CN107065888A - One kind is based on magnetic navigation robot and navigation scheduling system and method - Google Patents
One kind is based on magnetic navigation robot and navigation scheduling system and method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 16
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- 238000013523 data management Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 53
- 238000012544 monitoring process Methods 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 10
- 230000000875 corresponding effect Effects 0.000 claims description 8
- 238000000465 moulding Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
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- 230000033001 locomotion Effects 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
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- 238000004519 manufacturing process Methods 0.000 abstract description 12
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- 238000007405 data analysis Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
Magnetic navigation robot and navigation scheduling system and method are based on the invention discloses one kind, is related to storekeeper robot system, mainly includes：The scheduler module calculated for Data Management Analysis；Chauffeur module for sending chauffeur program；The AGV dollies that goods is carried；Signal lamp for showing crossing traffic situation, present invention aims to overcome that the deficiency of above-mentioned existing operating type, a kind of magnetic navigation AGV system that is based on is provided in method for plant produced workshop, warehouse, the efficiency and yield for the logistics for being intended to improve in the production process of enterprise, mitigate staff's burden, save entreprise cost.
Description
Technical field
The present invention relates to the robot based on magnetic navigation and navigation scheduling system and method.
Background technology
Carrying and circulation at present in warehouse, factory's ongoing operations for goods is passed substantially by being accomplished manually
The operating type of system is to meet daily production needs by goods is carried to point of destination by porter.The shortcoming of this mode：Pole
The big production and operation cost for having aggravated enterprise, enterprise needs to undertake human cost；On the other hand the daily production of enterprise is limited
Efficiency, can not day and night continual operation by manpower, if it is desired to which day and night uninterrupted operation is only completed by increasing manpower
Target operation amount.By more than analyze, traditional operating type can not meet simultaneously raising production efficiency and it is cost-effective this
Two conditions.
Production efficiency guarantee property is poor, and Traditional Man, which is carried to rely on, is accomplished manually material transportation in factory, it is impossible to efficiently ensure
Transport task is completed.
Data analysis can not be provided, traditional approach can not count the significant datas such as haulage time and be provided for enterprise's production improvement
Significant data.
Can not real time inspection material transportation situation directly perceived, Traditional Transportation mode can not check the real time position in transportation
And travel position.
Under the changeable environment of plant, existing artificial mode of transport without in real time to operation change adjust.For example：Manually
In handling process, the demand of multiple points of destination changes, and can not in time be responded by traditional artificial carrying, causes nothing
Hard.
Under the workload of high intensity, yield can not be ensured by Traditional Man operation.For example：Workman asks for leave, absence from duty etc.
Situation, can influence the production yields of enterprise.
The content of the invention
Present invention aims to overcome that the deficiency of above-mentioned existing operating type, one kind is provided for plant produced workshop, warehouse
Based on magnetic navigation AGV system in method, it is intended to improve the efficiency and yield of the logistics in the production process of enterprise, mitigate work people
Member's burden, saves entreprise cost.
The present invention is achieved through the following technical solutions：
A kind of AGV system based on magnetic navigation, it is characterised in that including：
The host computer scheduler module (2) calculated for Data Management Analysis；
Chauffeur module (1) for sending chauffeur program；
The AGV dollies (4) that goods is carried；
Signal lamp (3) for showing crossing traffic situation；
It is described as follows：Described host computer scheduler module includes：
Map drawing module (27)：The vertical view of the layout in factory or warehouse is drawn by the mapping drawing board of system
Figure, describes and shows after the completion of the regional block that factory or warehouse are included, the step, can intuitively check AGV dollies
Running environment.
It is responsible for and AGV dollies communication module (21)：Communication module is responsible for inquiring the every terms of information of dolly and in dolly response
Back-to-back running state gives real-time monitoring module (23) afterwards.During system operation, the module needs to ensure the reliable of communication, in dolly
Occur recovering that during connection the dolly can be got in touch with again in time after abnormal go offline.Being supplied to upstream program, accurately and reliably data are believed
Breath.
Real-time monitoring module (23)：Real-time processing communication module return every AGV condition informations, record running status and
Present position, according to the environmental map and line map of drafting, the dolly status information fed back according to communication module, in real time display
The position of dolly and status information.
Layout of roads algoritic module (26)：Specify dolly to complete the job task received, be that dolly arranges optimal route
Go to complete.
Data memory module (24)：Monitoring AGV job task situation, recorded in database, is Reports module in real time
Data basis is provided.
Mission Operations are analyzed and report form showing module (25)：Work data in analytical database, produces result, and to report
Table shows.
Traffic control module (22)：Monitoring and analysis AGV dolly positional informations, manage crossing dolly meeting situation, prevent
There is the situation of deadlock.
The AGV dollies (4) that described goods is carried include following module：
Sensing module (43)：For magnetic scanning terrestrial reference and magnetic stripe, identification AGV dollies position and place circuit.
Wireless communication module (41)：For the communication between AGV and scheduler module (21), AGV dollies pass through sensing module
(43) information for the operation crossed, the inquiry for receiving scheduler module (21) by wireless module (41) is instructed, while by operation information
Scheduler module (21) is fed back to, scheduler module (21) is by analysis with judging that producing control instruction is sent to AGV dollies, it is ensured that
The stable operation of AGV dollies.
Control module (42)：The embedded Control equipment and running environment carried for AGV dollies, for Treatment Analysis and place
The various instructions that reason scheduling system is issued.
Motor execution module (44)：The order of the control module (42) received is performed, corresponding action is completed.
The belisha beacon (3)：For showing crossing traffic situation, other operation units in operating environment are helped to differentiate
Traffic state at road cross.
The flat sheet mould (1)：Assignment instructions for sending calling AGV dollies are dispatched to scheduler program while receiving
Program feedack is shown on flat board.
A kind of AGV dolly methods based on magnetic navigation, comprise the following steps：
Staff gets out fill the truck of goods, clicks on location target flat sheet mould (1), and scheduler module (2) is received
To instructing and handle, according to the nearest idle AGV dollies of algorithm arrangement and plan that dolly route sends to dispatch a car to AGV dollies and appoint
Business, on this basis, scheduler module (2) inform that flat board program has been processed by the chauffeur task of chauffeur (1) and sent a car accordingly
Information；The magnetic landmark locations come where flat sheet mould (1) of scheduler module (2) control dolly, and make to should terrestrial reference move
Make.
AGV dollies capture terrestrial reference in real time by sensing module (43), obtain itself position and by control module
(42) position information process being collected into is fed back into wireless communication module (41), AGV dollies are communicated with scheduler program, led in real time
Cross wireless communication module (41) back-to-back running information and give scheduler module (2), the operation information that scheduler program feeds back according to AGV dollies
Being the traffic control and belisha beacon management and control for realizing AGV dollies.
AGV dolly rate-determining steps：
AGV dolly rate-determining steps, AGV dollies and sensing module (43), wireless communication module are realized by control module (42)
(41), Motor execution module (44) carries out signal interaction and instruction is sent；Control module (42) is by receiving the number of sensing module
According to collaboration wireless module (41) is received by wireless module (41) to scheduler module (2) feedback data and comes from scheduler module (2)
Instruction, be converted to machine order be transferred to Motor execution module perform task.
Motor execution module (42), controls the bottom instruction of transmission to perform terminal task, while by perceiving by receiving
The sensing equipment of module is sent to terminal control module formation closed-loop control.
Wireless communication module (41) is the sender unit installed on AGV dollies, and control module is upper by the module
Machine is interacted.
The present invention possesses following advantage and effect compared with the prior art:
(1) AGV dollies and scheduler module computing, storage are combined, put forward production efficiency, and made up AGV dolly operational performances
The incompetent computing of AGV dollies, data storage are placed host computer processing, are greatly decreased by deficiency, the defect of storage capacity difference
AGV dolly pressure；Improve the expansion of enterprise's production；AGV colony's work pattern is realized by host computer.
(2) corporate operation cost is reduced, the production efficiency and yield of enterprise is greatly improved.
Brief description of the drawings
Robot and navigation scheduling system construction drawing of the Fig. 1 based on magnetic navigation.
Robot and navigation scheduling system overall schematic of the Fig. 2 based on magnetic navigation.
Reference
1. flat sheet mould, 2. scheduler modules, 3. belisha beacons, 4.AGV dollies
21. communication module, 22. traffic control modules, 23. real-time monitoring modules, 24. data memory modules, 25. Reports modules,
26. layout of roads algoritic module, 27. map drawing modules, 28. base profile maintenance modules, 41. wireless communication modules, 42. controls
Molding block, 43. dolly sensing modules.44. action executing module.
Embodiment
Figure below combination Fig. 1-2 and specific implementation use-case specific descriptions further to the present invention.
AGV scheduling system of the present invention is made up of multiple AGV dollies, signal lamp, flat sheet mould and scheduler module, is had
Body includes：
The host computer scheduler module (2) calculated for Data Management Analysis；
Chauffeur module (1) for sending chauffeur program；
The AGV dollies (4) that goods is carried；
Signal lamp (3) for showing crossing traffic situation；
It is described as follows：Described host computer scheduler module includes：
Map drawing module (27)：The vertical view of the layout in factory or warehouse is drawn by the mapping drawing board of system
Figure, describes and shows after the completion of the regional block that factory or warehouse are included, the step, can intuitively check AGV dollies
Running environment.
It is responsible for and AGV dollies communication module (21)：Communication module is responsible for inquiring the every terms of information of dolly and in dolly response
Back-to-back running state gives real-time monitoring module (23) afterwards.During system operation, the module needs to ensure the reliable of communication, in dolly
Occur recovering that during connection the dolly can be got in touch with again in time after abnormal go offline.Being supplied to upstream program, accurately and reliably data are believed
Breath.
Real-time monitoring module (23)：Real-time processing communication module return every AGV condition informations, record running status and
Present position, according to the environmental map and line map of drafting, the dolly status information fed back according to communication module, in real time display
The position of dolly and status information.
Layout of roads algoritic module (26)：Specify dolly to complete the job task received, be that dolly arranges optimal route
Go to complete.
Data memory module (24)：Monitoring AGV job task situation, recorded in database, is Reports module in real time
Data basis is provided.
Mission Operations are analyzed and report form showing module (25)：Work data in analytical database, produces result, and to report
Table shows.
Traffic control module (22)：Monitoring and analysis AGV dolly positional informations, manage crossing dolly meeting situation, prevent
There is the situation of deadlock.
The AGV dollies that described goods is carried include following module：
Sensing module (43)：For magnetic scanning terrestrial reference and magnetic stripe, identification AGV dollies position and place circuit.
Wireless communication module (41)：For the communication between AGV and scheduler module (21), AGV dollies pass through sensing module
(43) information for the operation crossed, the inquiry for receiving scheduler module (21) by wireless module (41) is instructed, while by operation information
Scheduler module (21) is fed back to, scheduler module (21) is by analysis with judging that producing control instruction is sent to AGV dollies, it is ensured that
The stable operation of AGV dollies.
Control module (42)：The embedded Control equipment and running environment carried for AGV dollies, for Treatment Analysis and place
The various instructions that reason scheduling system is issued.
Motor execution module (44)：The order of the control module (42) received is performed, corresponding action is completed.
The belisha beacon (3)：For showing crossing traffic situation, other operation units in operating environment are helped to differentiate
Traffic state at road cross.The flat sheet mould (1)：Assignment instructions for sending calling AGV dollies are received simultaneously to scheduler program
Scheduler program feedack is shown on flat board.
It is based on this AGV operation methods for dispatching system：
Staff gets out fill the truck of goods, clicks on location target flat sheet mould (1), and scheduler program receives finger
Make and handle, according to the nearest idle AGV dollies of algorithm arrangement and plan that dolly route sends the task of dispatching a car to AGV dollies,
On this basis, scheduler module informs that flat board program has been processed by the chauffeur task and corresponding letter of sending a car of flat sheet mould (1)
Breath；The magnetic landmark locations come where flat sheet mould (1) of scheduler module (2) control dolly, and make to should terrestrial reference action.
AGV dollies capture terrestrial reference in real time by sensing module (43), obtain itself position and by control module
(42) position information process being collected into is fed back into wireless communication module (41), AGV dollies are communicated with scheduler program, led in real time
Cross wireless communication module (41) back-to-back running information and give scheduler module (2), the operation information that scheduler program feeds back according to AGV dollies
Being the traffic control and belisha beacon management and control for realizing AGV dollies.
AGV dollies and sensing module (43), wireless communication module (41), Motor execution module (44) are realized by control module (42)
Carry out signal interaction and instruction is sent；Control module (42) by receiving the data of sensing module, collaboration wireless module (41) to
Scheduler module (2) feedback data, receives the instruction from scheduler module (2) by wireless module (41), is converted to machine order
It is transferred to Motor execution module and performs task.
Motor execution module (42), controls the bottom instruction of transmission to perform terminal task, while by perceiving by receiving
The sensing equipment of module is sent to terminal control module formation closed-loop control；Motor execution module is that carrier is presented in AGV motions, by
Terminal composition is performed, performing terminal includes：Rotating wheel, lifting hooks lock.Described closed-loop control is：Control module (42) is to motion
Performing module (44) sends instruction, and the execution of AGV dollies is acted simultaneously, sensing module (43) real-time perception dolly state change and on
Offer control module (42), control module (42) receives the information that sensing module (43) reports and analyzes in time and handle and judge
Whether need AGV dollies to perform action, then issue a command to Motor execution module (44) under control module (42) if necessary.
Wireless communication module (41) is the sender unit installed on AGV dollies, and control module is upper by module cloud
Machine is interacted.
The data that scheduler module (2) is reported by wireless communication module (21) real-time reception to dolly, and data are given
Real-time monitoring module (23) is analyzed and processed, and the dolly information after processing is given number by real-time monitoring module (23) respectively according to classification
According to memory module (25) and traffic control module (22), whether traffic control module (22) determines dolly according to dolly positional information
Need to carry out traffic control and control crossroads traffic light, then sending corresponding order if necessary to traffic control gives wireless telecommunications mould
Order is converted into communication data and is transmitted to AGV dollies by block (21), wireless communication module (21).Then handed over if necessary to Signalized control
Siphunculus molding block (22) sends corresponding order and gives wireless communication module (21), and order is converted into logical by wireless communication module (21)
News data are sent to signal lamp (3).
AGV dollies receive the instruction of scheduler program by wireless communication module (41), and wireless communication module (41) is first located
Manage the data format that the instruction converts thereof into dolly control module (42) needs, dolly control module (42) processing dolly communication
The data sent under module (41), and be translated into action executing module (44) bottom instruction be handed down to action executing mould
Block (44), action executing module (44) performs action command.
Claims (7)
1. one kind is based on magnetic navigation robot and navigation scheduling System and method for, it is characterised in that including：
The scheduler module (2) calculated for Data Management Analysis；
Chauffeur module (1) for sending chauffeur program；
The AGV dollies (4) that goods is carried；
Signal lamp (3) for showing crossing traffic situation.
2. it is according to claim 1 a kind of based on magnetic navigation robot and navigation scheduling system, it is characterised in that：Host computer
Scheduler module (2) includes：
Map drawing module (27)：The top view of the layout in factory or warehouse is drawn by the mapping drawing board of system, is retouched
Address and show the regional block that factory or warehouse are included, after the completion of the step, can intuitively check the operation of AGV dollies
Environment；
Communication module (21)：Communication module be responsible for inquiring the every terms of information of dolly and after dolly response back-to-back running state to real
When monitoring module (23), during system operation, the module needs to ensure the reliable of communication, recovers after abnormal go offline occurs in dolly
The dolly can be got in touch with during connection again in time, and there is provided give upstream program accurately and reliably data message；
Real-time monitoring module (23)：Every AGV condition informations that real-time processing communication module is returned, record running status and residing
Position, according to the environmental map and line map of drafting, the dolly status information fed back according to communication module shows dolly in real time
Position and status information；
Layout of roads algoritic module (26)：Specify dolly to complete the job task received, be that dolly arranges optimal route to go
Into；
Data memory module (24)：Monitoring AGV job task situation, recorded in database, is provided for Reports module in real time
Data basis；
Mission Operations are analyzed and report form showing module (25)：Work data in analytical database, produces result, and with form exhibition
It is existing；
Traffic control module (22)：Monitoring and analysis AGV dolly positional informations, manage crossing dolly meeting situation, prevent
The situation of deadlock.
3. it is according to claim 1 a kind of based on magnetic navigation robot and navigation scheduling system, it is characterised in that：Goods is removed
The AGV dollies (4) of fortune include：
Sensing module (43)：For magnetic scanning terrestrial reference and magnetic stripe, identification AGV dollies position and place circuit；
Wireless communication module (41)：For the communication between AGV and scheduler module (21), AGV dollies pass through sensing module (43)
The information for the operation crossed, the inquiry for receiving scheduler module (21) by wireless module (41) is instructed, while operation information is fed back
Scheduler module (21) is given, scheduler module (21) is by analysis with judging that producing control instruction is sent to AGV dollies, it is ensured that AGV is small
The stable operation of car；
Control module (42)：The embedded Control equipment and running environment carried for AGV dollies, are adjusted for Treatment Analysis and processing
The various instructions that degree system is issued；
Motor execution module (44)：The order of the control module (42) received is performed, corresponding action is completed.
4. it is according to claim 1 a kind of based on magnetic navigation robot and navigation scheduling system, it is characterised in that：It is described flat
Plate module (1) is used for the assignment instructions for sending calling AGV dollies to scheduler program, exists while receiving scheduler program feedack
Shown on flat board.
5. a kind of operation method based on magnetic navigation robot and navigation scheduling system any one of Claims 1-4, its
It is characterised by comprising the following steps：
Staff gets out fill the truck of goods, clicks on location target flat sheet mould (1), and scheduler program receives instruction simultaneously
Processing, according to the nearest idle AGV dollies of algorithm arrangement and plans that dolly route sends the task of dispatching a car to AGV dollies, herein
On the basis of, scheduler module informs that flat board program has been processed by the chauffeur task and corresponding information of sending a car of flat sheet mould (1)；Adjust
The magnetic landmark locations come where flat sheet mould (1) of degree module (2) control dolly, and make to should terrestrial reference action；
AGV dollies capture terrestrial reference in real time by sensing module (43), obtain itself position and are incited somebody to action by control module (42)
The position information process being collected into feeds back to wireless communication module (41), and AGV dollies are communicated with scheduler program in real time, by wireless
Communication module (41) back-to-back running information gives scheduler module (2), and the operation information that scheduler program feeds back according to AGV dollies is being real
The traffic control and belisha beacon management and control of existing AGV dollies；
AGV dollies and sensing module (43), wireless communication module (41), Motor execution module (44) are realized by control module (42)
Carry out signal interaction and instruction is sent；Control module (42) by receiving the data of sensing module, collaboration wireless module (41) to
Scheduler module (2) feedback data, receives the instruction from scheduler module (2) by wireless module (41), is converted to machine order
It is transferred to Motor execution module and performs task；
Motor execution module (44), controls the bottom instruction of transmission to perform terminal task, while passing through sensing module by receiving
Sensing equipment be sent to terminal control module formation closed-loop control；
Wireless communication module (41) is the sender unit installed on AGV dollies, and control module is handed over by the module host computer
Mutually；
The data that scheduler module (2) is reported by wireless communication module (21) real-time reception to dolly, and data are given in real time
Monitoring module (23) is analyzed and processed, and the dolly information after processing is given data according to classification and deposited by real-time monitoring module (23) respectively
Store up module (25) and traffic control module (22), traffic control module (22) according to dolly positional information decision dolly whether needs
Traffic control and control crossroads traffic light are carried out, then sends and orders accordingly to wireless communication module if necessary to traffic control
(21), order is converted into communication data and is transmitted to AGV dollies by wireless communication module (21), the traffic pipe when needing Signalized control
Molding block (22) sends corresponding order and gives wireless communication module (21), and order is converted into communication number by wireless communication module (21)
According to being sent to signal lamp (3)；
AGV dollies receive the instruction of scheduler program by wireless communication module (41), and wireless communication module (41) is first handled should
Instruction converts thereof into the data format of dolly control module (42) needs, dolly control module (42) processing dolly communication module
(41) data sent under, and be translated into action executing module (44) bottom instruction be handed down to action executing module
(44), action executing module (44) performs action command.
6. a kind of operation method based on magnetic navigation robot and navigation scheduling system according to claim 5, its feature exists
In：Motor execution module (44) is that carrier is presented in AGV motions, is made up of execution terminal, performing terminal includes：Rotating wheel, lifting
Hook lock.
7. a kind of operation method based on magnetic navigation robot and navigation scheduling system according to claim 5, its feature exists
In：Described closed-loop control is：Control module (42) sends instruction to Motor execution module (44), and AGV dollies execution action is same
When, sensing module (43) real-time perception dolly state change simultaneously reports control module (42), and control module (42) receives perception
Information that module (43) is reported simultaneously is analyzed in time and handles and judge whether to need AGV dollies to perform action, then controls if necessary
Motor execution module (44) is issued a command under molding block (42).
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108490929A (en) * | 2018-02-11 | 2018-09-04 | 成都兴联宜科技有限公司 | A kind of Dispatching monitor and control system and method for AGV trolleies |
| CN108549391A (en) * | 2018-05-25 | 2018-09-18 | 汇专科技集团股份有限公司 | AGV trolley control systems and method |
| CN109460036A (en) * | 2018-12-18 | 2019-03-12 | 广东嘉腾机器人自动化有限公司 | A kind of AGV traffic control dispatching method and storage device |
| CN110018685A (en) * | 2019-03-21 | 2019-07-16 | 苏州佳世达光电有限公司 | Transport vehicle control method, device and its system |
| CN110262489A (en) * | 2019-06-21 | 2019-09-20 | 重庆市农业科学院 | For three-dimensional vegetable cultivation AGV navigation magnetic stripe layout method |
| CN110889918A (en) * | 2019-11-28 | 2020-03-17 | 安徽江淮汽车集团股份有限公司 | Magnetic navigation deadlock unlocking control method and device and computer readable storage medium |
| CN110908381A (en) * | 2019-12-02 | 2020-03-24 | 上海万筹科技有限公司 | Robot scheduling method and device |
| CN111717845A (en) * | 2020-06-11 | 2020-09-29 | 圣山集团有限公司 | Forklift AGV basket distribution transfer system and automatic control method thereof |
| CN113253726A (en) * | 2021-05-13 | 2021-08-13 | 金陵科技学院 | Magnetic navigation robot and navigation scheduling system under Internet of things |
| CN114104630A (en) * | 2021-11-30 | 2022-03-01 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
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