CN110377022B - Control method and device for automatic guided vehicle - Google Patents
Control method and device for automatic guided vehicle Download PDFInfo
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- CN110377022B CN110377022B CN201811394060.0A CN201811394060A CN110377022B CN 110377022 B CN110377022 B CN 110377022B CN 201811394060 A CN201811394060 A CN 201811394060A CN 110377022 B CN110377022 B CN 110377022B
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims description 54
- 238000004590 computer program Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 8
- 238000013461 design Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 8
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- 238000006467 substitution reaction Methods 0.000 description 1
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the application provides a control method and a device for an automatic guided vehicle, wherein the control device stores a routing information table, each piece of routing information included in the routing information table is associated with the corresponding identification of the automatic guided vehicle, and the method comprises the following steps: generating first data for controlling the first automated guided vehicle; according to a first identifier included in the first data, acquiring first route information associated with the first identifier from a route information table; and sending the first data to the first automatic guiding transport vehicle according to the first route information. The control method and the device for the automatic guided vehicles can control a plurality of automatic guided vehicles, and are good in applicability and high in control efficiency.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a control method and a device for an automatic guided vehicle.
Background
An automatic guided vehicle (automated guided vehicle, abbreviated as AGV) is a vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions.
The AGVs need to be controlled by adopting a specific control method, but the current control method of the AGVs cannot control a plurality of AGVs, so that the applicability is poor and the control efficiency is low.
Disclosure of Invention
The embodiment of the application provides a control method and device for an automatic guided vehicle, which can control a plurality of AGVs, and has good applicability and high control efficiency.
In a first aspect, an embodiment of the present application provides a control method of an automatic guided vehicle, applied to a control device of an automatic guided vehicle, where the control device stores a routing information table, and each piece of routing information included in the routing information table is associated with an identifier of a corresponding automatic guided vehicle, and the method includes:
generating first data for controlling the first automated guided vehicle;
according to a first identifier included in the first data, acquiring first routing information associated with the first identifier from a routing information table;
and sending the first data to the first automatic guiding transport vehicle according to the first route information.
In one possible design, the sending the first data to the first automated guided vehicle according to the first routing information includes:
Converting the first data into a first type of data, wherein the first type of data is matched with the connection mode of the first automatic guiding transport vehicle and the control device;
and sending the first type of data to the first automatic guided vehicle according to the first routing information.
In one possible design, the control device further stores a correspondence between the identification of the automated guided vehicle and the identification of the transmission protocol;
before said converting said first data into a first type of data, further comprising:
determining a first transmission protocol corresponding to the first identifier according to the corresponding relation;
converting the first data in a common format into the first data in a first format, wherein the first format is a data format matched with the first transmission protocol;
the converting the first data into a first type of data includes:
converting the first data in the first format into the first type of data.
In one possible design, the generating first data for controlling the first automated guided vehicle includes:
generating the first data in a second format for controlling a first automated guided vehicle, wherein the second format is a data format which can be identified by a program;
Before said converting said first data into a first type of data, further comprising
Converting the first data in the second format into the first data in the common format.
In one possible design, the method further comprises:
receiving second data from the first automated guided vehicle;
according to the first identifier and the corresponding relation included in the second data, determining a first transmission protocol corresponding to the first identifier, and determining the format of the received second data as a first format matched with the first transmission protocol;
converting the second data in the first format into the second data in the common format, and converting the second data in the common format into the second data in the second format;
processing the second data in the second format.
In one possible design, the control device further comprises: an interface generator for generating a user interface; the generating first data for controlling the first automated guided vehicle comprises:
acquiring a first instruction input by a user through the user interface;
and generating first data for controlling the first automatic guided vehicle according to the first instruction.
In a second aspect, embodiments of the present application provide a control device for an automated guided vehicle, the device including a processor, a memory, a transceiver, and a communication bus, the communication bus configured to connect the processor, the memory, and the transceiver;
the memory is used for storing a routing information table and a computer program, and each piece of routing information included in the routing information table is associated with the corresponding identification of the automatic guided vehicle;
the processor is used for calling the computer program, generating first data for controlling a first automatic guiding transport vehicle, and acquiring first route information associated with a first identifier from the route information table according to the first identifier included in the first data;
the transceiver is configured to send the first data to the first automated guided vehicle according to the first routing information.
In one possible design, the transceiver is specifically for:
converting the first data into a first type of data, wherein the first type of data is matched with the connection mode of the first automatic guiding transport vehicle and the control device;
and sending the first type of data to the first automatic guided vehicle according to the first routing information.
In one possible design, the memory also stores the correspondence between the identification of the automated guided vehicle and the identification of the transmission protocol;
the processor is further configured to invoke the computer program, determine a first transmission protocol corresponding to the first identifier according to the correspondence, and convert the first data in a common format into the first data in a first format, where the first format is a data format matched with the first transmission protocol;
the transceiver is particularly for: converting the first data in the first format into the first type of data.
In one possible design, the processor is specifically configured to: generating the first data in a second format for controlling a first automated guided vehicle, wherein the second format is a data format which can be identified by a program;
the processor is further configured to: invoking the computer program to convert the first data in the second format to the first data in the generic format before the converting the first data to the first type of data.
In one possible design, the transceiver is further configured to: receiving second data from the first automated guided vehicle;
The processor is further configured to: invoking the computer program, determining a first transmission protocol corresponding to the first identifier according to the first identifier and the corresponding relation included in the second data, determining that the format of the received second data is a first format matched with the first transmission protocol, converting the second data in the first format into the second data in the universal format, converting the second data in the universal format into the second data in the second format, and processing the second data in the second format.
In one possible design, the control device further comprises: an interface generator connected to the communication bus; the interface generator is used for generating a user interface;
the processor is specifically configured to: and acquiring a first instruction input by a user through the user interface, and generating first data for controlling the first automatic guided vehicle according to the first instruction.
In a third aspect, embodiments of the present application provide a readable storage medium comprising a program or instructions which, when run on a computer, perform a method as in any of the possible designs of the first aspect.
The control method of the embodiment can determine the route information of each movable guiding transport vehicle through the route information table and the identification of each movable guiding transport vehicle, and send the data for control to each movable guiding transport vehicle according to each route information; therefore, the control method of the embodiment can control a plurality of automatic guided vehicles, and has good applicability and high control efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural diagram of a control device of an automatic guided vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a control device of an automatic guided vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart illustrating a method for controlling an automated guided vehicle according to an embodiment of the present disclosure;
fig. 4 is a second flowchart of a control method of an automatic guided vehicle according to an embodiment of the present application;
Fig. 5 is a flowchart III of a control method of an automatic guided vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram III of a control device of an automatic guided vehicle according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a control device of an automatic guided vehicle according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural. The terms "first," "second," and the like in this application are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. A and B have an association relationship, which means that B can be acquired according to A and A can be acquired according to B.
Fig. 1 is a schematic structural diagram of a control device of an automated guided vehicle according to an embodiment of the present application, referring to fig. 1, a processor 11, a memory 12, a transceiver 13, and a communication bus 14 for connecting the processor 11, the memory 12, and the transceiver 13; wherein the processor may be a multi-core central processing unit (central processing unit, CPU for short)
The memory 12 is used for storing a routing information table and a computer program, wherein each piece of routing information included in the routing information table is associated with the identification of the corresponding automated guided vehicle;
the processor 11 is configured to call the computer program, generate first data for controlling a first automated guided vehicle, and obtain, according to a first identifier included in the first data, first routing information associated with the first identifier from the routing information table;
the transceiver 13 is configured to send the first data to the first automated guided vehicle according to the first routing information.
Optionally, the transceiver 12 is specifically configured to: converting the first data into a first type of data, wherein the first type of data is matched with the connection mode of the first automatic guiding transport vehicle and the control device; the method comprises the steps of,
And sending the first type of data to the first automatic guided vehicle according to the first route information.
Optionally, the memory 12 also stores the correspondence between the identifier of the automated guided vehicle and the identifier of the transmission protocol;
the processor 11 is further configured to invoke the computer program, determine a first transmission protocol corresponding to the first identifier according to the correspondence, and convert the first data in a common format into the first data in a first format, where the first format is a data format matched with the first transmission protocol;
the transceiver 13 is specifically configured to: the first data in the first format is converted into the first type of data.
Optionally, the processor 11 is specifically configured to: generating the first data in a second format for controlling the first automated guided vehicle, the second format being a data format recognizable by the program;
the processor 11 is also configured to: the computer program is invoked to convert the first data in the second format into the first data in the generic format before converting the first data into the first type of data.
Optionally, the transceiver 13 is further configured to: receiving second data from the first automated guided vehicle;
The processor 11 is also configured to: calling the computer program, determining a first transmission protocol corresponding to the first identifier according to the first identifier and the corresponding relation included in the second data, determining that the format of the received second data is a first format matched with the first transmission protocol, converting the second data in the first format into the second data in the universal format, converting the second data in the universal format into the second data in the second format, and processing the second data in the second format.
It will be appreciated that if the speed of the first data in the second format generated by the processor 11 does not match the speed of the first data in the second format converted by the processor 11 into the first data in the first format, the generated first data in the second format may be registered in a data registration module, which may be independent of the processor 11 or a part of the processor 11.
The processor 11 may further have a buffer module for buffering the received first data in the first format or the first data in the first format to be transmitted.
The control device of the automatic guided vehicle in this embodiment stores a routing information table, and can determine routing information of each movable guided vehicle according to the routing information table and the identifier of each movable guided vehicle, and send data for control to each movable guided vehicle according to each routing information; therefore, the control device of the embodiment can control a plurality of automatic guided vehicles, and has good applicability and high control efficiency.
If the corresponding relation between the identifier of the automatic guided vehicle and the identifier of the transmission protocol is stored in the control device of the automatic guided vehicle in this embodiment, the control device may determine each data transmission protocol adopted between the respective automatic guided vehicle and the control device, and convert the data in the general format into the data in the format matched with each transmission protocol, so that the control device of this embodiment may control the automatic guided vehicle adopting different data transmission protocols.
In order to flexibly design a user interface, the embodiment is further improved on the basis of the previous embodiment; fig. 2 is a schematic structural diagram two of a control device for an automatic guided vehicle according to an embodiment of the present application, referring to fig. 2, where the control device of the present embodiment further includes: an interface generator 15 connected to the communication bus 14;
the interface generator 15 is used for generating a user interface;
the processor 11 is specifically configured to: and calling the computer program, acquiring a first instruction input by a user through the user interface, and generating first data for controlling the first automatic guided vehicle according to the first instruction.
The control device of the automatic guided vehicle in this embodiment includes an interface generator independent of the processor, so that a user can flexibly design a user interface without being limited by the processor.
The control device of the automatic guided vehicle is described above with reference to fig. 1 and 2, and the control method of the automatic guided vehicle of the present application will now be described based on the control device of the automatic guided vehicle. The control of the automatic guided vehicle in the following embodiments may be the control of the automatic guided vehicle in the debugging process of the automatic guided vehicle, or the control of the automatic guided vehicle in the actual use process of the automatic guided vehicle.
Fig. 3 is a flowchart of a control method of an automatic guided vehicle according to an embodiment of the present application, where the method of the present application is applied to a control device of an automatic guided vehicle, the control device stores a routing information table, each piece of routing information included in the routing information table is associated with an identifier of a corresponding automatic guided vehicle, and referring to fig. 3, the method of the present embodiment includes:
step S101, generating first data for controlling a first automatic guided vehicle;
step S102, according to a first identifier included in the first data, acquiring first routing information associated with the first identifier from the routing information table;
step S103, transmitting the first data to the first automated guided vehicle according to the first routing information.
Specifically, the control method of the automatic guided vehicle of the embodiment is applied to a control device of the automatic guided vehicle, and the device can be realized through hardware or software. The control method of the automatic guided vehicles of the embodiment can be suitable for controlling a plurality of automatic guided vehicles, the route information of each automatic guided vehicle is stored in a route information table, and the route information table is stored in a control device of the automatic guided vehicle. The routing information may be as shown in table 1:
table 1 one form of routing information table
| Routing information | Automatic guide transport vehicle sign |
| 10.10.10.1:5001 | AGV-A |
| 10.10.10.2:5001 | AGV-B |
| DSCU_0001 | AGV-C |
| …… | …… |
It is understood that the routing information table is not limited to the form of table 1 described above.
When a certain automatic guided vehicle is connected with a control device of the automatic guided vehicle for the first time, the control device of the automatic guided vehicle stores the route information of the automatic guided vehicle in a route information table, and establishes an association relationship between the route information of the automatic guided vehicle and the identifier of the automatic guided vehicle, wherein one way of establishing the association relationship is to write the identifier of the automatic guided vehicle into the route information table as shown in table 1.
The control method of the automatic guided vehicle according to the present embodiment will be described below by taking a control of an automatic guided vehicle, i.e., a first automatic guided vehicle, where the first automatic guided vehicle may be any automatic guided vehicle.
For step S101, the control device of the automated guided vehicle generates first data for controlling the first automated guided vehicle. The control device of the automatic guiding transport vehicle generates first data for controlling the first automatic guiding transport vehicle to be in a second format, wherein the second format is a data format which can be identified by a program.
Specifically, generating first data for controlling a first automated guided vehicle includes:
a1, receiving a first instruction input by a user through a user interface;
a2, generating the first data for controlling the first automatic guided vehicle according to the first instruction. I.e. generating the first data in the second format for controlling the first automated guided vehicle.
The user interface can be generated by the terminal interface generator of the control device, and the interface generator can be mutually independent from the processor of the control device, so that a user can flexibly design the user interface without being limited by the processor.
For step S102 to step S103, after the control device of the automated guided vehicle generates the first data, the control device of the automated guided vehicle obtains, according to the first identifier included in the first data, first routing information associated with the first identifier from the routing information table.
After the control device of the automatic guiding transport vehicle obtains the first route information associated with the first identifier from the route information table, the first data is sent to the first automatic guiding transport vehicle according to the first route information.
For example, if the first identifier of the first automatic guided vehicle is the AGV-Sup>A, the first routing information associated with the first identifier in the routing information table is 10.10.10.1:5001, and it is known that the routing information is an IP address, and the control device of the automatic guided vehicle sends the first datSup>A to the first automatic guided vehicle with the IP address of 10.10.10.1:5001; if the first identifier of the first automatic guided vehicle is the AGV-C, the first routing information associated with the first identifier in the routing information table is dscu_0001, and it is known that the routing information is a logical address, and the control device of the automatic guided vehicle sends the first data to the first automatic guided vehicle with the logical address dscu_0001. The logical address in this embodiment refers to a logical address that can be registered for an automated guided vehicle connected to the control device of the automated guided vehicle through a USB interface.
It will be appreciated that the first data sent to the first automated guided vehicle may include the same information as the first data generated by the control device of the automated guided vehicle, and may be in different formats.
Wherein "transmitting the first data to the first automated guided vehicle according to the first routing information" includes:
b1, converting the first data into first type data, wherein the first type data is data matched with the connection mode of the first automatic guiding transport vehicle and the control device of the automatic guiding transport vehicle;
b2, sending the first type of data to the first automatic guiding transport vehicle according to the first routing information.
Specifically, if the first routing information is a logical address, it is indicated that the connection mode between the first automated guided vehicle and the control device of the automated guided vehicle is a USB connection mode, the control device of the automated guided vehicle will convert the first data into serial port data (at this time, the serial port data is the first type of data), and send the serial port data to the first automated guided vehicle according to the first routing information; if the first routing information is an IP address, it is indicated that the first automated guided vehicle is connected to the control device of the automated guided vehicle in a network connection manner, the first data needs to be converted into network data (at this time, the network data is the first type of data), and the network data is sent to the first automated guided vehicle according to the first routing information.
The method is adopted for each automatic guiding transport vehicle, and a plurality of automatic guiding transport vehicles can be controlled due to the existence of the routing information table.
That is, due to the existence of the routing information table, the control method of the present embodiment can determine the routing information a of the automated guided vehicle a through the routing information table and the identification of the automated guided vehicle a currently being controlled, and send the data a for control to the automated guided vehicle a according to the routing information a; and if the currently controlled automated guided vehicle is an automated guided vehicle a or B, determining the route information a of the automated guided vehicle a according to the route information table and the identifier of the automated guided vehicle a, determining the route information B of the automated guided vehicle B according to the route information table and the identifier of the automated guided vehicle B, transmitting the controlled data a to the automated guided vehicle a according to the route information a, and transmitting the controlled data B to the automated guided vehicle B according to the route information B. Therefore, the method of the embodiment can control a plurality of automatic guided vehicles, and can also control a plurality of automatic guided vehicles at the same time, so that the applicability is good and the control efficiency of the AGV is improved.
Namely, the control method of the embodiment can determine the route information of each movable guiding transport vehicle through the route information table and the identification of each movable guiding transport vehicle, and send the data for control to each movable guiding transport vehicle according to each route information; therefore, the control method of the embodiment can control a plurality of automatic guiding transport vehicles and can also control a plurality of automatic guiding transport vehicles at the same time, and has good applicability and high control efficiency.
In order to make the control method suitable for controlling the automatic guided vehicle adopting different data transmission protocols, the present embodiment is further improved on the basis of the above embodiment, and fig. 4 is a flowchart two of the control method of the automatic guided vehicle provided in the embodiment of the present application; referring to fig. 4, the method of the present embodiment is applied to a control device of an automatic guided vehicle, where the control device further stores a correspondence between an identifier of the automatic guided vehicle and an identifier of a transmission protocol, and the method of the present embodiment includes:
step S201, generating first data in a second format for controlling a first automatic guided vehicle; the second format is a data format which can be identified by the program;
step S202, converting the first data in the second format into first data in a common format;
Step 203, determining a first transmission protocol corresponding to a first identifier included in the first data according to the corresponding relation;
step S204, converting the first data in the general format into first data in a first format, wherein the first format is a data format matched with the first transmission protocol;
step S205, according to the first identifier, acquiring first routing information associated with the first identifier from the routing information table;
step S206, converting the first data in the first format into first type data, wherein the first type data is data matched with the connection mode of the first automatic guiding transport vehicle and the control device;
step S207, the first type of data is sent to a first automated guided vehicle according to the first routing information.
Specifically, for step S201, as described in the previous embodiment, the format of the first data originally generated by the control device is a second format, and the second format is a format that can be identified by the program. Such as: the first data in the second format may be: no=car number (identification), seq=sequence number, data=data.
For step S202, the control device generates first data in the second format and converts the first data into first data in the common format. The common format may be CF (c 1, c2, c 3), where the first byte c1 represents the car number (id), the second byte c2 represents the instruction sequence number, and the third byte c3 represents the data.
Step 203 to step 204, the control device determines, according to the correspondence, a first transmission protocol corresponding to a first identifier included in the first data, and converts the first data in the universal format into first data in a first format, where the first format is a data format matched with the first transmission protocol.
For example, if the common format may be CF (c 1, c2, c 3), the first byte c1 represents the car number (identifier), the second byte c2 represents the command sequence number, the third byte c3 represents the data, the first data transmission protocol adopted between the first automated guided vehicle and the control device is a, the first format corresponding to the transmission protocol a is 3 bytes (b 1, b2, b 3), wherein the first byte b1 represents the command sequence number, the second byte b2 represents the car number (identifier), and the third byte b3 represents the data, the control device converts the first data of the common format into the first data of the first format according to the format of the first format, that is, the first byte is the command sequence number corresponding to the first data, the second byte is the car number (identifier) included in the first data, and the third byte is the control data included in the first data.
For the step S205, refer to the description of the step S102 in the previous embodiment, which is not repeated in this embodiment.
For step S206, the control device correspondingly converts the first data in the first format into data of a first type, where the data of the first type is data matching the connection mode of the first automated guided vehicle and the control device. The specific implementation of which is described with reference to the previous embodiment.
For the step S207, refer to the description of the step S103 in the previous embodiment, which is not repeated in this embodiment.
That is, due to the existence of the correspondence between the identification of the automated guided vehicle and the identification of the transmission protocol, the control device can determine each data transmission protocol adopted between the respective automated guided vehicle and the control device, and convert the data in the common format into the data in the format matched with each transmission protocol, so that the control method of the embodiment can control the automated guided vehicle adopting different data transmission protocols.
The control method corresponding to the control device of the automatic guided vehicle sending data to the automatic guided vehicle is described above with reference to fig. 3 to 4, and the control method corresponding to the control device of the automatic guided vehicle is described in this embodiment. Fig. 5 is a flowchart III of a control method of an automatic guided vehicle according to an embodiment of the present application; referring to fig. 5, the method of the present embodiment is applied to a control device of an automated guided vehicle, where the control device stores a correspondence between an identifier of the automated guided vehicle and an identifier of a transmission protocol, and the method of the present embodiment includes:
Step S301, receiving second data from the first automatic guided vehicle;
step S302, according to the corresponding relation, determining a first transmission protocol corresponding to a first identifier included in the second data, and determining the format of the received second data as a first format matched with the first transmission protocol;
step S303, converting the second data in the first format into the second data in the common format;
step S304, converting the second data in the general format into second data in a second format, wherein the second data in the second format is a data format which can be identified by a program;
step S305, process the second data in the second format.
Specifically, for step 301, the first automated guided vehicle sends second data to the control device, and the control device receives the second data.
For step S302, after the control device receives the second data, according to the correspondence, a first transmission protocol corresponding to the first identifier included in the second data is determined, and a format of the received second data is determined to be a first format matched with the first transmission protocol.
For example, if it is determined that the data transmission protocol adopted between the first automated guided vehicle and the control device is a, and the format matched with the transmission protocol a is 3 bytes (b 1, b2, b 3), where the first byte b1 represents the command sequence number, the second byte b2 represents the car number (identifier), and the third byte b3 represents the data, then it is determined that the format of the received second data is the above-mentioned format (b 1, b2, b 3), that is, it is determined that the first byte of the second data represents the command sequence number, the second byte of the second data represents the car number (identifier), and the third byte of the second data represents the data.
Converting the second data of the first format into second data of a common format for step S303 and step S304; converting the second data in the general format into second data in a second format, wherein the data in the second format is a data format which can be identified by a program;
illustratively, if the common format is CF (c 1, c2, c 3), the first byte c1 represents the car number (identification), the second byte c2 represents the instruction sequence number, the third byte c3 represents the data, and the first data in the second format is: no=car number (identity), seq=sequence number, data=data; the first data of the first format (b 1, b2, b 3) is converted into the first data of the common format CF (c 1, c2, c 3), namely that the first byte of the second data represents the car number (identification), the second byte of the second data represents the instruction sequence number, the third byte of the second data represents the data, and then the first data of the common format CF (c 1, c2, c 3) is converted into the first data of the second format: no=car number (identification), seq=sequence number, data=data.
The control method of the embodiment can be suitable for controlling the automatic guided vehicle by adopting different data transmission protocols.
Fig. 6 is a schematic structural diagram III of a control device of an automatic guided vehicle according to an embodiment of the present application, where the device includes a processing module 61, a storage module 62 and a transceiver module 63;
The storage module 62 is configured to store a routing information table, where each piece of routing information included in the routing information table is associated with an identifier of a corresponding automated guided vehicle
The processing module 61 is configured to generate first data for controlling a first automated guided vehicle, and obtain, according to a first identifier included in the first data, first routing information associated with the first identifier from a routing information table stored in the storage module 62;
the transceiver module 63 is configured to send the first data to the first automated guided vehicle according to the first routing information.
Optionally, the transceiver module 63 is specifically configured to:
converting the first data into a first type of data, wherein the first type of data is matched with the connection mode of the first automatic guiding transport vehicle and the control device; the method comprises the steps of,
and sending the first type of data to the first automatic guided vehicle according to the first routing information.
Optionally, the storage module 62 further stores a correspondence between an identifier of the automated guided vehicle and an identifier of the transmission protocol;
the processing module 61 is further configured to determine, according to the correspondence, a first transmission protocol corresponding to the first identifier, and convert the first data in a common format into the first data in a first format, where the first format is a data format matched with the first transmission protocol, before the transceiver module 63 converts the first data into the first type of data;
The transceiver module 63 is specifically configured to: converting the first data in the first format into the first type of data.
Optionally, the processing module 61 is specifically configured to: generating the first data in a second format for controlling a first automated guided vehicle, wherein the second format is a data format which can be identified by a program;
the processing module is further configured to: the first data in the second format is converted into the first data in the generic format before the converting the first data into the first type of data.
Optionally, the transceiver module is further configured to: receiving second data from the first automated guided vehicle;
the processing module 61 is further configured to: according to the first identifier and the corresponding relation included in the second data, determining the first transmission protocol corresponding to the first identifier, determining that the format of the received second data is a first format matched with the first transmission protocol, converting the second data in the first format into the second data in the universal format, converting the second data in the universal format into the second data in the second format, and processing the second data in the second format.
The device of the present embodiment may be used to execute the technical solution of the foregoing method embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
Fig. 7 is a schematic structural diagram four of a control device of an automated guided vehicle according to an embodiment of the present application, where the device further includes an interface generating module 65, based on the device shown in fig. 6, and the interface generating module is configured to generate a user interface;
the processing module 61 is specifically configured to: and acquiring a first instruction input by a user through the user interface, and generating first data for controlling the first automatic guided vehicle according to the first instruction.
The device of the present embodiment may be used to execute the technical solution of the foregoing method embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The embodiments of the present application provide a readable storage medium comprising a program or instructions which, when run on a computer, performs a method as described in any of the method embodiments described above.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the embodiments of the present application, and are not limited thereto; although embodiments of the present application have been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions.
Claims (7)
1. The control method of the automatic guided vehicle is applied to a control device of the automatic guided vehicle, and is characterized in that the control device stores a routing information table and a corresponding relation between the identification of the automatic guided vehicle and the identification of a transmission protocol, each piece of routing information included in the routing information table is associated with the identification of the corresponding automatic guided vehicle, and the method comprises the following steps:
generating first data for controlling the first automated guided vehicle;
determining a first transmission protocol corresponding to a first identifier included in the first data according to the corresponding relation;
converting the first data in a common format into the first data in a first format, wherein the first format is a data format matched with the first transmission protocol;
According to the first identifier, acquiring first routing information associated with the first identifier from a routing information table;
converting the first data in the first format into first type data, wherein the first type data is matched with the connection mode of the first automatic guided vehicle and the control device;
transmitting the first type of data to the first automated guided vehicle according to the first routing information;
the generating first data for controlling the first automated guided vehicle includes:
generating the first data in a second format for controlling a first automated guided vehicle, wherein the second format is a data format which can be identified by a program;
before said converting said first data into a first type of data, further comprising:
converting the first data in the second format into the first data in the common format;
the converting the first data in the first format into a first type of data includes:
determining a connection mode of the first automatic guiding transport vehicle and the control device according to the first route information, wherein the first route information is a logic address, and the logic address is a logic address registered by the first automatic guiding transport vehicle connected with the control device through a USB interface;
According to the connection mode, converting the first data in the first format into data of a first type;
when the control device controls the first automated guided vehicle and the second automated guided vehicle simultaneously, the method further comprises:
generating data A for controlling a second automated guided vehicle;
determining the route information of the second automatic guided vehicle according to the route information table and the identifier of the second automatic guided vehicle;
and sending the data A to the second automatic guided vehicle according to the routing information of the second automatic guided vehicle.
2. The method according to claim 1, wherein the method further comprises:
receiving second data from the first automated guided vehicle;
determining the first transmission protocol corresponding to the first identifier according to the first identifier and the corresponding relation included in the second data, and determining the format of the received second data as a first format matched with the first transmission protocol;
converting the second data in the first format into the second data in the common format, and converting the second data in the common format into the second data in the second format;
Processing the second data in the second format.
3. The method according to claim 1 or 2, wherein the control device further comprises: an interface generator for generating a user interface; the generating first data for controlling the first automated guided vehicle comprises:
acquiring a first instruction input by a user through the user interface;
and generating first data for controlling the first automatic guided vehicle according to the first instruction.
4. A control device for an automated guided vehicle, the device comprising a processor, a memory, a transceiver, and a communication bus, the communication bus being configured to connect the processor, the memory, and the transceiver;
the memory is used for storing a routing information table and a computer program, and each piece of routing information included in the routing information table is associated with the corresponding identification of the automatic guided vehicle;
the processor is used for calling the computer program, generating first data for controlling a first automatic guiding transport vehicle, and acquiring first route information associated with a first identifier from the route information table according to the first identifier included in the first data;
The transceiver is used for sending the first data to the first automatic guiding transport vehicle according to the first route information; the transceiver is particularly for:
converting the first data into a first type of data, wherein the first type of data is matched with the connection mode of the first automatic guiding transport vehicle and the control device;
transmitting the first type of data to the first automated guided vehicle according to the first routing information; the memory also stores the corresponding relation between the identification of the automatic guided vehicle and the identification of the transmission protocol;
the processor is further configured to invoke the computer program, determine a first transmission protocol corresponding to the first identifier according to the correspondence, and convert the first data in a common format into the first data in a first format, where the first format is a data format matched with the first transmission protocol;
the transceiver is particularly for: converting the first data in the first format into the first type of data;
the processor is specifically configured to: generating the first data in a second format for controlling a first automated guided vehicle, wherein the second format is a data format which can be identified by a program;
The processor is further configured to: invoking the computer program to convert the first data in the second format into the first data in the generic format before the transceiver converts the first data into a first type of data;
the processor is further configured to:
determining a connection mode of the first automatic guiding transport vehicle and the control device according to the first route information, wherein the first route information is a logic address, and the logic address is a logic address registered by the first automatic guiding transport vehicle connected with the control device through a USB interface;
the transceiver is also for: according to the connection mode, converting the first data in the first format into data of a first type;
when the control device controls the second automatic guiding transport vehicle and the third automatic guiding transport vehicle;
the processor is further configured to: generating data A for controlling a second automatic guided vehicle and data B of the third automatic guided vehicle respectively;
determining the route information of the second automatic guiding transport vehicle according to the route information table and the identification of the second automatic guiding transport vehicle, and determining the route information of the third automatic guiding transport vehicle according to the route information table and the identification of the third automatic guiding transport vehicle;
The transceiver is also for: and sending the data A to the second automatic guiding transport vehicle according to the routing information of the second automatic guiding transport vehicle, and sending the data B to the third automatic guiding transport vehicle according to the routing information of the third automatic guiding transport vehicle.
5. The apparatus of claim 4, wherein the transceiver is further configured to: receiving second data from the first automated guided vehicle;
the processor is further configured to: the computer program is called, the first transmission protocol corresponding to the first identifier is determined according to the first identifier and the corresponding relation included in the second data, the format of the received second data is determined to be a first format matched with the first transmission protocol, the second data in the first format is converted into the second data in the universal format, the second data in the universal format is converted into the second data in the second format, and the second data in the second format is processed.
6. The apparatus according to claim 4 or 5, wherein the control apparatus further comprises: an interface generator connected to the communication bus; the interface generator is used for generating a user interface;
The processor is specifically configured to: and acquiring a first instruction input by a user through the user interface, and generating first data for controlling the first automatic guided vehicle according to the first instruction.
7. A readable storage medium comprising a program or instructions which, when run on a computer, performs the method of any of claims 1 to 3.
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