CN109085839A - Automated guided vehicle and its control method and transportation system is guided automatically - Google Patents
Automated guided vehicle and its control method and transportation system is guided automatically Download PDFInfo
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- CN109085839A CN109085839A CN201811062475.8A CN201811062475A CN109085839A CN 109085839 A CN109085839 A CN 109085839A CN 201811062475 A CN201811062475 A CN 201811062475A CN 109085839 A CN109085839 A CN 109085839A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000011022 operating instruction Methods 0.000 claims abstract description 62
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000005516 engineering process Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000032258 transport Effects 0.000 description 6
- 230000009977 dual effect Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
Classifications
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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
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a kind of automated guided vehicle and its control method and automatically transportation system is guided.The control method of the automated guided vehicle, comprising: operating instruction is received by the first operating system, and sends the second operating system for the operating instruction；The operating instruction is executed by the second operating system indicator performer；Wherein, first operating system is communicated using distributing real communication intermediate technology with other equipment.The scheme of the embodiment of the present invention improves the operational efficiency of automated guided vehicle, to improve the production efficiency of factory.
Description
Technical field
The present embodiments relate to homing guidance transportation technology more particularly to a kind of automated guided vehicle and its controlling parties
Method and transportation system is guided automatically.
Background technique
AGV (Automated Guided Vehicle) i.e. automated guided vehicle, is means of transport important in factory,
It carries workpiece and transports task, be connected to each production unit module in factory, AGV operational efficiency largely affects entirely
Plant produced efficiency.
Existing AGV mostly uses ROS1.0 operating system, and more vehicles are shared out the work by a dispatching system, which connects
Knock off after making the unified path for calculating each vehicle, is sent to each trolley.It is if network failure or dispatching system failure, then entire to be
System stops working, and influences AGV operational efficiency, to influence the production efficiency of factory.
Summary of the invention
The present invention provides a kind of automated guided vehicle and its control method and guides transportation system automatically, automatic to improve
The operational efficiency of guide transport lorry, to improve the production efficiency of factory.
In a first aspect, the embodiment of the invention provides a kind of control methods of automated guided vehicle, this method comprises:
Operating instruction is received by the first operating system, and sends the second operating system for the operating instruction；
The operating instruction is executed by the second operating system indicator performer；
Wherein, first operating system is communicated using distributing real communication intermediate technology with other equipment.
Optionally, operating instruction is received by the first operating system, comprising:
The operating instruction of dispatching system or the transmission of other automated guided vehicles is received by the first operating system.
Optionally, this method further include:
The interaction of operating parameter is carried out by the first operating system and other automated guided vehicles, wherein the operation
Parameter includes changing coordinates and working condition.
Optionally, described instruction performer includes camera, radar, ultrasonic transmitter-receiver or motor.
Optionally, first operating system is robot operating system (Robot Operating System, ROS)
2.0；Second operating system is ROS1.0.
Second aspect, the embodiment of the invention also provides a kind of automated guided vehicle, which includes:
Instruction processing unit and instruction performer；
Described instruction processor is used to receive operating instruction by the first operating system, and sends the operating instruction to
Second operating system, described instruction processor are also used to indicate that described instruction performer executes institute by second operating system
State operating instruction；
Wherein, first operating system is communicated using distributing real communication intermediate technology with other equipment.
Optionally, described instruction processor is used to receive dispatching system by first operating system or other lead automatically
Draw the operating instruction of transport vehicle transmission.
Optionally, described instruction processor be also used to by first operating system and other automated guided vehicles into
The interaction of row operating parameter, wherein the operating parameter includes changing coordinates and working condition.
The third aspect, the embodiment of the invention also provides a kind of automatic guidance transportation system, which includes:
Automated guided vehicle described in dispatching system and Duo Tai any embodiment of that present invention；
The dispatching system is used to send operating instruction to the more automated guided vehicles.
Optionally, the dispatching system sends work computer including at least two；
Described at least two are sent the fortune to be sent that other are sent in work computer per one work computer with work computer
Row instruction is backed up.
The control method of AGV provided in an embodiment of the present invention receives operating instruction by the first operating system, and will be described
Operating instruction is sent to the second operating system, executes the operation by the second operating system indicator performer and refers to
It enabling, since the first operating system uses distributing real communication intermediate technology, it is ensured that data real-time high-efficiency neatly receives,
Since the second operating system contains driving packet abundant, suitable for a variety of instruction executers of AGV, by using the first operation
The dual operating systems mode of system and the second operating system, while ensure that efficiently reception operating instruction in real time, Ke Yiyou
The each instruction performer of the driving of effect executes corresponding operating instruction, the operational efficiency of AGV is improved, to improve engineering
Production efficiency.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the control method of automated guided vehicle provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of automatic guidance transfer cart provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of automatic guidance transportation system provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of another automatic guidance transportation system provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
A kind of control method of automated guided vehicle is present embodiments provided, Fig. 1 is provided in an embodiment of the present invention one
The flow chart of the control method of kind automated guided vehicle, this method specifically comprise the following steps:
Step 110 receives operating instruction by the first operating system, and sends the second operation system for the operating instruction
System；Wherein, first operating system is communicated using distributing real communication intermediate technology with other equipment.
Wherein, other equipment can send the equipment such as work computer for other automated guided vehicles or dispatching system.
First operating system uses distributing real communication intermediate technology, it is ensured that data real-time high-efficiency neatly receives, and works as suspension
When networking again afterwards, can continue directly to receive new operating instruction by the first operating system, without being restarted to AGV or
Person resets.And the more operating instructions for sending work computer to send can receive by the first operating system AGV, when certain
When sending work computer glitch, AGV can continue to other operating instructions for sending work computer to send, and guarantee that AGV is worked normally.
Step 120 executes the operating instruction by the second operating system indicator performer.
Wherein, the second operating system can be ROS1.0, it includes driving packet it is relatively abundant, suitable for a variety of of AGV
Instruction executer, it is ensured that each operating instruction is accurately and effectively executed.Illustratively, described instruction performer includes camera shooting
Head, radar, ultrasonic transmitter-receiver or motor etc..
It should be noted that the present embodiment it is merely exemplary show several instruction performers, not to limit of the invention
It is fixed, it will be appreciated by those skilled in the art that any portion that can be controlled by operating instruction that instruction performer can include for AGV
Part.
The control method of AGV provided in this embodiment receives operating instruction by the first operating system, and by the operation
Instruction is sent to the second operating system, executes the operating instruction by the second operating system indicator performer, by
Distributing real communication intermediate technology is used in the first operating system, it is ensured that data real-time high-efficiency neatly receives, due to
Second operating system contains driving packet abundant, suitable for a variety of instruction executers of AGV, by using the first operating system
With the dual operating systems mode of the second operating system, ensure that while can efficiently receive operating instruction in real time, Ke Yiyou
The each instruction executer of the driving of effect runs corresponding operating instruction, the operational efficiency of AGV is improved, to improve engineering
Production efficiency.
Illustratively, the first operating system is ROS2.0.When ROS1.0 is used alone, each AGV independent work, every
AGV can only receive the operating instruction for sending work computer to send, if this sends work computer glitch or network failure, then entirely
System stalls influence the production efficiency of factory.The scheme of the present embodiment passes through more in ROS2.0 and the same domain
Work computer communication is sent to receive operating instruction, and operating instruction is transmitted to the machine is responsible for controlling the ROS1.0 of vehicle operation and take off
Machine executes.
Specifically, as long as AGV one, which enters domain, to obtain operating instruction by ROS2.0 internal communication mechanism, when suspension
ROS2.0, which will not stop working, still continues search for networks, until entering domain next time, then returns state, and obtain new operation
Instruction.ROS1.0 can be set as the unit operation mode that do not network, and be forwarded to the data of the machine by reading ROS2.0 to execute
Task.After suspension, ROS1.0 may continue to work until stored task is fully completed.By using ROS2.0 and ROS1.0
The mode combined, it is ensured that AGV can efficiently receive and execute operating instruction in real time, ensure that AGV is with higher
Working efficiency, to improve the working efficiency of factory.
Optionally, operating instruction is received by the first operating system, comprising: dispatching system is received by the first operating system
Or the operating instruction that other AGV are sent.
Wherein, by using the first operating system, AGV can receive the operating instruction of dispatching system transmission, can also connect
The operating instruction for receiving other AGV transmission, so that the working method of AGV is more flexible.It can will be run when dispatching system failure
Instruction downloads in a certain AGV or a few AGV, sends work to instruct to other AGV transmission by the AGV, guarantees that AGV's is normal
Work.
Optionally, this method further include: the interaction of operating parameter is carried out by the first operating system and other AGV, wherein
The operating parameter includes changing coordinates and working condition.
Specifically, the working condition includes shipping situation, charged state and docked state etc., wherein shipping situation is
AGV is during transporting material.The operating parameter of oneself can be sent to other AGV by each AGV, and receive other
The changing coordinates and working condition that the operating parameter of AGV, so each AGV will be seen that other AGV, avoid and other
AGV path conflict, the working regularity for improving more AGV provide the work of entire factory to improve the working efficiency of each AGV
Make efficiency.
Illustratively, when other AGV learn that a certain AGV is parked in location A, other AGV during transport then can be around
Location A will not be then parked in by opening location A or other AGV trolleies, to avoid position conflict.Or when other AGV learn it is a certain
For AGV when B location charges, the AGV that other needs charge then will not go B location to charge, and avoid position from filling prominent.
The present embodiment additionally provides a kind of automated guided vehicle, and Fig. 2 is that one kind provided in an embodiment of the present invention is drawn automatically
The schematic diagram for leading transfer cart, with reference to Fig. 2, which includes:
Instruction processing unit 210 and instruction performer 220；
Instruction processing unit 210 is used to receive operating instruction by the first operating system, and sends the operating instruction to
Second operating system, instruction processing unit 210 are also used to execute by the second operating system indicator performer 220 described
Operating instruction；Wherein, the first operating system is communicated using distributing real communication intermediate technology with other equipment.
Instruction processing unit 210 is used to receive operating instruction by the first operating system in AGV provided in this embodiment, and will
The operating instruction is sent to the second operating system, executes the operation by the second operating system indicator performer
Instruction, since the first operating system uses distributing real communication intermediate technology, it is ensured that data real-time high-efficiency neatly connects
It receives, since the second operating system contains driving packet abundant, suitable for a variety of instruction executers of AGV, by using first
The dual operating systems mode of operating system and the second operating system, ensure that can efficiently receive the same of operating instruction in real time
When, it can effectively drive each instruction executer to run corresponding operating instruction, the operational efficiency of AGV be improved, to mention
The production efficiency of Gao Liao factory.
Optionally, instruction processing unit 210 is used to receive dispatching system by first operating system or other lead automatically
Draw the operating instruction of transport vehicle transmission.
Optionally, instruction processing unit 210 be also used to by first operating system and other automated guided vehicles into
The interaction of row operating parameter, wherein the operating parameter includes changing coordinates and working condition.
Optionally, instruction performer 220 includes camera, radar, ultrasonic transmitter-receiver or motor.
Optionally, first operating system is ROS2.0；Second operating system is ROS1.0.
Automated guided vehicle provided in this embodiment, with automated guided vehicle provided by any embodiment of the invention
Control method belong to same inventive concept, the control of automated guided vehicle provided by any embodiment of the invention can be performed
Method has the corresponding functional module and beneficial effect of the control method for executing automated guided vehicle.Not in the present embodiment
In detailed description technical detail, reference can be made to any embodiment of that present invention provide automated guided vehicle control method.
The present embodiment additionally provides a kind of automatic guidance transportation system, and Fig. 3 is provided in an embodiment of the present invention a kind of automatic
The schematic diagram for guiding transportation system, with reference to Fig. 3, this guides the transportation system to include: automatically
Automated guided vehicle 20 described in dispatching system 30 and Duo Tai any embodiment of that present invention；
Dispatching system 30 is used to send operating instruction to more automated guided vehicles 20.
Wherein, after dispatching system receives external tasks appointment, communication mode and AGV20 based on the first operating system are carried out
Communication sends operating instruction to AGV20.Fig. 3 it is merely exemplary show the number of AGV20, not limitation of the invention.
Fig. 4 is schematic diagram of another automatic guidance transportation system provided in an embodiment of the present invention, optionally, with reference to Fig. 4,
Dispatching system 30, which includes at least two, sends work computer 31；
It sends in work computer 31 at least two and the to be sent of work computer 31 is sent to other per one work computer 31
Operating instruction is backed up.
Specifically, per one work computer 31 include communication module, communication mechanism of the communication module based on ROS2.0 with
AGV20 is communicated.It sends work computer 31 to receive external tasks by window to the outside world for more to assign, and according to the mission planning
The operating path etc. of AGV20 obtains corresponding operating instruction, and operating instruction is forwarded in ROS2.0 network.And work is sent to calculate
Machine 31 is communicated with each other by communication module does hot spare, i.e., each is sent work computer 31 to send the pending of work computer 31 to other
Operating instruction is sent to be backed up, any in this way when sending work 31 failure of computer, other send work computer 31 that can continue the failure
The work for sending work computer 31 guarantees that each AGV20 works on.
It should be noted that work computer 31 and the number of AGV20 are sent in merely exemplary showing in Fig. 4, not to this
The restriction of invention sends the number of work computer 31 and AGV20 that can be set according to actual needs.In addition, Fig. 4 is merely exemplary
The corresponding relationship for sending work computer 31 Yu AGV20 is outputed, also not limitation of the invention, in actual operation, a group
Work computer 31 can carry out one or more AGV20 sending work, and there is corresponding relationship can be set according to actual needs.
Automatic guidance transportation system provided in this embodiment, every AGV can send work with more by the first operating system
Computer or other AGV are communicated, so that the interaction of operating status can be carried out between each AGV, so that the work of each AGV is more
Add coordination, and send and can carry out hot spare between work computer, guarantees normally sending with charge free for operating instruction, so that the work of system
It is more efficient, improve the working efficiency of entire factory.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of control method of automated guided vehicle characterized by comprising
Operating instruction is received by the first operating system, and sends the second operating system for the operating instruction；
The operating instruction is executed by the second operating system indicator performer；
Wherein, first operating system is communicated using distributing real communication intermediate technology with other equipment.
2. control method according to claim 1, which is characterized in that receive operating instruction, packet by the first operating system
It includes:
The operating instruction of dispatching system or the transmission of other automated guided vehicles is received by the first operating system.
3. control method according to claim 1, which is characterized in that further include:
The interaction of operating parameter is carried out by the first operating system and other automated guided vehicles, wherein the operating parameter
Including changing coordinates and working condition.
4. control method according to claim 1, it is characterised in that:
Described instruction performer includes camera, radar, ultrasonic transmitter-receiver or motor.
5. control method according to claim 1, it is characterised in that:
First operating system is robot operating system ROS2.0；
Second operating system is robot operating system ROS1.0.
6. a kind of automated guided vehicle characterized by comprising
Instruction processing unit and instruction performer；
Described instruction processor is used to receive operating instruction by the first operating system, and sends second for the operating instruction
Operating system, described instruction processor are also used to indicate that described instruction performer executes the fortune by second operating system
Row instruction；
Wherein, first operating system is communicated using distributing real communication intermediate technology with other equipment.
7. automated guided vehicle according to claim 6, it is characterised in that:
Described instruction processor is used to receive dispatching system by first operating system or other automated guided vehicles are sent out
The operating instruction sent.
8. automated guided vehicle according to claim 6, it is characterised in that:
Described instruction processor is also used to carry out operating parameter by first operating system and other automated guided vehicles
Interaction, wherein the operating parameter includes changing coordinates and working condition.
9. a kind of automatic guidance transportation system characterized by comprising
Dispatching system and the Duo Tai such as described in any item automated guided vehicles of claim 6-8；
The dispatching system is used to send operating instruction to the more automated guided vehicles.
10. automatic guidance transportation system according to claim 9, it is characterised in that:
The dispatching system, which includes at least two, sends work computer；
Send in work computer for described at least two sends the operation to be sent of work computer to refer to other per one work computer
Order is backed up.
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| CN201811062475.8A CN109085839A (en) | 2018-09-12 | 2018-09-12 | Automated guided vehicle and its control method and transportation system is guided automatically |
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| CN201811062475.8A CN109085839A (en) | 2018-09-12 | 2018-09-12 | Automated guided vehicle and its control method and transportation system is guided automatically |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112034422A (en) * | 2020-09-04 | 2020-12-04 | 苏州华兴源创科技股份有限公司 | AGV-based laser positioning system and method |
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Application publication date: 20181225 |