CN106598668A - Method for carrying out remote upgrade on AGV (Automatic Guided Vehicle) logistic transportation system on basis of dispatching system - Google Patents
Method for carrying out remote upgrade on AGV (Automatic Guided Vehicle) logistic transportation system on basis of dispatching system Download PDFInfo
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- CN106598668A CN106598668A CN201611146849.5A CN201611146849A CN106598668A CN 106598668 A CN106598668 A CN 106598668A CN 201611146849 A CN201611146849 A CN 201611146849A CN 106598668 A CN106598668 A CN 106598668A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
Abstract
In order to solve the problem of inconvenience of an AGV (Automatic Guided Vehicle) logistic transportation system in software upgrade in the applying process, the invention provides a method for carrying out remote upgrade on the AGV logistic transportation system on the basis of a dispatching system. A FLASH space of a DSP chip of an AGV is mainly partitioned into a user program storage region and a management program storage region, and an initial address of the FLASH space is used as an entrance of the management program storage region. The method comprises the steps that: 1, the AGV waits for a program upgrade instruction; 2, the AGV sends a handshaking signal, and waits to receive a new user program; 3, the AGV receives and checks the new user program according to a communication protocol; 4, the AGV stores the new user program into a memory RAM; 5, the AGV programs the new user program into FLASH from an RAM space; and 6, program update is completed.
Description
Technical field
The present invention relates to a kind of method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system.
Background technology
Automatic navigation vehicle (Automatic Guided Vehicle, AGV) is that a kind of unpiloted intelligent carrying sets
It is standby, belong to mobile robot category, it is one of key equipment of automatic Material Handling System.
AGV is not only used widely in the industry such as industry, agricultural, national defence, medical treatment, service, and getting rid of the danger, will search
Catch, rescue, radiating and space field etc. is harmful and dangerous situation is applied well, be almost suitable for storing in a warehouse, manufacture, postal
The various occasions such as office, library, harbour, airport, Nicotiana tabacum L., medicine, food, chemical industry, hazardous area and special trade.The skill of AGV
Art development has obtained the common concern of countries in the world.
AGV needs change or its internal control system program of upgrading when different logistics transportation environment are applied to.Pass
The method needs of system manually connect emulator on every AGV and are updated maintenance.There is problems with this mode：1)AGV
After finished product is mounted to, takes equipment connection emulator apart and be inconvenient.2) automatic material flow transportation system be often tens very
To the AGV collaborative works of up to a hundred, artificial operation is carried out per platform wastes time and energy.In consideration of it, the present invention propose it is a kind of to AGV things
The method that stream transportation system carries out remote upgrade.
Because " remote upgrade " is a very wide in range concept, the smart machine in each field can be by being designed with certain
Method realizes the function of remote upgrade.The hardware foundation that field is different, be based on is different, and method is also different.The core of existing AGV
Control chip is DSP28335, also has in other fields and have devised remote upgrade method based on the smart machine of DSP28335,
Mainly there are following several documents to relate to based on the remote upgrade method of DSP28335：
[1] Luo Qiufeng, Ye Hui, Li Yong, the SCI online programmings method of high source .DSP28335 embedded system realizes [J].
Hebei University of Science and Technology's journal, 2013,34 (4):318-324.
[2] Shen Jun, Miao Lingjuan, Zhang Gaoan. remotely updated [J] based on the DSP programs of serial communication. microcomputer information,
2010,26(3-2):4-5,58.
[3] Wang Shuhui, Liu Zhigang, Mei Ying, Xie Meng, Shi Rui. many DSP programs Remote serial loading systems based on CPLD
[J]. electrical applications, 2008,27 (4):55-59.
Model selection port is configured to SCI-A bootmodes by above-mentioned document [1] by wire jumper, and BootROM will be adopted
Bootloader data flow architectures are loaded into new procedures code on on-chip memory by SCI-A ports.Document [2] is devised
One core program puts it into Flash, it is possible to achieve without human configuration, but needs restarting equipment to load new procedures.These
Mode still be unable to do without and manually every AGV is operated, it is impossible to realize long-range and upgrading automatically needs.Document [3] is devised
One piece is controlled based on the panel of CPLD to the related I/O port of DSP, without the need for human configuration and startup, but is this method increased
Hardware cost, does not apply in the automatic Material Handling System of many AGV.
The content of the invention
Based on above-mentioned background technology, for AGV logistics transportation systems, software upgrading inconvenience is asked in actual application
Topic, the invention provides a kind of method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system.
One of technical solution of the present invention is：
Based on the method that scheduling system carries out remote upgrade to AGV logistics transportation systems, the control core of the AGV is adopted
Dsp chip；It is characterized in that：The FLASH spaces of dsp chip are mainly divided into into user program memory block and management program
Memory block two large divisions, the entrance of the initial address in FLASH spaces as the management program memory block；The method includes following
Step：
1) AGV waits program upgrade command and timing, judgement to receive whether the instruction time used exceedes Preset Time：
If exceeding Preset Time, AGV jumps directly to the entry address of user program memory block；
If not less than Preset Time, AGV chooses whether to need ROMPaq；If it is not, AGV calls original program and jumps to use
The entry address of family program storage area；If so, step 2 is then entered)；
2) AGV sends handshake, waits new user program to be received；
3) AGV is received, is verified new user program according to communication protocol；
4) AGV is stored in new user program in internal memory RAM；
5) AGV by new user program from the programming of internal memory ram space to FLASH in；
6) program updates and completes, and AGV jumps to the entry address of user storage area.
Based on above-mentioned basic technical scheme, the present invention also makes following optimization and/or restriction：
Above-mentioned scheduling system includes multiple PC dispatching platforms, and each PC dispatching platform is responsible for many AGV in a region, respectively
Carry out communication-cooperation between PC dispatching platforms again.
Above-mentioned multiple PC dispatching platforms and its many responsible AGV are in communication with each other, and the communication format per frame data is：
Above-mentioned steps 3) in the new user program process of verification of AGV be：
AGV often receives a frame data and can once be verified：If data are correct, AGV sends the first feedback signal, and will
Data after verification are stored in internal memory RAM；If error in data, AGV sends the second feedback signal, it is desirable to resend this frame number
According to；If the continuous mistake of a certain frame data 3 times or scheduling system do not receive AGV's after a certain frame data have been sent in 10 seconds
Feedback signal, then this secondary program renewal terminates automatically, updates failure.
Above-mentioned steps 3) in AGV verify new user program verification content include the verification to each file data bag with
Verification to every frame data；
Verification to each file data bag includes whether the numbering for verifying current data block is correct, current data block coding
Radix-minus-one complement whether correct and CRC check；
Include frame head verification to the verification of every frame data, verify this frame data and whether be sent to this AGV, sender No. PC be
It is no in the subregion of this AGV places.
The technical solution of the present invention two is：
Based on the method that scheduling system carries out remote upgrade to AGV logistics transportation systems, the control core of the AGV is adopted
Dsp chip；It is characterized in that：The FLASH spaces of dsp chip are mainly divided into into user program memory block and management program
Memory block two large divisions, the entrance of the initial address in FLASH spaces as the management program memory block；The method includes following
Step：
1) new user program is compiled, is linked and is changed by scheduling system, generates BIN formatted files；
2) dispatch system and enter remote upgrade AGV program interfaces, wait handshake to be received and timing, judgement is received shakes hands
Whether the time used by signal exceedes Preset Time：If exceeding Preset Time, scheduling system jumps to user program entrance ground
Location；If being not above Preset Time, into step 3)；
3) scheduling system receives handshake, and according to communication protocol BIN formatted files are sent；
4) scheduling system has often sent a frame data, wait it is to be verified after feedback information, receive feedback information after retransmit
Next frame data, into step 5)；If not being connected to feedback information more than setting time, scheduling system actively terminates this time more
Newly, failure is updated；
5) all data is activations are finished, and program updates and completes.
Based on above-mentioned basic technical scheme, the present invention also makes following optimization and/or restriction：
Above-mentioned scheduling system includes multiple PC dispatching platforms, and each PC dispatching platform is responsible for many AGV in a region, respectively
Carry out communication-cooperation between PC dispatching platforms again.
Above-mentioned multiple PC dispatching platforms and its many responsible AGV are in communication with each other, and the communication format per frame data is：
The program upgrade file that above-mentioned scheduling system will send is divided into several packets, and each packet includes 128
The file data of byte, the form of each packet is：
Above-mentioned steps 1) it is specially：
1.1) new user program is compiled in CCS translation and compiling environments, is linked, generate binary system of the suffix for .OUT
Coff file；
1.2) coff file is converted to the hexadecimal HEX formatted files of standard by hex2000.exe crossover tools；
1.3) HEX formatted files are converted into by BIN formatted files by H-Converter.exe instruments.
Compared with prior art, beneficial effects of the present invention：
The achievable remote auto of the present invention updates software, and, by platform configuration AGV, AGV softwares are greatly improved without the need for manually
The efficiency of upgrading.
Description of the drawings
Fig. 1 is the flow chart of AGV programs upgrading of the present invention；
Fig. 2 is AGV logistics transportation system block diagrams.
Specific embodiment
As shown in Fig. 2 AGV logistics transportation systems are made up of the system of dispatching and AGV onboard system two large divisions, wherein, car
Loading system is the controller based on DSP for core, and scheduling system is realized based under PC platform XP systems.Between PC and AGV
Interacted using communication.System more than, AGV quantity big for place, in addition it is also necessary to which multiple PC Discrete controls (are adjusted
Degree system includes multiple PC platforms, and each PC dispatching platform is responsible for many AGV in a region), carry out again between each PC scheduling
Communication-cooperation, preferably to integrate all related systems, reaches faster more stable control effect.
First, AGV onboard systems
The control core of AGV onboard systems is DSP28335, there is one piece of 8K × 16 in the memory space of the chip
The read only memory of (0x3FE000～0x3FFFFF), entitled Boot ROM.Reseting vector 0x3FFFC0 therein is when dispatching from the factory
InitBoot programs in being programmed to be pointing directly at Boot ROM Spaces.This program is first performed after dsp system starts
Individual program.The program is called after the initialization for completing F28335 and reading code security module (CSM) password
SelectBootMode functions, according to four GPIO pin Determines bootmodes, and determine entry address.
According to the characteristics of the guiding mechanism of above-mentioned DSP28335 inside, the present invention adopts inside Flash bootmodes, after start
DSP jumps to initial address 0x33FFF6 in FLASH spaces.0x33FFF6 is pointed to the generation of entitled codestart in CMD files
Code section.Codestart calls _ c_init00 functions, and it completes the initialization of C language running environment and calls main functions, extremely
The control of this DSP goes to user program by Boot ROM.The FLASH spaces of DSP28335 are divided into into two large divisions：A part is used
In the storage of ROMPaq, a part is used for placement management program.Management program and new user program are write according to table 1
CMD files.
The space distribution of the FLASH of table 1
The programming management program on DSP, the management program will complete the remote of AGV onboard programs according to the instruction of scheduling system
Journey is upgraded and being capable of the new program of automatic running.
As shown in figure 1, being mounted with after the AGV of onboard system starts, the instruction of scheduling system is waited, when AGV receives liter
After level is indicated, a handshake can be sent, represent that AGV vehicles are ready, wait scheduling system to send new user program,
After AGV is properly received the program that scheduling system sends according to communication protocol, temporarily it is put in memory headroom.Then AGV will be interior
Temporary new user program programming is deposited in FLASH.Program automatic jumps to user program entrance and starts after the completion of updating
Perform new user program.If what system transmission was dispatched in AGV starts more than the waiting time or within the waiting time is not upgrade to refer to
Order, then AGV performs original subscriber's program automatically.
2nd, system is dispatched
New program is compiled, is linked by scheduling system in CCS translation and compiling environments, generates binary systems of the .OUT for suffix
Common object file format (COFF) file, standard is converted to by hex2000.exe crossover tools by COFF file destinations
Hexadecimal format (i.e. HEX forms), BIN forms text is converted into by H-Converter.exe instruments by HEX formatted files
Part, then according to communication protocol is sent to program in the DSP of AGV vehicles.The data stream format of BIN files is as shown in table 2.
The data stream format of the BIN files of table 2
3rd, the communication between system and onboard system is dispatched
Scheduling system follows following mechanism with the communications protocol of DSP：
1. divided stator frame mechanism
To improve reliability, rapidly and accurately transmission data, the program file that scheduling system will send is divided into several
Packet, file data of each packet comprising 128 bytes.The form of each packet such as table 3.
The data packet format of table 3
2. subregion batch upgrade mechanism
One AGV automatic Material Handling System includes multiple PC dispatching platforms, and each platform is responsible for many of a region
AGV.Communication due to being many PC platforms and multiple stage AGV, the form per frame data is as shown in table 4.
The communication format of table 4
| Byte | Content |
| 1st byte | Frame head 1：0xFA |
| 2nd byte | Frame head 2：0xFA |
| 3rd byte | Frame head 3：0xFA |
| 4th byte | Frame head 4：0xFA |
| 5th byte | AGV license numbers |
| 6th byte | PC platforms number |
| 7th～141 byte | Specific instruction content |
| 142nd byte | With verification (including 4 frame heads) |
In the present invention, the mode of radio communication is used between PC dispatching platforms and AGV, all PC and all AGV are
A communication channel is shared, frequency is consistent with aerial speed, and communication format is also consistent, and either party is (PC or AGV)
The data for sending all can be got by each equipment.The 5th byte during each AGV is needed by data determines whether oneself
The instruction that affiliated PC dispatching platforms send, the jettisoning if not being.
3. acknowledgement mechanism
1) after dispatching the interface that system enters remote upgrade vehicle program, into waiting state, wait AGV to send and prepare just
The signal of thread.
2) AGV vehicles send a capital C, represent ready, can open transmission.
3) scheduling system receives capital C, starts to send data.
4) scheduling system has often sent a frame data, waits the reply of AGV vehicles, AGV vehicles receiving a frame data
Afterwards, verified, such as data are correct, then sent feedback signal 0x06, waited next frame data；Such as error in data, then send out
Send feedback signal 0x15, it is desirable to which scheduling system resends this frame data.Continuous mistake 3 times or scheduling system are sending
Feedback signal is can't accept in 10 seconds after a complete frame data, is then terminated this secondary program automatically and is updated, and show renewal failure.
5) after file is sent completely, the scheduling system of AGV sends 0x04 signals, and AGV vehicles then send after being properly received
0x06 signals, scheduling system to be received and show that ROMPaq is sent completely after 0x06 signals.
4. verification scheme
1) work of the verification of each file data bag includes：The numbering of verification current data block whether correct, current number
According to the radix-minus-one complement whether correct and CRC check of block coding.
2) verifying work per frame data includes：Frame head is verified, verifies whether this frame data is sent to this vehicle, sender
Whether No. PC be in the subregion of this vehicle place and and verification.
Claims (10)
1. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system, the control core of the AGV is adopted
Dsp chip；It is characterized in that：The FLASH spaces of dsp chip are mainly divided into into user program memory block and management program storage
Area two large divisions, the entrance of the initial address in FLASH spaces as the management program memory block；The method includes following step
Suddenly：
1) AGV waits program upgrade command and timing, judgement to receive whether the instruction time used exceedes Preset Time：
If exceeding Preset Time, AGV jumps directly to the entry address of user program memory block；
If not less than Preset Time, AGV chooses whether to need ROMPaq；If it is not, AGV calls original program and jumps to user's journey
The entry address of sequence memory block；If so, step 2 is then entered)；
2) AGV sends handshake, waits new user program to be received；
3) AGV is received, is verified new user program according to communication protocol；
4) AGV is stored in new user program in internal memory RAM；
5) AGV by new user program from the programming of internal memory ram space to FLASH in；
6) program updates and completes, and AGV jumps to the entry address of user storage area.
2. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system according to claim 1, it is special
Levy and be：
The scheduling system includes multiple PC dispatching platforms, and each PC dispatching platform is responsible for many AGV in a region, and each PC is adjusted
Communication-cooperation is carried out again between degree platform.
3. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system according to claim 2, it is special
Levy and be：The plurality of PC dispatching platforms and its many responsible AGV are in communication with each other, and the communication format per frame data is：
4. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system according to claim 2, it is special
Levy and be：
The step 3) in the new user program process of verification of AGV be：
AGV often receives a frame data and can once be verified：If data are correct, AGV sends the first feedback signal, and will verification
Data afterwards are stored in internal memory RAM；If error in data, AGV sends the second feedback signal, it is desirable to resend this frame data；If
The continuous mistake of a certain frame data 3 times or scheduling system do not receive the feedback of AGV after a certain frame data have been sent in 10 seconds
Signal, then this secondary program renewal terminates automatically, updates failure.
5. the method that remote upgrade is carried out to AGV logistics transportation systems based on scheduling system according to claim 1 or 4,
It is characterized in that：
The step 3) in AGV verify the verification content of new user program and include to the verification of each file data bag and to every
The verification of frame data；
Verification to each file data bag includes whether the numbering for verifying current data block is correct, current data block coding radix-minus-one complement
Whether correct and CRC check；
Include frame head verification to the verification of every frame data, verify this frame data and whether be sent to this AGV, sender No. PC be whether
In the subregion of this AGV places.
6. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system, the control core of the AGV is adopted
Dsp chip；It is characterized in that：The FLASH spaces of dsp chip are mainly divided into into user program memory block and management program storage
Area two large divisions, the entrance of the initial address in FLASH spaces as the management program memory block；The method includes following step
Suddenly：
1) new user program is compiled, is linked and is changed by scheduling system, generates BIN formatted files；
2) dispatch system and enter remote upgrade AGV program interfaces, wait handshake to be received and timing, judgement to receive handshake
Whether the time used exceedes Preset Time：If exceeding Preset Time, scheduling system jumps to user program entry address；If
Preset Time is not above, then into step 3)；
3) scheduling system receives handshake, and according to communication protocol BIN formatted files are sent；
4) scheduling system has often sent a frame data, wait it is to be verified after feedback information, receive feedback information after retransmit it is next
Frame data, into step 5)；If not being connected to feedback information more than setting time, scheduling system actively terminates this time to update, more
New failure；
5) all data is activations are finished, and program updates and completes.
7. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system according to claim 6, it is special
Levy and be：
The scheduling system includes multiple PC dispatching platforms, and each PC dispatching platform is responsible for many AGV in a region, and each PC is adjusted
Communication-cooperation is carried out again between degree platform.
8. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system according to claim 7, it is special
Levy and be：The plurality of PC dispatching platforms and its many responsible AGV are in communication with each other, and the communication format per frame data is：
9. the method for carrying out remote upgrade to AGV logistics transportation systems based on scheduling system according to claim 6, it is special
Levy and be：
The program upgrade file that the scheduling system will send is divided into several packets, and each packet includes 128 bytes
File data, the form of each packet is：
10. the method that remote upgrade is carried out to AGV logistics transportation systems based on scheduling system according to claim 6, its
It is characterised by：
The step 1) it is specially：
1.1) new user program is compiled in CCS translation and compiling environments, is linked, generate binary system COFF of the suffix for .OUT
File；
1.2) coff file is converted to the hexadecimal HEX formatted files of standard by hex2000.exe crossover tools；
1.3) HEX formatted files are converted into by BIN formatted files by H-Converter.exe instruments.
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| CN110780651A (en) * | 2019-11-01 | 2020-02-11 | 四川长虹电器股份有限公司 | AGV dispatching system and method |
| CN111818513A (en) * | 2020-06-11 | 2020-10-23 | 深圳硕日新能源科技有限公司 | Remote upgrading method and remote upgrading system for solar controller |
| CN112631275A (en) * | 2020-11-27 | 2021-04-09 | 厦门烟草工业有限责任公司 | Control method and system compatible with different AGV (automatic guided vehicle) and tobacco logistics conveying system |
| CN112947978A (en) * | 2021-04-01 | 2021-06-11 | 深圳市斯尔顿科技有限公司 | Method for upgrading firmware based on chip usbhid, terminal device and computer readable storage medium |
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Application publication date: 20170426 |