CN109587261A - A kind of AGV data transmission system, transmission method - Google Patents
A kind of AGV data transmission system, transmission method Download PDFInfo
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- CN109587261A CN109587261A CN201811553256.XA CN201811553256A CN109587261A CN 109587261 A CN109587261 A CN 109587261A CN 201811553256 A CN201811553256 A CN 201811553256A CN 109587261 A CN109587261 A CN 109587261A
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- data
- operational data
- structural body
- agv
- byte stream
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0823—Errors, e.g. transmission errors
- H04L43/0847—Transmission error
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Environmental & Geological Engineering (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Communication Control (AREA)
Abstract
The present invention relates to technical field of industrial control, specifically a kind of AGV data transmission system, transmission method, data transmission system includes host computer, slave computer, display terminal, communication module；Data transmission method step includes being encapsulated as structural body form to AGV operational data, is converted to data-stream form when communicating to host computer and is transmitted, into host computer after be encapsulated as structural body form again, and then interpret and show AGV operational data；The present invention compared to the prior art, under conditions of not influencing transmission speed so that the exploitability of system, editability, universality enhance.
Description
Technical field
The present invention relates to technical field of industrial control, specifically a kind of AGV data transmission system, transmission method.
Background technique
Currently, the working data transport of progress is often used XML document or byte stream in AGV vehicle operational process, by with
Communications protocol matches to carry out the transmission of AGV vehicle operational data, this transmission method limited by communications protocol it is larger, when logical
When news agreement changes, safeguarding to system will be quite time-consuming.
Therefore, there are also to be developed for the prior art.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art the purpose of the present invention is to provide a kind of AGV data transmission system, passes
Transmission method.Aim to solve the problem that the problem of prior art transmits data.
In order to achieve the above object, this invention takes following technical schemes:
The present invention provides a kind of AGV data transmission system, comprising:
Slave computer is located on AGV vehicle, and the real-time working data of AGV vehicle are stored in the form of structural body, and by structural body
The operational data of form is converted to byte stream form and is transmitted；
Host computer, receives the operational data for the AGV vehicle that slave computer is sent, and the operational data of byte stream form is converted to
Structural body form；
Display terminal, the display terminal receive and show the operational data for the AGV vehicle that host computer is sent；
Communication module, for the communication between host computer, slave computer, display terminal.
Further, the structural body form operational data is defined by the way of the DLL of unmanaged C/C++.
Further, the operational data of the byte stream form includes identifier, data length, length check code, effectively
Data, cyclic redundancy check.
Further, the operational data for the AGV vehicle that the display terminal is shown includes the identity of AGV vehicle, position coordinates, row
Dynamic direction, electricity.
It further includes following that the present invention also provides a kind of AGV data transmission methods including above-mentioned AGV data transmission system
Step:
1) slave computer obtains the operational data of AGV vehicle, and is encapsulated as structural body form, the work of the structural body form
Make the operational data that the identified step of data is converted to byte stream form；
2) operational data of the byte stream form is transferred in host computer by the communication module；
3) operational data of the byte stream form encapsulated step in host computer is converted to the work of structural body form
Data；
4) operational data of the structural body form is read as the real-time working data of AGV through host computer, and is shown in institute
It states on display terminal.
Further, identification of steps described in step 1) includes:
A1 the length of the structural body form operational data) is obtained；
A2 the memory headroom to match with the length of the structural body form operational data) is created, and by the structural body
The operational data of form is put into the memory headroom；
A3 the operational data of structural body form described in the memory headroom) is sequentially placed into one in the form of byte stream
In new byte arrays；
A4 the byte arrays) are taken out, and increase several marker bits for the byte arrays, obtain the byte stream form
Operational data.
It further, further include integrity verifying step before the step 3), if the current byte stream form
Operational data is verified as completely, then going to step 3) through integrity verifying step, if being verified as imperfect, gives up current
The byte stream form operational data, and go to step 1).
Further, the operational data for being verified as the complete byte stream form through the integrity verifying step needs
To meet the following conditions simultaneously:
B1) identifier is complete；
B2) length of structural body is identical as data length code, and length check code matches with data length code.
Further, the encapsulation step in step 3) the following steps are included:
C1 the memory headroom to match with the length of the action of the byte stream form) is created；
C2 the action of the byte stream form) is copied into the memory headroom；
C3 the action of the byte stream form in the memory headroom) is converted into structural body form.
Compared with prior art, the present invention under conditions of not influencing transmission speed, so that the exploitability of system, can compile
Collect property, universality enhancing.
Detailed description of the invention
Fig. 1 is the main-process stream schematic diagram of transmission method provided by the invention；
Fig. 2 is the flow diagram of identification of steps provided by the invention；
Fig. 3 is the flow diagram of encapsulation step provided by the invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described, it should be understood that preferred embodiment described herein is only used
In the description and interpretation present invention, it is not intended to limit the present invention.
Embodiment 1
As shown in Figure 1, the present invention provides a kind of AGV data transmission system, comprising:
Slave computer is located on AGV vehicle, and the real-time working data of AGV vehicle are stored in the form of structural body, and by structural body
The operational data of form is converted to byte stream form and is transmitted；
Host computer, receives the operational data for the AGV vehicle that slave computer is sent, and the operational data of byte stream form is converted to
Structural body form；
Display terminal, the display terminal receive and show the operational data for the AGV vehicle that host computer is sent；
Communication module, for the communication between host computer, slave computer, display terminal.
Further, the structural body form operational data is defined by the way of the DLL of unmanaged C/C++.
Further, the operational data of the byte stream form includes the identifier for accounting for 3 bytes, the number for accounting for 1 byte
According to length, the length check code for accounting for 1 byte, valid data, the cyclic redundancy check for accounting for 2 bytes.
AGV data transmission system of the present invention is run in accordance with the following steps:
1) slave computer obtains the operational data of AGV vehicle, operational data specifically: operation mode, location information, yoke
Present level, yoke object height, and it is encapsulated as structural body form, concrete operations are as follows:
In above procedure, [StructLayout (LayoutKind.Sequential, CharSet=CharSet.Ansi,
Pack=1)] be the DLL that C# quotes unmanaged C/C++ a kind of definition structure body mode, its purpose is in memory
Middle sequence.
The identified step of operational data of the structural body form is converted to the operational data of byte stream form；
2) the practical Socket communication of the operational data of the byte stream form is transferred in host computer；
3) operational data of the byte stream form encapsulated step in host computer is converted to the work of structural body form
Data, in the present embodiment, the byte stream length received are 160, and data length value 153 removes 3 byte-identifiers of front
Symbol, the data length of 1 byte, 1 byte length check code after, take the data of 153 byte longs as containing since the 6th
The byte arrays of trolley operational data；
4) operational data of the structural body form is read as the real-time working data of AGV through host computer, and is shown in institute
It states on display terminal.
As shown in Fig. 2, identification of steps described in step 1) includes:
A1) in C#, a method is provided using NameSpace System.Runtime.InteropServices and is closed
Collection, for distributing, replicating non-managed memory；
A2 the length of the structural body form operational data) is obtained using Marshal.SizeOf ()；
A3 the length phase with the structural body form operational data) is created using Marshal.AllocHGlobal ()
The memory headroom matched, and the operational data of the structural body form is put into the memory headroom；
A4) use Marshal.StructureToPtr () by the work of structural body form described in the memory headroom
Data are sequentially placed into a new byte arrays in the form of byte stream；
A5 the byte arrays) are taken out, and increase several marker bits for the byte arrays, obtain the byte stream form
Operational data.
It further, further include integrity verifying step before the step 3), if the current byte stream form
Operational data is verified as completely, then going to step 3) through integrity verifying step, if being verified as imperfect, gives up current
The byte stream form operational data, and go to step 1).
Further, the operational data for being verified as the complete byte stream form through the integrity verifying step needs
To meet the following conditions simultaneously:
B1) identifier is complete；
B2) length of structural body is identical as data length code, and length check code matches with data length code.
As shown in figure 3, encapsulation step in step 3) the following steps are included:
C1) using the length phase of Marshal.AllocHGlobal () creation and the action of the byte stream form
The memory headroom matched；
C2) action of the byte stream form is copied into the memory headroom using Marshal.Copy ()；
C3) use Marshal.PtrToStructure () by the work of the byte stream form in the memory headroom
Content Transformation is structural body form.
In addition, the advantage that utility structure body of the present invention carries out data encapsulation also resides in, and when needing to increase function, need pair
The job information of structural body form is transformed, for example, to add a trolley information, such as the onboard cpu temperature of trolley,
Only it need to increase attribute in structural body AGVState:
{
public int CPUTemp；
}
?.
It is observed that due to having used the characteristic in c# to be arranged in order the attribute of structural body in memory, therefore adding
When adding or deleting attribute, without considering the part outside structural body, less with the transport protocol of modification both sides.
Therefore, information transmission scheme provided by the present invention can save significantly on time cost, improve working efficiency, optimization
System structure.
Claims (9)
1. a kind of AGV data transmission system characterized by comprising
Slave computer is located on AGV vehicle, and the real-time working data of AGV vehicle are stored in the form of structural body, and by structural body form
Operational data be converted to byte stream form and transmitted；
Host computer, receives the operational data for the AGV vehicle that slave computer is sent, and the operational data of byte stream form is converted to structure
Body form；
Display terminal, the display terminal receive and show the operational data for the AGV vehicle that host computer is sent；
Communication module, for the communication between host computer, slave computer, display terminal.
2. a kind of AGV data transmission system according to claim 1, which is characterized in that the structural body form work number
It is defined according to by the way of the DLL of unmanaged C/C++.
3. a kind of AGV data transmission system according to claim 1, which is characterized in that the work of the byte stream form
Data include identifier, data length, length check code, valid data, cyclic redundancy check.
4. a kind of AGV data transmission system according to claim 1, which is characterized in that the AGV that the display terminal is shown
The operational data of vehicle includes identity, position coordinates, the route, electricity of AGV vehicle.
5. a kind of AGV data transmission method, including the described in any item AGV data transmission systems of claim 1-4, feature exist
In further comprising the steps of:
1) slave computer obtains the operational data of AGV vehicle, and is encapsulated as structural body form, the work number of the structural body form
The operational data of byte stream form is converted to according to identified step；
2) operational data of the byte stream form is transferred in host computer by the communication module；
3) operational data of the byte stream form encapsulated step in host computer is converted to the operational data of structural body form；
4) operational data of the structural body form is read as the real-time working data of AGV through host computer, and is shown in described aobvious
Show in terminal.
6. a kind of data transmission method according to claim 5, which is characterized in that identification of steps packet described in step 1)
It includes:
A1 the length of the structural body form operational data) is obtained；
A2 the memory headroom to match with the length of the structural body form operational data) is created, and by the structural body form
Operational data be put into the memory headroom；
A3) by the operational data of structural body form described in the memory headroom be sequentially placed into the form of byte stream one it is new
In byte arrays；
A4 the byte arrays) are taken out, and increase several marker bits for the byte arrays, obtain the work of the byte stream form
Make data.
7. a kind of data transmission method according to claim 5, which is characterized in that further include complete before the step 3)
Property verification step, if the operational data of the current byte stream form is verified as completely, turning through integrity verifying step
To step 3), if being verified as imperfect, give up the operational data of the current byte stream form, and go to step 1).
8. a kind of data transmission method according to claim 7, which is characterized in that tested through the integrity verifying step
Card needs for the operational data of the complete byte stream form while meeting the following conditions:
B1) identifier is complete；
B2) length of structural body is identical as data length code, and length check code matches with data length code.
9. a kind of data transmission method according to claim 3, which is characterized in that the encapsulation step in step 3) include with
Lower step:
C1 the memory headroom to match with the length of the action of the byte stream form) is created；
C2 the action of the byte stream form) is copied into the memory headroom；
C3 the action of the byte stream form in the memory headroom) is converted into structural body form.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811553256.XA CN109587261A (en) | 2018-12-18 | 2018-12-18 | A kind of AGV data transmission system, transmission method |
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| CN201811553256.XA CN109587261A (en) | 2018-12-18 | 2018-12-18 | A kind of AGV data transmission system, transmission method |
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| CN201811553256.XA Withdrawn CN109587261A (en) | 2018-12-18 | 2018-12-18 | A kind of AGV data transmission system, transmission method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110703776A (en) * | 2019-09-19 | 2020-01-17 | 北京星航机电装备有限公司 | Information exchange system and method for automobile transport AGV and dispatching center |
| WO2023221157A1 (en) * | 2022-05-17 | 2023-11-23 | 恬家（上海）信息科技有限公司 | Agv auxiliary control protocol code and reading method |
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Application publication date: 20190405 |
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