CN108549386A - AGV trolleies managing and control system and method - Google Patents
AGV trolleies managing and control system and method Download PDFInfo
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- CN108549386A CN108549386A CN201810494339.XA CN201810494339A CN108549386A CN 108549386 A CN108549386 A CN 108549386A CN 201810494339 A CN201810494339 A CN 201810494339A CN 108549386 A CN108549386 A CN 108549386A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000013500 data storage Methods 0.000 claims abstract description 36
- 238000007726 management method Methods 0.000 claims abstract description 27
- 230000003993 interaction Effects 0.000 claims abstract description 16
- 210000004027 cell Anatomy 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 10
- 210000000352 storage cell Anatomy 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 230000000875 corresponding effect Effects 0.000 claims description 4
- 230000002452 interceptive effect Effects 0.000 claims 2
- 239000002131 composite material Substances 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The invention discloses a kind of AGV trolleies managing and control system and method, system includes that user's alternation of bed, Business Logic, data storage layer, hardware driving layer and hardware layer, method include：Business Logic obtains navigation information, UWEB position location informations, RFID site information and the customer interaction information of AGV trolleies from data storage layer；Business Logic simulates the running route figure of AGV trolleies according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and customer interaction information；Business Logic carries out AGVS management and running according to the running route figure of AGV trolleies to AGV trolleies.The present invention constructs the AGV trolley management and control frameworks being made of user's alternation of bed, Business Logic, data storage layer, hardware driving layer and hardware layer, more in real time, efficiently and accurately.It the composite can be widely applied to logistics transportation equipment control field.
Description
Technical field
The present invention relates to logistics transportation equipment control field, especially a kind of AGV trolleies managing and control system and method.
Background technology
With the fast development of B2C electric business industries, logistic storage becomes the bottleneck factor of every profession and trade expansion.As domestic big
A lower huge sum of money researches and develops a new generation's modernization warehouse to type electric business invariably, but the capital fund of most of storage sector is all spent whole
It picks up, shunt etc. in links.In the zero of most influence warehouse efficiency picks up process, still user moves the motionless traditional manpower side of goods
Formula, therefore the AGV trolleies with free path guiding are precisely to solve the problems, such as this effective ways.AGV is automatic guided vehicle
The english abbreviation of (Automated Guided Vehicle) refers to magnetically or optically waiting homing guidances device equipped with electricity, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.
AGV trolleies are needed at work after could realizing advance under the control action of AGV trolley control systems or unit
Move back, start and stop, lifting, navigation, the functions such as steering.However, current AGV trolley control systems shortage is a set of real-time, efficient and accurate
True AGV vehicle dispatchings management system and framework fail navigation information, UWEB position location informations, RFID in conjunction with AGV trolleies
Site information and customer interaction information carry out AGV trolley integrated controls, can not meet people to the management of AGV vehicle dispatchings increasingly
The high request of growth.
Invention content
In order to solve the above technical problems, it is an object of the invention to：A kind of real-time, AGV trolleies efficiently and accurately are provided
Managing and control system and method.
The first technical solution for being taken of the present invention is：
AGV trolley managing and control systems, including：
User's alternation of bed, for carrying out configuration file management and system component management；
Business Logic, for according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and
Customer interaction information simulation AGV trolley travellings route simultaneously carries out AGVS management and running according to the AGV trolley travelling routes simulated；
Data storage layer, for storing data, the data include that user interacts layer data, service logic layer data, drives
Dynamic data and implementing result data；
Hardware driving layer, for carrying out hardware driving according to the data of data storage layer；
Hardware layer, for providing onboard hardware and executing hardware, the onboard hardware is the vehicle-mounted control mounted on AGV trolleies
Hardware on device mainboard processed；
The data storage layer is connect with user's alternation of bed, Business Logic and hardware driving layer respectively, and the hardware drives
Dynamic layer is also connect with hardware layer.
Further, the Business Logic includes：
Communication unit obtains navigation information, the positioning of the positions UWEB of AGV trolleies for being communicated with data storage layer
Information, RFID site information and customer interaction information；
Analogue simulation unit, for the navigation information, UWEB position location informations, RFID site information according to AGV trolleies
The running route figure of AGV trolleies is simulated with customer interaction information；
Scheduling unit, for being scheduled to AGV trolleies according to the running route figure of AGV trolleies.
Further, the Business Logic further includes：
Control model selecting unit, it is a kind of as Working mould for being selected from automatic control mode and MANUAL CONTROL mode
Formula；
Preset unit is acted, the action of preset AGV trolleies is used for.
Further, the onboard hardware includes CAN hardware, DIDO hardware, AIAO hardware and RS232 interface.
Further, the execution hardware include steering wheel, network module, navigation module, UWEB locating modules, RFID module,
Lift module and avoidance sensor.
Further, the hardware driving layer include system hardware administrative unit, DIDO read-write cells, AIAO read-write cells,
Drive control Card read/write unit, network module read-write cell, navigation information read-write cell, UWEB location informations read-write cell and
RFID site information read-write cells.
Further, the data storage layer includes initialization data storage unit, DIDO data storage cells, AIAO data
Storage unit, drive control information memory cell, network module information memory cell, navigation information storage unit, UWEB positioning
Information memory cell and RFID site information storage units.
The second technical solution for being taken of the present invention is：
AGV trolley management-control methods, include the following steps：
Business Logic obtains navigation information, UWEB position location informations, the RFID station of AGV trolleies from data storage layer
Point information and customer interaction information；
Business Logic is handed over according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and user
Mutual information simulates the running route figure of AGV trolleies；
Business Logic carries out AGVS management and running according to the running route figure of AGV trolleies to AGV trolleies.
Further, further comprising the steps of：
Business Logic selects a kind of as operating mode from automatic control mode and MANUAL CONTROL mode；
The action of the preset AGV trolleies of Business Logic.
Further, further comprising the steps of：
Data are stored by data storage layer, the data include that user interacts layer data, service logic layer data, driving
Data and implementing result data；
The execution hardware of hardware layer executes corresponding action according to the hardware driving of hardware driving layer, wherein hardware driving
The hardware driving of layer is generated according to the AGVS management and running results of Business Logic.
The beneficial effects of the invention are as follows：AGV trolleies managing and control system of the present invention and method, construct by user's alternation of bed, industry
The AGV trolley management and control frameworks of business logical layer, data storage layer, hardware driving layer and hardware layer composition, can pass through Business Logic
Cooperation data storage layer, hardware driving layer and hardware layer obtain in real time the navigation information of AGV trolleies, UWEB position location informations,
RFID site information and customer interaction information, and the information obtained is combined to carry out real-time analog simulation to AGV trolley travelling routes
With carry out AGVS management and running, more in real time, efficiently and accurately.
Description of the drawings
Fig. 1 is the frame diagram of AGV trolleies managing and control system of the present invention；
Fig. 2 is the running route simulation drawing of AGV trolleies；
Fig. 3 is the step flow chart of AGV trolleies management-control method of the present invention.
Specific implementation mode
Referring to Fig.1, AGV trolleies managing and control system of the present invention, including：
User's alternation of bed, for carrying out configuration file management and system component management；
Business Logic, for according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and
Customer interaction information simulation AGV trolley travellings route simultaneously carries out AGVS management and running according to the AGV trolley travelling routes simulated；
Data storage layer, for storing data, the data include that user interacts layer data, service logic layer data, drives
Dynamic data and implementing result data；
Hardware driving layer, for carrying out hardware driving according to the data of data storage layer；
Hardware layer, for providing onboard hardware and executing hardware, the onboard hardware is the vehicle-mounted control mounted on AGV trolleies
Hardware on device mainboard processed；
The data storage layer is connect with user's alternation of bed, Business Logic and hardware driving layer respectively, and the hardware drives
Dynamic layer is also connect with hardware layer.
Wherein, configuration file management be mainly used for system hardware (such as CAN hardware, DIDO hardware, AIAO hardware and
RS232 interface) it is configured, to complete the initialization operation of hardware.System component management is mainly used for the software group to system
Part (such as rights manager component) is managed.User's alternation of bed, can when carrying out configuration file management and system component manages
The required parameter being arranged is inputted by user, in order to interact.
AGVS management and running refer to being scheduled management, including task point to the AGV system being made of more AGV trolleies
Match, more vehicle coordinated managements etc..
Referring to Fig.1, it is further used as preferred embodiment, the Business Logic includes：
Communication unit obtains navigation information, the positioning of the positions UWEB of AGV trolleies for being communicated with data storage layer
Information, RFID site information and customer interaction information；
Analogue simulation unit, for the navigation information, UWEB position location informations, RFID site information according to AGV trolleies
The running route figure of AGV trolleies is simulated with customer interaction information；
Scheduling unit, for being scheduled to AGV trolleies according to the running route figure of AGV trolleies.
Wherein, the navigation information of AGV trolleies executes the navigation module in hardware by AGV trolleies and provides.And navigation module can
It is realized using NAV350 laser navigation modules.
UWEB position location informations execute the UWEB locating modules in hardware by AGV trolleies and provide.And UWEB locating modules
Existing UWEB locating modules can be used to realize.
Present invention incorporates the more accurate and real-time UWEB position location informations of UWEB locating modules offer to carry out
AGVS is dispatched, more in real time and accurate.
RFID site information executes the RFID module in hardware by AGV trolleies and provides.The RFID module can read AGV trolleies
The information such as the position of each website of RFID card piece are placed in running route.Existing RFID card reader can be used in RFID module
To realize.
For the running route figure simulation process of AGV trolleies of the present invention as shown in Fig. 2, in Fig. 2,1-12 is RFID websites respectively,
Each website can not only correct the location information of trolley in time, moreover it is possible to change setting task (as carried out deflecting to correct trolley
Positioning reduces deviation etc.)；13 be AGV trolleies, and 14 be track, and 15 be inner track radius, and 16 be outer track radius.
Referring to Fig.1, it is further used as preferred embodiment, the Business Logic further includes：
Control model selecting unit, it is a kind of as Working mould for being selected from automatic control mode and MANUAL CONTROL mode
Formula；
Preset unit is acted, the action of preset AGV trolleies is used for.
The present invention is additionally arranged control model selecting unit in Business Logic, is selected according to the actual needs convenient for user
Corresponding operating mode, it is more flexible；The present invention is also additionally arranged action preset unit in Business Logic, can be according to user's
Preset various action commands are needed, are such as transported goods, lifting cargo etc..
Referring to Fig.1, be further used as preferred embodiment, the onboard hardware include CAN hardware, DIDO hardware,
AIAO hardware and RS232 interface.
Wherein, DIDO hardware is digital input-output interface hardware, and AIAO hardware is simulation input output interface hardware.
Referring to Fig.1, it is further used as preferred embodiment, the execution hardware includes steering wheel, network module, navigation mould
Block, UWEB locating modules, RFID module, lifting module and avoidance sensor.
Wherein, steering wheel, for driving the advance of AGV trolleies, retrogressing and steering etc..
Network module obtains activation bit or instruction simultaneously for being communicated with hardware driving layer by the modes such as wireless
Return to execution result information.Existing Ethernet card, WIFI wireless modules, 4G mobile communication modules etc. can be used in network module
It realizes.
NAV350 laser navigation modules can be used to realize in navigation module, the navigation information for providing AGV trolleies.
UWEB locating modules, it is reasonable in order to carry out for obtaining more precisely with real-time UWEB position location informations
Scheduling.Existing UWEB locating modules can be used to realize in UWEB locating modules.
RFID module, for obtaining the RFID site information in AGV trolley travelling routes.RFID module can be used existing
RFID card reader is realized.
Module is lifted, lift operation is carried out to article for AGV trolleies.Lifting module can be used existing electronic cartridge type and lift
Mechanism is risen to realize.
Avoidance sensor, the detection signal (abbreviation region detection signal) for obtaining avoidance detection zone.Avoidance senses
Laser avoidance sensor can be used to realize in device, is connect with Vehicle Controller by electric connection line or GPIO mouthfuls.Avoidance senses
Device can be equipped with 4 lines, wherein 1 is obstacle signal line, 3 are regional choice lines, because there is 3 root zone domain selection lines,
Share 23Size all can be freely arranged in=8 kinds of avoidance detection zone combinations, each avoidance detection zone.It is detected when in laser avoidance
When occurring foreign matter (i.e. barrier) in region, it (can be high level that obstacle signal line can send signal to Vehicle Controller mainboard
Or low level), Vehicle Controller mainboard carries out alarm prompt after detecting obstacle signal and stops in emergency.
Referring to Fig.1, be further used as preferred embodiment, the hardware driving layer include system hardware administrative unit,
DIDO read-write cells, AIAO read-write cells, drive control Card read/write unit, network module read-write cell, navigation information read-write
Unit, UWEB location informations read-write cell and RFID site information read-write cells.
Referring to Fig.1, it is further used as preferred embodiment, the data storage layer includes that initialization data storage is single
Member, DIDO data storage cells, AIAO data storage cells, drive control information memory cell, network module information storage list
Member, navigation information storage unit, UWEB location informations storage unit and RFID site information storage units.
The hardware driving layer and data storage layer of the present invention carries out phase according to the type executed belonging to hardware and onboard hardware
The division answered.
With reference to Fig. 3, the AGV trolley management-control methods of the AGV trolley managing and control systems of application drawing 1 of the present invention include the following steps：
Business Logic obtains navigation information, UWEB position location informations, the RFID station of AGV trolleies from data storage layer
Point information and customer interaction information；
Business Logic is handed over according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and user
Mutual information simulates the running route figure of AGV trolleies；
Business Logic carries out AGVS management and running according to the running route figure of AGV trolleies to AGV trolleies.
It is further used as preferred embodiment, it is further comprising the steps of：
Business Logic selects a kind of as operating mode from automatic control mode and MANUAL CONTROL mode；
The action of the preset AGV trolleies of Business Logic.
It is further used as preferred embodiment, it is further comprising the steps of：
Data are stored by data storage layer, the data include that user interacts layer data, service logic layer data, driving
Data and implementing result data；
The execution hardware of hardware layer executes corresponding action according to the hardware driving of hardware driving layer, wherein hardware driving
The hardware driving of layer is generated according to the AGVS management and running results of Business Logic.
In conclusion AGV trolleies managing and control system of the present invention and method, Business Logic can obtain the navigation of AGV trolleies
The information such as information, UWEB position location informations, RFID site information and customer interaction information (specifically include：Pass through internal net
Network unit obtains communication and ensures, obtain real-time position information by the UWB locating modules of hardware layer is showed with simulating true AGV trolleies
, RFID site information is obtained by the RFID module of hardware layer, customer interaction information is obtained by user's alternation of bed), and root
Go out running route figure according to the information actual emulation of acquisition, then the action preset unit inside Business Logic is coordinated to carry out AGVS tune
Degree, more in real time, efficiently and accurately.The solution of the present invention has broad application prospects in AGV trolley Intelligent logistics field.
It is to be illustrated to the preferable implementation of the present invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent variations or replacement can also be made under the premise of without prejudice to spirit of that invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all contained in the application claim limited range a bit.
Claims (10)
1.AGV trolley managing and control systems, it is characterised in that：Including：
User's alternation of bed, for carrying out configuration file management and system component management；
Business Logic, for according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and user
Interactive information simulation AGV trolley travellings route simultaneously carries out AGVS management and running according to the AGV trolley travelling routes simulated；
Data storage layer, for storing data, the data include that user interacts layer data, service logic layer data, driving number
According to implementing result data；
Hardware driving layer, for carrying out hardware driving according to the data of data storage layer；
Hardware layer, for providing onboard hardware and executing hardware, the onboard hardware is the Vehicle Controller mounted on AGV trolleies
Hardware on mainboard；
The data storage layer is connect with user's alternation of bed, Business Logic and hardware driving layer respectively, the hardware driving layer
Also it is connect with hardware layer.
2. AGV trolleies managing and control system according to claim 1, it is characterised in that：The Business Logic includes：
Communication unit, for being communicated with data storage layer, obtain the navigation informations of AGV trolleies, UWEB position location informations,
RFID site information and customer interaction information；
Analogue simulation unit, for according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and use
Family interactive information simulates the running route figure of AGV trolleies；
Scheduling unit, for being scheduled to AGV trolleies according to the running route figure of AGV trolleies.
3. AGV trolleies managing and control system according to claim 2, it is characterised in that：The Business Logic further includes：
Control model selecting unit, it is a kind of as operating mode for being selected from automatic control mode and MANUAL CONTROL mode；
Preset unit is acted, the action of preset AGV trolleies is used for.
4. AGV trolleies managing and control system according to claim 2, it is characterised in that：The onboard hardware include CAN hardware,
DIDO hardware, AIAO hardware and RS232 interface.
5. AGV trolleies managing and control system according to claim 2, it is characterised in that：The execution hardware includes steering wheel, network
Module, navigation module, UWEB locating modules, RFID module, lifting module and avoidance sensor.
6. AGV trolleies managing and control system according to claim 2, it is characterised in that：The hardware driving layer includes that system is hard
Part administrative unit, AIAO read-write cells, drive control Card read/write unit, network module read-write cell, is led at DIDO read-write cells
Navigate Card read/write unit, UWEB location informations read-write cell and RFID site information read-write cells.
7. AGV trolleies managing and control system according to claim 2, it is characterised in that：The data storage layer includes initialization
Data storage cell, DIDO data storage cells, AIAO data storage cells, drive control information memory cell, network module
Information memory cell, navigation information storage unit, UWEB location informations storage unit and RFID site information storage units.
8. the AGV trolley management-control methods of application such as claim 1-7 any one of them AGV trolley managing and control systems, feature exist
In：Include the following steps：
Business Logic obtains navigation information, UWEB position location informations, RFID the websites letter of AGV trolleies from data storage layer
Breath and customer interaction information；
Business Logic is interacted according to the navigation information of AGV trolleies, UWEB position location informations, RFID site information and user to be believed
Breath simulates the running route figure of AGV trolleies；
Business Logic carries out AGVS management and running according to the running route figure of AGV trolleies to AGV trolleies.
9. AGV trolleies management-control method according to claim 8, it is characterised in that：It is further comprising the steps of：
Business Logic selects a kind of as operating mode from automatic control mode and MANUAL CONTROL mode；
The action of the preset AGV trolleies of Business Logic.
10. AGV trolleies management-control method according to claim 8, it is characterised in that：It is further comprising the steps of：
Data are stored by data storage layer, the data include that user interacts layer data, service logic layer data, driving data
With implementing result data；
The execution hardware of hardware layer executes corresponding action according to the hardware driving of hardware driving layer, wherein hardware driving layer
Hardware driving is generated according to the AGVS management and running results of Business Logic.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110320908A (en) * | 2019-06-06 | 2019-10-11 | 华南农业大学 | A kind of AGV real-time emulation system |
| CN110945450A (en) * | 2018-10-10 | 2020-03-31 | 灵动科技（北京）有限公司 | Human-computer interaction automatic guidance vehicle |
| CN111610791A (en) * | 2020-07-08 | 2020-09-01 | 北京京东乾石科技有限公司 | Garbage collection method, device, system, medium and electronic equipment |
| CN112102641A (en) * | 2020-08-18 | 2020-12-18 | 上海指象智能科技有限公司 | AGV (automatic guided vehicle) scheduling method based on infrared communication |
| CN113190000A (en) * | 2021-04-30 | 2021-07-30 | 长沙中联重科环境产业有限公司 | Compactor operation control system and method and vertical garbage station |
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