CN109561139A - AGV basic point formula communication system, the means of communication and computer readable storage medium - Google Patents
AGV basic point formula communication system, the means of communication and computer readable storage medium Download PDFInfo
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- CN109561139A CN109561139A CN201811384910.9A CN201811384910A CN109561139A CN 109561139 A CN109561139 A CN 109561139A CN 201811384910 A CN201811384910 A CN 201811384910A CN 109561139 A CN109561139 A CN 109561139A
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- communication
- agv
- point
- information
- control centre
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
Abstract
The present invention provides a kind of AGV basic point formula communication system, the means of communication and computer readable storage mediums, including cable, AGV trolley, communication point and control centre；The control centre can receive the first information that AGV trolley is sent by communication point, obtain mission bit stream with the mission requirements of setting according to the first information, and mission bit stream is sent to communication point.The cable setting connects the two and to can be realized data exchange between communication point and control centre between communication point and control centre's the two.The AGV basic point formula communication system and the means of communication provided through the invention can effectively be ensured safety and the anti-interference ability of information using the communication modes of this wire transmission information of connecting interface, avoid the security risks such as the leakage of information of wireless transmission method.
Description
Technical field
The present invention relates to AGV (Automated Guide vehicle, automatic navigation vehicle) application fields, and in particular, to
A kind of AGV basic point formula communication system, the means of communication and computer readable storage medium.
Background technique
With the development of factory automation, AGV trolley a part indispensable at Factory Logistics system, still
The communication modes of general AGV trolley are using radio communication, it is contemplated that the range of operation of general AGV is wider, using radio
Communication may have the problem of data transmission is unstable, and anti-interference is poor and there may be safety risks.For this kind of
Deficiency, the research staff in industry also proposed some improvement projects, a kind of AGV as disclosed in patent document CN107992041A
The trolley means of communication, this method arranged in region include the network information web tab, utilize AGV itself vision module pair
Web tab is scanned, and achievees the purpose that automatic switching radio network.Although but this prior art can be to a certain degree
Upper improvement data transmit unstable problem, but there are still more very much not in terms of the anti-interference and safety transmitted for data
Foot.
Therefore, it is necessary to develop a set of suitable for middle-size and small-size shop logistics system, the AGV basic point formula of practical simple communication system
System and its means of communication effectively to ensure safety and the anti-interference ability of information avoid the information of wireless transmission method from letting out
The security risks such as leakage.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of AGV basic point formula communication systems, the means of communication
And computer readable storage medium.
A kind of AGV basic point formula communication system provided according to the present invention, including AGV trolley, communication point and control centre；
The control centre can receive AGV trolley by communication point send a first information, according to the first information with the task of setting
It is required that obtaining mission bit stream, and mission bit stream is sent to communication point.
Preferably, AGV basic point formula communication system provided by the invention further includes cable；Cable setting in communication point and
Between control centre's the two, and connects the two and to can be realized data exchange between communication point and control centre.
Preferably, the AGV trolley includes communication interface；The communication interface can carry out data interaction with communication point.
Preferably, the communication interface includes contact communication interface；And if only if contact communication interface and communication point
When physical contact
- AGV trolley can send the first information to communicating a little, and pass through the network cable transmission first information to control centre；Or
Person
- AGV trolley can receive control centre and issue to the mission bit stream of communication point.
Preferably, the first information includes the parameter information of AGV trolley itself；The mission bit stream includes corresponding
The purpose communication point coordinate and type information of AGV trolley；The type information includes charging, carries in material and replacement fixture
It is any or appoint multiple combinations.
Preferably, AGV basic point formula communication system provided by the invention further includes charging pile；The charging pile, which can be sent, works as
Preceding status information is to control centre；The current state information includes idle state and occupied state two states parameter.
Preferably, the navigation mode of the AGV trolley includes appointing in two-dimension code navigation, tape navigation and vision guided navigation
A kind of or multiple combinations.
A kind of AGV basic point formula means of communication provided according to the present invention, include the following steps:
Await orders step: AGV trolley is awaited orders at the charging pile for being provided with communication point, and armed state is passed through communication point hair
It send to communication center；
Task issuing steps: control centre sends mission bit stream to standby AGV trolley by communication point；
Task execution step: AGV trolley carries out data processing to mission bit stream, determines navigation mode and route, and according to
Navigation information is moved to destination and executes task；
Mission bit stream feedback step: after AGV trolley task execution, idle communication point position is determined, and navigate to sky
Spare time communication point, the parameter information of itself is fed back to control centre.
Preferably, the AGV basic point formula means of communication provided by the invention further include following steps:
Electricity judgment step: after AGV trolley task execution or between the standby time for being more than setting
Every when, the parameter information of itself is sent to control centre, the parameter information includes information about power, and subsequent control centre passes through
AGV trolley parameter information is judged, if not enough power supply, enters charge step, if electricity is sufficient, enters task distribution step
Suddenly；
Charge step: control centre is by communicating the coordinate information for sending unappropriated charging pile and charging tasks extremely
AGV trolley, AGV trolley are back at charging pile according to the coordinate information of unappropriated charging pile and charge, charging complete
Enter step of awaiting orders afterwards；
Task allocation step: control centre controls AGV trolley and is transferred to and await orders step or enter task according to task situation
Issuing steps.
A kind of computer readable storage medium for being stored with computer program provided according to the present invention, the computer journey
The step of above-mentioned AGV basic point formula means of communication are realized when sequence is executed by processor.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, AGV basic point formula communication system provided by the invention, simple and reliable for structure, operational efficiency is high；
2, AGV basic point formula communication system provided by the invention realizes the wired of AGV trolley and control centre using communication point
Communication, the safety of effective guarantee information transmission and anti-interference ability, avoid the safety such as leakage of information of wireless transmission method
Hidden danger；
3, the AGV basic point formula means of communication provided by the invention, control logic is clear, avoids complicated inefficient redundancy step
Suddenly, the further application for AGV trolley in industrial automation development provides the means of communication of high reliability.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the preference data interaction schematic diagram of AGV basic point formula communication system provided by the invention；
Fig. 2 is the preference communication scheme schematic diagram of AGV basic point formula communication system provided by the invention；
Fig. 3 is the preference communication flow schematic diagram of the AGV basic point formula means of communication provided by the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
A kind of AGV basic point formula communication system provided according to the present invention, including AGV trolley, communication point and control centre；
The control centre can receive AGV trolley by communication point send a first information, according to the first information with the task of setting
It is required that obtaining mission bit stream, and mission bit stream is sent to communication point.
Preferably, AGV basic point formula communication system provided by the invention further includes cable；Cable setting in communication point and
Between control centre's the two, and connects the two and to can be realized data exchange between communication point and control centre.It is described
AGV trolley includes communication interface；The communication interface can carry out data interaction with communication point.The communication interface includes contact
Formula communication interface；When contact communication interface and communication point physical contact
- AGV trolley can send the first information to communicating a little, and pass through the network cable transmission first information to control centre；Or
Person
- AGV trolley can receive control centre and issue to the mission bit stream of communication point.
Specifically, the first information includes the parameter information of AGV trolley itself；The mission bit stream includes corresponding
The purpose communication point coordinate and type information of AGV trolley；The type information includes charging, carries in material and replacement fixture
It is any or appoint multiple combinations.AGV basic point formula communication system provided by the invention further includes charging pile；The charging pile can
Current state information is sent to control centre；The current state information includes idle state and occupied state two states ginseng
Amount.The navigation mode of the AGV trolley includes any one of two-dimension code navigation, tape navigation and vision guided navigation or appoints a variety of
Combination.
A kind of AGV basic point formula means of communication provided according to the present invention utilize above-mentioned AGV basic point formula communication system, packet
Include following steps:
Await orders step: AGV trolley is awaited orders at the charging pile for being provided with communication point, and armed state is passed through communication point hair
It send to communication center；
Task issuing steps: control centre sends mission bit stream to standby AGV trolley by communication point；
Task execution step: AGV trolley carries out data processing to mission bit stream, determines navigation mode and route, and according to
Navigation information is moved to destination and executes task；
Mission bit stream feedback step: after AGV trolley task execution, idle communication point position is determined, and navigate to sky
Spare time communication point, the parameter information of itself is fed back to control centre.
More specifically, the AGV basic point formula means of communication provided by the invention further include following steps:
Electricity judgment step: after AGV trolley task execution or between the standby time for being more than setting
Every when, the parameter information of itself is sent to control centre, the parameter information includes information about power, and subsequent control centre passes through
AGV trolley parameter information is judged, if not enough power supply, enters charge step, if electricity is sufficient, enters task distribution step
Suddenly；
Charge step: control centre is by communicating the coordinate information for sending unappropriated charging pile and charging tasks extremely
AGV trolley, AGV trolley are back at charging pile according to the coordinate information of unappropriated charging pile and charge, charging complete
Enter step of awaiting orders afterwards；
Task allocation step: control centre controls AGV trolley and is transferred to and await orders step or enter task according to task situation
Issuing steps.
A kind of computer readable storage medium for being stored with computer program provided according to the present invention, the computer journey
The step of above-mentioned AGV basic point formula means of communication are realized when sequence is executed by processor.
Further, AGV basic point formula communication system preference technical solution provided by the invention is as follows:
Including AGV trolley and its communication interface, the fixed telecommunication point of tiered warehouse facility, equipment, charging pile etc., cable, control
Center, wherein the region that all AGV trolleies may execute task is provided with the fixed telecommunication point.The AGV trolley
Communication interface is the interface that AGV trolley and fixed telecommunication point carry out data interaction, the tiered warehouse facility be factory build can
Make full use of space store material, and be able to use corresponding logistics haulage equipment carry out automatically storage and Delivery from
Dynamicization warehouse, the equipment are the equipment for needing AGV to carry out assisting work on production line, for example AGV carries part and send to sampling observation
Platform or AGV replacement fixture etc., the charging pile is the anchor point that AGV charges in no task arrangement or not enough power supply, described
Fixed telecommunication point is can be carried out with AGV communication interface according to the specific tasks of AGV in tiered warehouse facility, equipment, charging pile setting
The website of data interaction, the cable are the medium for being connected and fixed communication point and carrying out data exchange with control centre, the control
Center can receive the information that fixed telecommunication point transmits and send mission bit stream to fixed telecommunication point, be that control AGV is moved
Core.Normal navigation mode, such as the navigation of vision two dimensional code, tape, vision guided navigation can be used in the AGV vehicle line navigation
Deng.The AGV communication interface uses contact, is contacted with fixed telecommunications points such as tiered warehouse facility, equipment, charging piles to exchange
Information.The information includes the lower destination fixed telecommunication point coordinate of AGV and mission bit stream that fixed telecommunication point receives, AGV
Inherent parameters information is fed back to fixed telecommunication point.Described cable one end connects the fixation of each tiered warehouse facility, equipment, charging pile etc.
Point is communicated, the other end connects control centre, the medium as data transmission.The control centre is responsible for processing from fixed telecommunication point
The data come are transmitted through, are sent under AGV including the inherent parameters information that AGV is fed back to fixed telecommunication point, and to fixed telecommunication point
One destination fixed telecommunication point coordinate and mission bit stream.The AGV inherent parameters information includes current electric quantity and coordinate.
Further, AGV basic point formula means of communication preference technical solution provided by the invention includes:
A: AGV first most starts to await orders in charging pile, assigns AGV task in control centre, and the destination of given AGV is fixed
The coordinate and task definition for communicating point transfer data to the fixed telecommunication point of charging pile, and the fixed telecommunication point of charging pile will
The coordinate and task definition of the destination fixed telecommunication point received are communicated to AGV.
After b:AGV receives information by communication interface, data processing is carried out, starts to navigate, reaches designated destination
Fixed telecommunication point executes task, after the completion of pending task, feeds back inherent parameters information to fixed telecommunication point, wherein parameter information
Including task performance, coordinate information and the performance parameter information including information about power, fixed telecommunication point will be fed back
AGV inherent parameters information be sent to control centre.
C: control centre is judged after receiving the AGV inherent parameters information that fixed telecommunication point transmits, if electricity is sufficient
Then start coordinate and mission bit stream that next destination fixed telecommunication point is sent to this fixed telecommunication point, which connects
After receiving information, AGV is communicated to by the communication interface of AGV, then AGV goes to next destination fixed telecommunication point to execute and appoints
Business.
D: if not enough power supply, control centre can issue unappropriated charging pile coordinate information and charging tasks to
Fixed telecommunication point where AGV, and then data information is communicated to AGV by the fixed telecommunication point, AGV will return to charging pile progress
Charging.
Meanwhile in the fixed telecommunication point for determining tiered warehouse facility, equipment and charging pile, the coordinate determined will be stored
In control centre, so as to subsequent use.AGV task definition includes charging, carries material, replacement fixture etc., can be had according to workshop
Body running content is adjusted.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of AGV basic point formula communication system, which is characterized in that including AGV trolley, communication point and control centre；The control
Center processed can receive the first information that AGV trolley is sent by communication point, obtain according to the first information with the mission requirements of setting
Communication point is sent to mission bit stream, and by mission bit stream.
2. AGV basic point formula communication system according to claim 1, which is characterized in that further include cable；The cable setting
Between communication point and control centre's the two, and connects the two and to can be realized data between communication point and control centre
Exchange.
3. AGV basic point formula communication system according to claim 2, which is characterized in that the AGV trolley includes that communication connects
Mouthful；The communication interface can carry out data interaction with communication point.
4. AGV basic point formula communication system according to claim 3, which is characterized in that the communication interface includes contact
Communication interface；When contact communication interface and communication point physical contact
- AGV trolley can send the first information to communicating a little, and pass through the network cable transmission first information to control centre；Or
- AGV trolley can receive control centre and issue to the mission bit stream of communication point.
5. AGV basic point formula communication system according to claim 1, which is characterized in that the first information includes AGV trolley
The parameter information of itself；The mission bit stream includes the purpose communication point coordinate and type information of corresponding AGV trolley；The class
Type information includes charging, carries any one of material and replacement fixture or appoint multiple combinations.
6. AGV basic point formula communication system according to any one of claim 1 to 5, which is characterized in that further include charging
Stake；The charging pile can send current state information to control centre；The current state information includes idle state and accounts for
With state two states parameter.
7. AGV basic point formula communication system according to claim 6, which is characterized in that the navigation mode packet of the AGV trolley
It includes any one of two-dimension code navigation, tape navigation and vision guided navigation or appoints multiple combinations.
8. a kind of AGV basic point formula means of communication, which comprises the steps of:
Await orders step: AGV trolley is awaited orders at the charging pile for being provided with communication point, and armed state is sent to by communicating point
Communication center；
Task issuing steps: control centre sends mission bit stream to standby AGV trolley by communication point；
Task execution step: AGV trolley carries out data processing to mission bit stream, determines navigation mode and route, and according to navigation
Information is moved to destination and executes task；
Mission bit stream feedback step: after AGV trolley task execution, idle communication point position is determined, and navigate to idle logical
Point is interrogated, the parameter information of itself is fed back to control centre.
9. the AGV basic point formula means of communication according to claim 8, which is characterized in that further include following steps:
Electricity judgment step: after AGV trolley task execution or standby more than the time interval set
When, the parameter information of itself is sent to control centre, the parameter information includes information about power, and subsequent control centre passes through AGV
Trolley parameter information is judged, if not enough power supply, enters charge step, if electricity is sufficient, enters task allocation step；
Charge step: control centre is by communicating the coordinate information for sending unappropriated charging pile and charging tasks to AGV
Trolley, AGV trolley are back at charging pile according to the coordinate information of unappropriated charging pile and charge, and charging complete is laggard
Enter step of awaiting orders；
Task allocation step: according to task situation, control AGV trolley is transferred to await orders step or enter task and issue for control centre
Step.
10. a kind of computer readable storage medium for being stored with computer program, which is characterized in that the computer program is located
Manage the step of realizing the AGV basic point formula means of communication described in claim 8 or 9 when device executes.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811384910.9A CN109561139A (en) | 2018-11-20 | 2018-11-20 | AGV basic point formula communication system, the means of communication and computer readable storage medium |
| PCT/CN2019/119302 WO2020103810A1 (en) | 2018-11-20 | 2019-11-19 | Agv base point type communication system and communication method, and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811384910.9A CN109561139A (en) | 2018-11-20 | 2018-11-20 | AGV basic point formula communication system, the means of communication and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109561139A true CN109561139A (en) | 2019-04-02 |
Family
ID=65866660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811384910.9A Pending CN109561139A (en) | 2018-11-20 | 2018-11-20 | AGV basic point formula communication system, the means of communication and computer readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109561139A (en) |
| WO (1) | WO2020103810A1 (en) |
Cited By (3)
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| CN110119156A (en) * | 2019-04-11 | 2019-08-13 | 佛山职业技术学院 | A kind of photovoltaic plant O&M method and system based on unmanned plane |
| CN110435448A (en) * | 2019-08-08 | 2019-11-12 | 浙江大华机器人技术有限公司 | Charging method, device and system, storage medium and the electronic device of vehicle |
| WO2020103810A1 (en) * | 2018-11-20 | 2020-05-28 | 上海交大智邦科技有限公司 | Agv base point type communication system and communication method, and computer readable storage medium |
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Also Published As
| Publication number | Publication date |
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| WO2020103810A1 (en) | 2020-05-28 |
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Application publication date: 20190402 |