized in that: it comprises terminal call module, master control decision-making module, ZIGBEE LAN module, AGV vehicle-mounted control and communication module and LED display module, terminal call module, AGV vehicle-mounted control are connected with master control decision-making module by ZIGBEE LAN module with communication module, and LED display module is connected with top control module;
Terminal call module: arrive master control decision-making module for sending the AGV requirement request of current station, when master control decision-making module returns to the information that there is no idle AGV, pilot lamp in terminal call module is reminded, when AGV is about to arrive at a station, hummer and lamp in terminal call module are reminded simultaneously;
Master control decision-making module: when receiving terminal station requirement request, go out nearest AGV by station position calculation, just task is carried out current task before it executes, if there is no the AGV free time, ask to enter buffering team; After by request decision-making, determine while executing the task AGV, task list is sent on AGV bicycle; When AGV enters traffic control area startup traffic, enable, the AGV that enters traffic control area is carried out to traffic control, suspended task, enters waiting status;
ZIGBEE LAN module: module comprises a host node and a plurality of child node, and host node has PAN address, and each child node is assigned short address, form LAN (Local Area Network), host node and child node communicate, and between child node, can not communicate, and need to transfer by host node;
AGV vehicle-mounted control and communication module: this module forms LAN (Local Area Network) by ZIGBEE T/R assembly; Can receive the current task list that master control is sent, and be stored on bicycle, control AGV and carry out; When AGV runs to RFID radio-frequency (RF) tag position, communication module will report mark information to master control decision-making module.
2.LED display module: the task situation that shows each AGV by map; In the AGV district that awaits orders, show AGV free time or busy condition, during through radio-frequency card road sign, show the position of this AGV.
3. a kind of AGV based on ZIGBEE LAN (Local Area Network) according to claim 1 calls out aobvious control system, it is characterized in that: described terminal call module is arranged on station place.
4. a kind of AGV based on ZIGBEE LAN (Local Area Network) according to claim 1 calls out aobvious control system, it is characterized in that: the host node of described ZIGBEE LAN module is arranged in master control.
5. a kind of AGV based on ZIGBEE LAN (Local Area Network) according to claim 1 calls out aobvious control system, it is characterized in that: described AGV vehicle-mounted control and communication module are arranged on AGV dolly.
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Cited By (9)
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| CN105319988A (en) * | 2015-11-16 | 2016-02-10 | 北京科技大学 | An emulation system and method for a multi-layer shuttle-based storage and retrieval system |
| CN106066613A (en) * | 2016-05-31 | 2016-11-02 | 芜湖智久机器人有限公司 | The calling system of a kind of AGV and method of calling thereof |
| CN106569488A (en) * | 2015-10-09 | 2017-04-19 | 北京京东尚科信息技术有限公司 | Picking method, picking system, dispatching server, picking vehicle and control device |
| CN106803154A (en) * | 2017-01-25 | 2017-06-06 | 江苏久信医疗科技有限公司 | The vehicle dispatching method of the Rail logistics system of hospital |
| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN107092258A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of AGV vehicle dispatchings system |
| CN107450551A (en) * | 2017-08-25 | 2017-12-08 | 广东嘉腾机器人自动化有限公司 | Method for allocating tasks, device and computer-readable recording medium based on AGV |
| CN107479552A (en) * | 2017-08-29 | 2017-12-15 | 烟台大学 | Track machine people's self-organizing control system based on Agent |
| CN108319197A (en) * | 2018-02-06 | 2018-07-24 | 上海艾逻思智能设备有限公司 | AGV wireless callings manage system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106569488A (en) * | 2015-10-09 | 2017-04-19 | 北京京东尚科信息技术有限公司 | Picking method, picking system, dispatching server, picking vehicle and control device |
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| CN107065888A (en) * | 2017-05-26 | 2017-08-18 | 金陵科技学院 | One kind is based on magnetic navigation robot and navigation scheduling system and method |
| CN107092258A (en) * | 2017-06-03 | 2017-08-25 | 广东华创智能装备有限公司 | A kind of AGV vehicle dispatchings system |
| CN107450551A (en) * | 2017-08-25 | 2017-12-08 | 广东嘉腾机器人自动化有限公司 | Method for allocating tasks, device and computer-readable recording medium based on AGV |
| CN107479552A (en) * | 2017-08-29 | 2017-12-15 | 烟台大学 | Track machine people's self-organizing control system based on Agent |
| CN108319197A (en) * | 2018-02-06 | 2018-07-24 | 上海艾逻思智能设备有限公司 | AGV wireless callings manage system |
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