CN105892463A - Communication system for automatic guided transport vehicles and communication method thereof - Google Patents

Communication system for automatic guided transport vehicles and communication method thereof Download PDF

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Publication number
CN105892463A
CN105892463A CN201610265738.XA CN201610265738A CN105892463A CN 105892463 A CN105892463 A CN 105892463A CN 201610265738 A CN201610265738 A CN 201610265738A CN 105892463 A CN105892463 A CN 105892463A
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China
Prior art keywords
path
information
transportation vehicle
automatical pilot
pilot transportation
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CN201610265738.XA
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CN105892463B (en
Inventor
宋明安
李志博
孙洁
宋凯鑫
丁建龙
同彦恒
麻辉
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Ningxia Juneng Robot Co Ltd
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Ningxia Juneng Robot System Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria

Abstract

The invention discloses a communication system for automatic guided transport vehicles. The communication system includes regional controllers for controlling communication of automatic guided transport vehicles in control regions; a relay buffer for transmission processing of communication information among the different regional controllers; authentication modules for authentication of identities, priority levels and motion paths of the automatic guide transport vehicles; vehicle controllers for controlling each single automatic guided transport vehicle and communicatively connecting the regional controller in the region where the automatic guided transport vehicle is located with other adjacent vehicle controllers; path optimization modules for optimization processing of the set motion paths of the automatic guided transport vehicles; and information optimization modules for optimization processing of information transmitted from the outside to the vehicle controllers. The invention can overcome the deficiencies in the prior art, simplifies the structure of the communication system for the automatic guided transport vehicles, and improves the data processing speed and fault tolerance of the communication system.

Description

A kind of communication system for automatical pilot transportation vehicle and the means of communication thereof
Technical field
The present invention relates to factory automation technical field, especially a kind of for homing guidance transport The communication system of car and the means of communication thereof.
Background technology
Automatical pilot transportation vehicle is the automatic transportation in automatic production line for transported material System.It is by receiving the order of control system, automatically by material transferring to destination, greatly Reduce greatly human cost, improve efficiency of transmission, it also avoid human error simultaneously.But, Existing automatical pilot transportation vehicle communication system architectures is complicated, and the speed processed for data is relatively Slowly, and the integrality for system relies on higher, and the fault of some part in system is usually Whole system can be caused to run well.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of leading to for automatical pilot transportation vehicle News system and the means of communication thereof, it is possible to solve the deficiencies in the prior art, simplify homing guidance fortune The communication system architectures of defeated car, improves data processing speed and the fault-tolerance of communication system.
For solving above-mentioned technical problem, the technical solution used in the present invention is as follows.
A kind of communication system for automatical pilot transportation vehicle, including:
Zone controller, for being controlled leading to the automatical pilot transportation vehicle in control area News;
Relay buffer device, for being transmitted place to the communication information between zones of different controller Reason;
Authentication module, for entering identity, priority and the motion path of automatical pilot transportation vehicle Row certification;
Vehicle control device, is installed on automatical pilot transportation vehicle, for the homing guidance to separate unit Transport vehicle is controlled, and with automatical pilot transportation vehicle residing for the zone controller in region and facing Other near vehicle control device carries out communication connection;
Path optimization's module, is installed on automatical pilot transportation vehicle, for automatically leading set Draw transport vehicle motion path and be optimized process;
Advance data quality module, is installed on automatical pilot transportation vehicle, is used for external transmission to car The information of controller is optimized process.
The means of communication of a kind of communication system for automatical pilot transportation vehicle, including following step Rapid:
The automatical pilot transportation vehicle entering production system from one's respective area is carried out by A, zone controller Routing information and the establishment of priority;
B, content according to routing information, zone controller is believed to path by relay buffer device Other zone controller that breath comprises sends subscription information;
The zone controller in other region is sent the automatical pilot transportation vehicle of coming by C, authentication module Identity, priority and motion path be authenticated;If certification is passed through, then prime information is used to enter Row prestores and calls;If authentification failure, then prime information is return relay buffer device;
D, vehicle control device are from the zone controller download path information of affiliated area and priority Information, and according to download routing information and precedence information automatical pilot transportation vehicle is controlled System;
E, vehicle control device carry out reality to the status information in automatical pilot transportation vehicle running Time collect, the status information that vehicle control device is collected by Advance data quality module is optimized whole Closing, it is excellent that path optimization's module carries out path according to the data message after Advance data quality module optimization Change.
As preferably, in step A, the routing information of automatical pilot transportation vehicle is divided into multiple path Paragraph, each path paragraph has priority independently, leaves amendment between adjacent path paragraph Data bit.
As preferably, in step B, relay buffer device transmits reservation letter in units of the paragraph of path Breath, relay buffer device has identification data segment surely at each path paragraph subscript;Relay buffer device root According to based on the demand levels in the transmission purpose region of path paragraph, path paragraph is carried out first Secondary packet, first sends the packet that demand levels is high, and in same packet, relay buffer device is received The path paragraph that lower transmission priority is high.
As preferably, in step C, authentication module is according to the identification data segment district to other region Domain controller sends the data message come and is authenticated identifying, if certification is passed through, then by identifying Route segment is fallen to being combined by data segment, restores prime information and prestores and call;If certification Failure, then return relay buffer device by prime information, the relay buffer device former region to the information of transmission Controller judges, if the memory data output of former zone controller declines, is then sent out by prime information Return former zone controller, wait to be retransmitted, otherwise, prime information is temporarily stored in relay buffer device, And all zone controllers are circulated traversal detection, when the district occurring that memory data output declines During domain controller, prime information is sent the Region control declined to memory data output by relay buffer device Device, and set up target area controller and the mapping relations of former zone controller.
As preferably, in step E, Advance data quality module transmits, at zone controller, the path of coming On the basis of information, the status information in automatical pilot transportation vehicle running is overlapped, Forming a real-time routing information figure, Advance data quality module is to same in real-time route hum pattern The path intersectional region of time period is marked, and many with number of paths in the intersectional region of path Less path intersectional region is carried out classification.
As preferably, in step E, path optimization's module according to real-time route hum pattern to path Information is readjusted, the adjustment order path that priority is high in the intersectional region of same path Paragraph starts, and often completes the adjustment of a path paragraph, is believed path by Advance data quality module Breath carries out optimization again, then adjusts according to up-to-date real-time route hum pattern next time Whole;Path optimization's module is by repairing the data content that path paragraph in amendment data bit connects Change the adjustment of realizing route paragraph.
Use having the beneficial effects that of being brought of technique scheme: provided by the present invention automatically Guide transport lorry communication system eliminates existing control main frame, by using multiple parallel districts Domain controller and vehicle control device achieve exchange and the process of communication data.This process does not has Node, the mutual equality in status of each node are handed in public communication, do not have certain node and send out The problem giving birth to fault and cause whole system to run.Processing procedure for transmission data can To reduce the amount of computing repeatedly, improve data single treatment accuracy, improve treatment effeciency.
Accompanying drawing explanation
Fig. 1 is the structure chart of a specific embodiment of the present invention.
In figure: 1, zone controller;2, relay buffer device;3, authentication module;4, vehicle Controller;5, path optimization's module;6, Advance data quality module.
Detailed description of the invention
With reference to Fig. 1, a specific embodiment of the present invention includes zone controller 1, is used for Automatical pilot transportation vehicle in control area is controlled communication;
Relay buffer device 2, for passing the communication information between zones of different controller 1 Defeated process;
Authentication module 3, for identity, priority and motion path to automatical pilot transportation vehicle It is authenticated;
Vehicle control device 4, is installed on automatical pilot transportation vehicle, for automatically leading separate unit Draw transport vehicle to be controlled, and with automatical pilot transportation vehicle residing for the zone controller 1 in region Communication connection is carried out with other vehicle control device 4 closed on;
Path optimization's module 5, is installed on automatical pilot transportation vehicle, for automatic to set Guide transport lorry motion path is optimized process;
Advance data quality module 6, is installed on automatical pilot transportation vehicle, for external transmission extremely The information of vehicle control device 4 is optimized process.
A kind of means of communication for the above-mentioned communication system for automatical pilot transportation vehicle, including Following steps:
The automatical pilot transportation vehicle entering production system from one's respective area is entered by A, zone controller 1 Row routing information and the establishment of priority;The routing information of automatical pilot transportation vehicle is divided into multiple road Footpath paragraph, each path paragraph has priority independently, leaves and repair between adjacent path paragraph Change data bit.
B, content according to routing information, zone controller 1 by relay buffer device 2 to road Other zone controller 1 that footpath information comprises sends subscription information;Relay buffer device 2 is with path Paragraph is that unit transmits subscription information, and relay buffer device 2 is fixed insighted at each path paragraph subscript Other data segment;Relay buffer device 2 according to the demand levels in the transmission purpose region of path paragraph is Path paragraph is carried out being grouped for the first time by basis, first sends the packet that demand levels is high, same In one packet, relay buffer device 2 is accepted and is sent the path paragraph that priority is high.
The homing guidance fortune that the zone controller 1 in other region is sent by C, authentication module 3 The identity of defeated car, priority and motion path are authenticated;If certification is passed through, then use former letter Breath prestores and calls;If authentification failure, then prime information is return relay buffer device 2;Recognize Card module 3 sends the data letter come according to identification data segment to the zone controller 1 in other region Breath is authenticated identifying, if certification is passed through, then by identification data segment, route segment is dropped into row group Close, restore prime information and prestore and call;If authentification failure, then in returning prime information Continue buffer 2, and the former zone controller 1 of the information of transmission is judged by relay buffer device 2, If the memory data output of former zone controller 1 declines, then prime information is beamed back former zone controller 1, wait to be retransmitted, otherwise, prime information is temporarily stored in relay buffer device 2, and to all districts Domain controller 1 is circulated traversal detection, when the zone controller occurring that memory data output declines When 1, prime information is sent the zone controller 1 declined to memory data output by relay buffer device 2, And set up target area controller 1 and the mapping relations of former zone controller 1.
D, vehicle control device 4 are from the zone controller 1 download path information of affiliated area and excellent First level information, and automatical pilot transportation vehicle enters by the routing information and precedence information according to downloading Row controls.
Status information in automatical pilot transportation vehicle running is carried out by E, vehicle control device 4 Real-time collecting, the status information that vehicle control device 4 is collected by Advance data quality module 6 carries out excellent Changing and integrate, the data message after path optimization's module 5 optimizes according to Advance data quality module 6 is carried out Path optimization;The basis of the routing information that Advance data quality module 6 is come in zone controller 1 transmission On, the status information in automatical pilot transportation vehicle running is overlapped, forms a reality Time routing information figure, Advance data quality module 6 is to the time period same in real-time route hum pattern Path intersectional region is marked, and with how many pairs of paths of number of paths in the intersectional region of path Intersectional region carries out classification;Path optimization's module 5 according to real-time route hum pattern to routing information Readjust, the adjustment order path paragraph that priority is high in the intersectional region of same path Start, often complete the adjustment of a path paragraph, by Advance data quality module 6 to routing information Carry out optimization again, then adjust according to up-to-date real-time route hum pattern next time; Path optimization's module 5 is by repairing the data content that path paragraph in amendment data bit connects Change the adjustment of realizing route paragraph.
It addition, system also includes Sealing mechanism.Communication data is encrypted place by Sealing mechanism Reason, the key of encryption is that the current path information parameter using communication data destination node generates Random data section.
This invention simplifies the structure of communication system, improve communication efficiency and the appearance of communication system Wrong ability.
Foregoing description is only used as the enforceable technical scheme of the present invention and proposes, not as to its technology The single restrictive condition of scheme itself.

Claims (7)

1. the communication system for automatical pilot transportation vehicle, it is characterised in that including:
Zone controller (1), for being controlled the automatical pilot transportation vehicle in control area Communication;
Relay buffer device (2), for the communication information between zones of different controller (1) It is transmitted processing;
Authentication module (3), for identity, priority and motion road to automatical pilot transportation vehicle Footpath is authenticated;
Vehicle control device (4), is installed on automatical pilot transportation vehicle, automatic for separate unit Guide transport lorry is controlled, and with automatical pilot transportation vehicle residing for the zone controller in region And other vehicle control device (4) of closing on carries out communication connection (1);
Path optimization's module (5), is installed on automatical pilot transportation vehicle, for set from Dynamic guide transport lorry motion path is optimized process;
Advance data quality module (6), is installed on automatical pilot transportation vehicle, for external transmission Information to vehicle control device (4) is optimized process.
2. the communication system for automatical pilot transportation vehicle described in a claim 1 is logical Communication method, it is characterised in that comprise the following steps:
A, zone controller (1) automatical pilot transportation vehicle to entering production system from one's respective area Carry out the establishment of routing information and priority;
B, content according to routing information, zone controller (1) passes through relay buffer device (2) Other zone controller (1) comprised to routing information sends subscription information;
It is automatic that zone controller (1) transmission in other region is come by C, authentication module (3) The identity of guide transport lorry, priority and motion path are authenticated;If certification is passed through, then make Prestore with prime information and call;If authentification failure, then prime information is return relay buffer device (2);
D, vehicle control device (4) are believed from zone controller (1) download path of affiliated area Breath and precedence information, and according to the routing information downloaded and precedence information, homing guidance is transported Defeated car is controlled;
Status information in automatical pilot transportation vehicle running is entered by E, vehicle control device (4) Row real-time collecting, the state letter that vehicle control device (4) is collected by Advance data quality module (6) Breath is optimized integration, after path optimization's module (5) optimizes according to Advance data quality module (6) Data message carry out path optimization.
Leading to of communication system for automatical pilot transportation vehicle the most according to claim 2 Communication method, it is characterised in that: in step A, the routing information of automatical pilot transportation vehicle is divided into many Individual path paragraph, each path paragraph has priority independently, stays between adjacent path paragraph There is amendment data bit.
Leading to of communication system for automatical pilot transportation vehicle the most according to claim 3 Communication method, it is characterised in that: in step B, relay buffer device (2) is with path paragraph as list Position transmission subscription information, relay buffer device (2) has identification number surely at each path paragraph subscript According to section;Relay buffer device (2) according to the demand levels in the transmission purpose region of path paragraph is Path paragraph is carried out being grouped for the first time by basis, first sends the packet that demand levels is high, same In one packet, relay buffer device (2) is accepted and is sent the path paragraph that priority is high.
Leading to of communication system for automatical pilot transportation vehicle the most according to claim 4 Communication method, it is characterised in that: in step C, authentication module (3) is according to identification data segment pair The zone controller (1) in other region sends the data message come and is authenticated identifying, if recognizing Card passes through, then fall to being combined by route segment by identification data segment, restores prime information and carries out Prestore and call;If authentification failure, then prime information being return relay buffer device (2), relaying is slow Rush device (2) the former zone controller (1) of the information of transmission is judged, if former Region control The memory data output of device (1) declines, then prime information is beamed back former zone controller (1), etc. To be retransmitted, otherwise, prime information is temporarily stored in relay buffer device (2), and to all regions Controller (1) is circulated traversal detection, when the Region control occurring that memory data output declines During device (1), prime information is sent the region declined to memory data output by relay buffer device (2) Controller (1), and set up reflecting of target area controller (1) and former zone controller (1) Penetrate relation.
Leading to of communication system for automatical pilot transportation vehicle the most according to claim 3 Communication method, it is characterised in that: in step E, Advance data quality module (6) is at zone controller (1) on the basis of the routing information that transmission comes, by automatical pilot transportation vehicle running Status information is overlapped, and forms a real-time routing information figure, Advance data quality module (6) The path intersectional region of time period same in real-time route hum pattern is marked, and with path In intersectional region, how many pairs of path intersectional regions of number of paths carry out classification.
Leading to of communication system for automatical pilot transportation vehicle the most according to claim 6 Communication method, it is characterised in that: in step E, path optimization's module (5) is according to real-time route Routing information is readjusted by hum pattern, and adjustment order is excellent in the intersectional region of same path The path paragraph that first level is high starts, and often completes the adjustment of a path paragraph, passes through Advance data quality Module (6) carries out optimization again to routing information, then according to up-to-date real-time route letter Breath figure adjusts next time;Path optimization's module (5) is by path in amendment data bit The adjustment of the amendment realizing route paragraph of the data content that paragraph connects.
CN201610265738.XA 2016-04-27 2016-04-27 A kind of communication system and its means of communication for automated guided vehicle Active CN105892463B (en)

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Cited By (3)

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CN108873833A (en) * 2018-06-08 2018-11-23 广州市远能物流自动化设备科技有限公司 A kind of control method for movement and automated guided vehicle of automated guided vehicle
CN109240287A (en) * 2018-08-31 2019-01-18 上海电气研砼(徐州)重工科技有限公司 A kind of stack pallet navigation control system and control method
CN109532379A (en) * 2018-11-12 2019-03-29 重庆科技学院 Adaptive adjustment balancing transporter and its intelligence control system and method

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Publication number Priority date Publication date Assignee Title
CN108873833A (en) * 2018-06-08 2018-11-23 广州市远能物流自动化设备科技有限公司 A kind of control method for movement and automated guided vehicle of automated guided vehicle
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CN109532379A (en) * 2018-11-12 2019-03-29 重庆科技学院 Adaptive adjustment balancing transporter and its intelligence control system and method

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Address after: No.296, Tongxin South Street, Yinchuan Development Zone, 750021 Ningxia Hui Autonomous Region

Patentee after: NINGXIA JUNENG ROBOT Co.,Ltd.

Address before: No.296, Tongxin South Street, Yinchuan Development Zone, 750021 Ningxia Hui Autonomous Region

Patentee before: NINGXIA JUNENG ROBOT SYSTEM Co.,Ltd.