CN106327056B - A kind of AGV task management system and method based on real-time clock - Google Patents
A kind of AGV task management system and method based on real-time clock Download PDFInfo
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Abstract
The invention discloses a kind of AGV task management system and method based on real-time clock, the system include real-time clock module, input module, task management module, display module and log memory module；The task management module is connect with real-time clock module, input module, display module and log memory module respectively, and task management module also passes through communication interface and connect with AGV；The real-time clock module is for providing real-time clock；The input module is used for the input of management parameters；The task management module is used to interact the setting for realizing task management parameter with input module, and according to the task management parameter of real-time clock and setting, realizes the control of AGV；The display module is used to carry out the display of AGV operating status；The log memory module is used to carry out recording and storage to AGV key state and corresponding real-time time.The present invention realizes the scheduling of the AGV task management based on real-time clock, does not need human intervention AGV operation, at low cost, high-efficient.
Description
Technical field
The present invention relates to a kind of AGV task management system and method based on real-time clock.
Background technique
AGV (Automated Guided Vehicle) i.e. automated guided vehicle refers to equipped with electricity magnetically or optically etc.
Homing guidance device, it can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions,
AGV belongs to the scope of wheeled mobile robot (WMR-- Wheeled Mobile Robot), goods in traditional warehouse and factory
The carrying of object always expend a large amount of manpowers, under efficiency, frequently error；The goods that selects in warehouse is just even more problem, cargo storage
Place, different cargo has different size, different weight etc., be all a kind of challenge to machine and people；Use homing guidance
Vehicle easily can perfectly solve this problem --- and it not only reduces human cost, improve efficiency, working environment can also be made
It is safer.
Currently, to the management of AGV, there are two types of modes, first is that mode networking by wireless communication, is then attached to dedicated tune
It spends system equipment (PC or other terminals), using specific schedule software, AGV task management is carried out according to production requirement, due to needing
Cordless communication network is disposed, specific schedule system equipment is at high cost.
Second is that selecting AGV task by manual operation AGV, by switch or other trigger devices, triggering AGV task is opened
Beginning state runs AGV, carries out AGV task management, and this mode is suitable for the management of a small amount of AGV simple task, realizes simply,
It is at low cost, but human intervention AGV is needed to run, it is relatively inefficient.
Summary of the invention
The AGV task management based on real-time clock that it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of
System and method, the AGV task management scheduling based on real-time clock enable single AGV not depending on external dedicated scheduling system
In the case where carry out Portable Batch System, it is at low cost, at the same do not need yet human intervention AGV operation, it is high-efficient.
The purpose of the present invention is achieved through the following technical solutions: a kind of AGV task management based on real-time clock
System, including real-time clock module, input module, task management module, display module and log memory module；Described
Task management module is connect with real-time clock module, input module, display module and log memory module respectively, task pipe
Reason module also passes through communication interface and connect with AGV；The real-time clock module is for providing real-time clock；The input module is used
In the input of management parameters；The task management module is used to interact the setting for realizing task management parameter with input module, and
According to the task management parameter of real-time clock and setting, the control of AGV is realized；The display module is for carrying out AGV operation shape
The display of state；The log memory module is used to carry out recording and storage to AGV key state and corresponding real-time time.
The task management module includes parameter setting submodule and operational management submodule；Parameter setting
Module is used to interact the setting for realizing task management parameter with input module, and the operational management submodule is used for according to parameter
The parameter of submodule is set, realizes the operation control of AGV.
The task management module includes section setting unit, trigger condition setting unit and task setting unit；Institute
The section setting unit stated is used to be arranged the period of task run；The trigger condition setting unit is for being arranged task fortune
Capable trigger condition；The task setting unit is for being arranged operation task and its cycle-index.
The operational management submodule includes time judging unit, trigger condition judging unit and operation control unit；
The time judging unit is used to judge whether the period into task run；The trigger condition judging unit is for sentencing
Disconnected is the trigger condition for all meeting task run；The operation control unit judges according to time judging unit and trigger condition
The judging result of unit, control AGV execute the cycle-index that operation task reaches setting.
The AGV operating status includes but is not limited to AGV task status, AGV electricity, AGV obstacle avoidance sensor state；Institute
The AGV key state stated includes but is not limited to AGV obstacle avoidance sensor state, AGV location information, AGV task status, AGV failure
State.
The method that a kind of AGV task management system based on real-time clock carries out task management, including following step
It is rapid:
S1., task management parameter is set, the task management parameter includes the period of task run, trigger condition and
The cycle-index of operation task；
S2. real-time time information is read；
S3. judge whether the period in task run:
(1) if being in the period of task run, S4 is entered step；
(2) if being not at the period of task run, return step S2, the real-time time for carrying out lower a moment is read；
S4. judge whether the trigger condition for meeting task run:
(1) meet the trigger condition of task run, execute the cycle-index that operation task reaches setting；
(2) it is unsatisfactory for task run condition, return step S2, the real-time time for carrying out lower a moment is read.
The step S1 includes following sub-step:
S11., the period of one or more task runs of task run is set；
S12., the task trigger condition of each period and the task of corresponding operation are set；
S13., the cycle-index of task run is set.
One or more task trigger conditions can be set in the step S12, and each task trigger condition is corresponding different
Operation task and cycle-index.
The task management method further includes the real-time display step of an AGV operating status, to AGV task status,
AGV electricity, AGV obstacle avoidance sensor state carry out real-time display.
The task management method further includes an AGV key state storing step: to AGV obstacle avoidance sensor state,
AGV location information, AGV task status, AGV malfunction and corresponding real-time time are stored.
The beneficial effects of the present invention are: (1) realizes the scheduling of the AGV task management based on real-time clock, enable single AGV
Portable Batch System is carried out in the case where not depending on external dedicated scheduling system, it is at low cost, while not needing human intervention yet
AGV operation, it is high-efficient；
(2) AGV operating status can be shown by display module, is convenient to the real time inspection of operating status.
(3) AGV key state and corresponding real-time time can be recorded and is deposited by log memory module
Storage is convenient to subsequent data export and checks.
(4) operation task and cycle-index are set in conjunction with runing time section, trigger condition, and task management is flexible, operation
Simply, at low cost.
Detailed description of the invention
Fig. 1 is system principle diagram of the invention；
Fig. 2 is flow chart of the method for the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of AGV task management system based on real-time clock, including real-time clock module, input mould
Block, task management module, display module and log memory module；The task management module respectively with real-time clock mould
Block, input module, display module are connected with log memory module, task management module also pass through communication interface (serial ports) with
AGV connection；The real-time clock module is for providing real-time clock；The input module is used for the input of management parameters；It is described
Task management module is used to interact the setting for realizing task management parameter with input module, and according to times of real-time clock and setting
Business management parameters, realize the control of AGV；The display module is used to carry out the display of AGV operating status；The log is deposited
Module is stored up to be used to carry out recording and storage to AGV key state and corresponding real-time time.
In embodiments herein, the AGV task management system based on real-time clock is directly installed on trolley.
The task management module includes parameter setting submodule and operational management submodule；Parameter setting
Module is used to interact the setting for realizing task management parameter with input module, and the operational management submodule is used for according to parameter
The parameter of submodule is set, realizes the operation control of AGV.
The task management module includes section setting unit, trigger condition setting unit and task setting unit；Institute
The section setting unit stated is used to be arranged the period of task run；The trigger condition setting unit is for being arranged task fortune
Capable trigger condition；The task setting unit is for being arranged operation task and its cycle-index.
The operational management submodule includes time judging unit, trigger condition judging unit and operation control unit；
The time judging unit is used to judge whether the period into task run；The trigger condition judging unit is for sentencing
Disconnected is the trigger condition for all meeting task run；The operation control unit judges according to time judging unit and trigger condition
The judging result of unit, control AGV execute the cycle-index that operation task reaches setting.
The AGV operating status includes but is not limited to AGV task status, AGV electricity, AGV obstacle avoidance sensor state；Institute
The AGV key state stated includes but is not limited to AGV obstacle avoidance sensor state, AGV location information, AGV task status, AGV failure
State.
As shown in Fig. 2, the method that a kind of AGV task management system based on real-time clock carries out task management,
The following steps are included:
S1. it is powered on first to task management system, then is configured task management parameter, the task management parameter packet
Include the period of task run, the cycle-index of trigger condition and operation task, after the completion of parameter setting, it is also necessary to real-time clock
Module and log memory module self-test, enter back into step S2；
S2. real-time time information is read；
Specifically, it needs to detect to AGV in step S2, judges whether equipment is normal；
If A, abnormal, AGV state is shown in display module, and store and record,
If B, normal, real-time time information is read, and judge whether AGV key state changes: if AGV is crucial
State changes, and is recorded, and enters step S3, if not changing, is directly entered step S3；
S3. judge whether the period in task run:
(1) if being in the period of task run, S4 is entered step；
(2) if being not at the period of task run, acquisition and display AGV state, and return step S2, it carries out next
The real-time time at quarter is read；
S4. judge whether the trigger condition for meeting task run:
(1) meet the trigger condition of task run, execute the cycle-index that operation task reaches setting；
(2) it is unsatisfactory for task run condition, acquisition and display AGV state, and return step S2, carries out the real-time of lower a moment
Time reads.
The step S1 includes following sub-step:
S11., the period of one or more task runs of task run is set；
S12., the task trigger condition of each period and the task of corresponding operation are set；
S13., the cycle-index of task run is set.
One or more task trigger conditions can be set in the step S12, and each task trigger condition is corresponding different
Operation task and cycle-index.
The task management method further includes the real-time display step of an AGV operating status, to AGV task status,
AGV electricity, AGV obstacle avoidance sensor state carry out real-time display.
The task management method further includes an AGV key state storing step: to AGV obstacle avoidance sensor state,
AGV location information, AGV task status, AGV malfunction and corresponding real-time time are stored.
Claims (7)
1. a kind of AGV task management system based on real-time clock, it is characterised in that: including real-time clock module, input module,
Task management module, display module and log memory module；The task management module respectively with real-time clock module,
Input module, display module are connected with log memory module, and task management module also passes through communication interface and connect with AGV；
The real-time clock module is for providing real-time clock；The input module is used for the input of management parameters；The task management
Module is used to interact the setting for realizing task management parameter with input module, and is joined according to the task management of real-time clock and setting
Number, realizes the control of AGV；The display module is used to carry out the display of AGV operating status；The log memory module is used
In to AGV key state and corresponding real-time time progress recording and storage；
The operation logic of the AGV task management system the following steps are included:
S1., task management parameter is set, and the task management parameter includes the period of task run, trigger condition and operation
The cycle-index of task；
S2. real-time time information is read；
S3. judge whether the period in task run:
(1) if being in the period of task run, S4 is entered step；
(2) if being not at the period of task run, return step S2, the real-time time for carrying out lower a moment is read；
S4. judge whether the trigger condition for meeting task run:
(1) meet the trigger condition of task run, execute the cycle-index that operation task reaches setting；
(2) it is unsatisfactory for task run condition, return step S2, the real-time time for carrying out lower a moment is read；
The step S1 includes following sub-step:
S11., the period of one or more task runs of task run is set；
S12., the task trigger condition of each period and the task of corresponding operation are set；
S13., the cycle-index of task run is set；
One or more task trigger conditions can be set in the step S12, and each task trigger condition corresponds to different fortune
Row task and cycle-index.
2. a kind of AGV task management system based on real-time clock according to claim 1, it is characterised in that: described
Task management module includes parameter setting submodule and operational management submodule；The parameter setting submodule is used for and input
The setting of task management parameter is realized in module interaction, and the operational management submodule is used for the ginseng according to parameter setting submodule
Number realizes the operation control of AGV.
3. a kind of AGV task management system based on real-time clock according to claim 2, it is characterised in that: described
Task management module includes section setting unit, trigger condition setting unit and task setting unit；The period is arranged single
Member is for being arranged the period of task run；The trigger condition setting unit is used to be arranged the trigger condition of task run；
The task setting unit is for being arranged operation task and its cycle-index.
4. a kind of AGV task management system based on real-time clock according to claim 2, it is characterised in that: described
Operational management submodule includes time judging unit, trigger condition judging unit and operation control unit；The time judgement is single
Member is for judging whether the period into task run；The trigger condition judging unit is for judging to be all to meet task
The trigger condition of operation；The operation control unit is according to the judgement knot of time judging unit and trigger condition judging unit
Fruit, control AGV execute the cycle-index that operation task reaches setting.
5. a kind of AGV task management system based on real-time clock according to claim 1, it is characterised in that: described
AGV operating status includes but is not limited to AGV task status, AGV electricity, AGV obstacle avoidance sensor state；The AGV key shape
State includes but is not limited to AGV obstacle avoidance sensor state, AGV location information, AGV task status, AGV malfunction.
6. the method that a kind of AGV task management system based on real-time clock according to claim 1 carries out task management,
It is characterized by: the task management method further includes the real-time display step of an AGV operating status, to AGV task shape
State, AGV electricity, AGV obstacle avoidance sensor state carry out real-time display.
7. the method that a kind of AGV task management system based on real-time clock according to claim 1 carries out task management,
It is characterized by: the task management method further includes an AGV key state storing step: to AGV obstacle avoidance sensor shape
State, AGV location information, AGV task status, AGV malfunction and corresponding real-time time are stored.
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| KR100478451B1 (en) * | 2002-07-05 | 2005-03-22 | 삼성전자주식회사 | Control method of conveying system |
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| CN1851735A (en) * | 2005-09-09 | 2006-10-25 | 华为技术有限公司 | Method and device for making mobile terminal automatic execute task |
| CN102081403A (en) * | 2009-12-01 | 2011-06-01 | 张越峰 | Automatic guidance vehicle with intelligent multi-media playing function |
| CN102830703A (en) * | 2012-09-19 | 2012-12-19 | 苏州工业园区职业技术学院 | Single drive automatic loading and unloading automatic guided vehicle (AGV) control system |
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