CN108733054A - A kind of communication system towards explosion-proof AGV scheduling - Google Patents
A kind of communication system towards explosion-proof AGV scheduling Download PDFInfo
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- CN108733054A CN108733054A CN201810419096.3A CN201810419096A CN108733054A CN 108733054 A CN108733054 A CN 108733054A CN 201810419096 A CN201810419096 A CN 201810419096A CN 108733054 A CN108733054 A CN 108733054A
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- 238000004880 explosion Methods 0.000 claims abstract description 8
- 230000036760 body temperature Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000036039 immunity Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
Abstract
The invention discloses a kind of communication systems towards explosion-proof AGV scheduling, including explosion-proof AGV ontologies and AGV to stop website, and the ends AGV camera, the ends AGV screen and explosion preventing laser radar are provided on the explosion-proof AGV ontologies；The AGV stops website and is provided with website end screen, website end camera；AGV stops website and is connected to scheduling system by Industrial Ethernet, and the scheduling system is connected with database and user task requesting terminal.The explosion-proof AGV of the present invention uses scan code transmission data, and transmission speed is relatively fast, and communication is not strict with to camera angle to be interfered by the light of laser radar, and stability is high, strong interference immunity；It is easy deployment, has ready-made intrinsic safety type screen in the market, without taking additional explosion precaution.
Description
Technical field
The present invention relates to automatic guiding transport, more particularly to a kind of communication systems towards explosion-proof AGV scheduling.
Background technology
Military enterprise considers to tend not to deployment wireless network, natural (laser) navigation in workshop for information security
Explosion-proof AGV have to and the system of dispatching is communicated, obtain the task that scheduling system issues and simultaneously upload the current states of AGV.
How to be a crucial problem with scheduling system communication in war production occasion AGV.
Invention content
Purpose of the present invention is to：A kind of communication system dispatched towards explosion-proof AGV is provided, solves explosion-proof AGV in industrial nothing
Under wifi environment and the problem of dispatching system communication.
The technical scheme is that：
A kind of communication system towards explosion-proof AGV scheduling, including explosion-proof AGV ontologies and AGV stop website, described explosion-proof
The ends AGV camera, the ends AGV screen and explosion preventing laser radar are provided on AGV ontologies；The AGV stops website and is provided with website
Hold screen, website end camera；AGV stops website and is connected to scheduling system, the scheduling system connection by Industrial Ethernet
There are database and user task requesting terminal.
Preferably, the explosion-proof AGV reaches a website, detects explosion-proof AGV body pieces state first, including：Electricity
Pond electricity, task list, currently executes task ID, scram button state and warning message at AGV body temperatures；It then will be with
Upper Data Integration generates scan code and is shown on the screen of the ends AGV.
Preferably, the AGV stops the scan code that the website end ends the camera scanning AGV screen of website generates, and executes solution
Code obtains the data of robotic end, is then transferred to scheduling system by Industrial Ethernet.
Preferably, on the one hand the scheduling system receives user task request storage and arrives database, on the other hand according to AGV
The data that ontology uploads calculate the task that the AGV ontologies should subsequently execute, and task data is issued to AGV and stops website.
Preferably, the task that the AGV ontologies should subsequently execute includes：Charging tasks, carry task, out of service
Business and website wait for task.
Preferably, it after AGV bus stops point receives the data that scheduling system issues, generates scan code according to data content and shows
On the screen of website end.
Preferably, the scan code of the ends AGV camera scanning website end screen executes decoding operate acquisition scheduling system and issues
Assignment instructions, require to execute corresponding task according to the instruction of scheduling system.
Preferably, the ends AGV screen and website end screen are respectively intrinsic safety type screen.
Preferably, the ends AGV camera is the Explosionproof camera that screen carries.
It is an advantage of the invention that：
The communication system towards explosion-proof AGV scheduling of the present invention, using scan code transmission data, transmission speed is relatively
Soon, communication is not strict with to camera angle to be interfered by the light of laser radar, and stability is high, strong interference immunity；Hold
Easily deployment, has ready-made intrinsic safety type screen, without taking additional explosion precaution in the market.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and embodiments：
Fig. 1 is the overall structure diagram of the explosion-proof AGV ontologies of the present invention；
Fig. 2 is the whole principle framework figure of the communication system towards explosion-proof AGV scheduling of the present invention.
Specific implementation mode
As illustrated in fig. 1 and 2, the communication system of the invention towards explosion-proof AGV scheduling, including explosion-proof AGV ontologies 1 and AGV
Website is stopped, the ends AGV camera 2, the ends AGV intrinsic safety type screen 3 and explosion preventing laser radar are provided on the explosion-proof AGV ontologies 1
4, the ends AGV camera 2 is the Explosionproof camera that screen carries；The explosion preventing laser radar 4 is by Reformation for Explosion Proof
SICK laser radars position and are navigated for AGV.The AGV stops website and is provided with website end intrinsic safety type screen, website end
Camera；AGV stops website and is connected to scheduling system by Industrial Ethernet, and the scheduling system is connected with MySQL database
(or other kinds of database) and user task requesting terminal.
The explosion-proof AGV overall workflows of the present invention are as follows.
1. explosion-proof AGV ontologies reach some AGV and stop website, first detection body each section state, including：Battery electricity
Amount, currently executes task ID, scram button state and warning message etc. at AGV body temperatures, task list.Then will more than
Data Integration generates QR codes (or other kinds of scan code) according to data format shown in table 1 and is shown in the ends AGV intrinsic safety type
On screen.
Table 1：AGV reported data formats
2. the QR codes can be stored the data of 27byt e, be met current using data pattern 2, the QR codes of version 1
Use demand, follow-up data extend the QR codes that more highest version may be used, and improve data storage capacity, meet actual demand.
3. website end camera scans the QR codes that the ends AGV screen generates, the data that decoding obtains robotic end are executed, then
It is transferred to scheduling system by Industrial Ethernet.On the one hand scheduling system receives user task request storage and arrives assignment database,
On the other hand the task that the AGV should subsequently be executed is calculated according to the AGV data uploaded.Including：Charging tasks, carry task,
Task out of service and website wait for task dispatching, according to data format tissue data distributing shown in table 2 to website.Website, which is received, appoints
After the data that business request is issued to scheduling system, generates QR codes according to data content and be shown on the screen at website end.
Table 2：Scheduling system issues data format
| Data head | AGV id | Task (task type, target point, clear mismark) | Data tail |
| 0xaa | 0~255 | <0~255,0~255,0~255> | 0xff |
| 1byte | 1byte | 15byte | 1byte |
4.AGV cameras scan website end screen QR codes, execute decoding operate and obtain the assignment instructions that scheduling system issues,
It requires to execute corresponding task according to the instruction of scheduling system.
5.AGV reaches other websites and recycles 1~4 step.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
It cans understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all main according to the present invention
The modification for wanting the Spirit Essence of technical solution to be done, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of communication system towards explosion-proof AGV scheduling, which is characterized in that website is stopped including explosion-proof AGV ontologies and AGV,
It is provided with the ends AGV camera, the ends AGV screen and explosion preventing laser radar on the explosion-proof AGV ontologies；The AGV stops website and sets
It is equipped with website end screen, website end camera；AGV stops website and is connected to scheduling system, the scheduling by Industrial Ethernet
System is connected with database and user task requesting terminal.
2. the communication system according to claim 1 towards explosion-proof AGV scheduling, which is characterized in that the explosion-proof AGV is reached
One website detects explosion-proof AGV body pieces state first, including：Battery capacity, AGV body temperatures, task list, when
Preceding execution task ID, scram button state and warning message；Then data above is integrated, generate scan code and be shown in
On the screen of the ends AGV.
3. the communication system according to claim 2 towards explosion-proof AGV scheduling, which is characterized in that the AGV stops website
The scan code that generates of the ends website end camera scanning AGV screen, execute the data that decoding obtains robotic end, then pass through work
Industrial Ethernet is transferred to scheduling system.
4. the communication system according to claim 2 towards explosion-proof AGV scheduling, which is characterized in that the scheduling system one
Aspect receives user task request storage and arrives database, after the data on the other hand uploaded according to AGV ontologies calculate the AGV ontologies
Continuous should executing for task, and task data is issued to AGV and stops website.
5. the communication system according to claim 4 towards explosion-proof AGV scheduling, which is characterized in that the AGV ontologies are follow-up
Should executing for task includes：Charging tasks carry task, task out of service and website waiting task.
6. the communication system according to claim 4 towards explosion-proof AGV scheduling, which is characterized in that AGV bus stop points receive
After the data that scheduling system issues, generates scan code according to data content and be shown on the screen of website end.
7. the communication system according to claim 6 towards explosion-proof AGV scheduling, which is characterized in that the ends AGV camera scans
The scan code of website end screen executes decoding operate and obtains the assignment instructions that scheduling system issues, according to the instruction of scheduling system
It is required that executing corresponding task.
8. it is according to claim 1 towards explosion-proof AGV scheduling communication system, which is characterized in that the ends AGV screen and
Website end screen is respectively intrinsic safety type screen.
9. the communication system according to claim 8 towards explosion-proof AGV scheduling, which is characterized in that the ends AGV camera
The Explosionproof camera carried for screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810419096.3A CN108733054A (en) | 2018-05-04 | 2018-05-04 | A kind of communication system towards explosion-proof AGV scheduling |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109885048A (en) * | 2019-01-30 | 2019-06-14 | 成都飞机工业（集团）有限责任公司 | AGV trolley information automatic interaction device and control method under a kind of secure environment |
| CN112306062A (en) * | 2020-10-30 | 2021-02-02 | 中国兵器装备集团自动化研究所 | Explosion-proof AGV communication system based on secret-related places |
| CN113759840A (en) * | 2021-08-05 | 2021-12-07 | 南京英尼格玛工业自动化技术有限公司 | AGV navigation communication system and method under non-wireless scene |
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Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant after: Suzhou Bozhong intelligent robot Co.,Ltd. Applicant after: SUZHOU WUJIAO AUTOMATION EQUIPMENT CO.,LTD. Address before: 215200 standard plant 7, Dongyun Science Park, No. 558, Huxi Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant before: SUZHOU BOZHONG ROBOT Co.,Ltd. Applicant before: SUZHOU WUJIAO AUTOMATION EQUIPMENT CO.,LTD. |
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Address after: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant after: Suzhou Bozhong intelligent robot Co.,Ltd. Applicant after: SuZhou WuJiao Automation Equipment Co.,Ltd. Address before: 215200 standard plant 7, Dongyun Science Park, No. 558, Shanhu West Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant before: Suzhou Bozhong intelligent robot Co.,Ltd. Applicant before: SUZHOU WUJIAO AUTOMATION EQUIPMENT CO.,LTD. |
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