CN111487936A - Online scheduling system of AGV dolly - Google Patents
Online scheduling system of AGV dolly Download PDFInfo
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- CN111487936A CN111487936A CN201911192455.7A CN201911192455A CN111487936A CN 111487936 A CN111487936 A CN 111487936A CN 201911192455 A CN201911192455 A CN 201911192455A CN 111487936 A CN111487936 A CN 111487936A
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- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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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]
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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
- Y02P90/60—Electric or hybrid propulsion means for production processes
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an online dispatching system of AGV (automatic guided vehicle), which comprises a plurality of AGV trolleys, a plurality of production station dispatching terminals and a remote control center, wherein each production station dispatching terminal can send a dispatching instruction for calling the AGV trolleys to the remote control center, the remote control center sends a control signal to the AGV trolleys which are in an idle state at present according to the received dispatching instruction, and the AGV trolleys automatically drive to the production station dispatching terminals sending the dispatching instructions after receiving the control signal from the remote control center. The online dispatching system is ingenious in design, each production station can send a dispatching instruction to the remote control center as required through the cooperation of the AGV, the production station dispatching terminal and the remote control center, the remote control center selects the AGV in an idle state to automatically drive to the production stations according to the production stations nearby, all the AGV in an industrial field can be dispatched flexibly and online, the production efficiency is improved, and the cost is saved.
Description
Technical Field
The invention relates to the technical field of unmanned intelligent navigation trolleys, in particular to an online dispatching system of an AGV.
Background
An Automated Guided Vehicle (AGV) is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions.
Usually, a plurality of AGV dollies can work simultaneously in an industrial field, under the general condition, in order to guarantee that each AGV dolly can not bump in normal work, the AGV dolly can only travel on the route orbit of traveling of numbering in advance for the route of traveling of AGV dolly is comparatively single, unable on-line control and change the operation route, is unfavorable for industrial field's dispatch control.
Therefore, there is a need for an improved AGV cart to enable online dispatch control of the AGV cart.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an online dispatching system for AGV trolleys, which is convenient for task allocation and operation, can realize online flexible dispatching of all AGV trolleys on site, and greatly improves the flexibility of the online dispatching system for AGV trolleys.
In order to solve the problems, the invention adopts the following technical scheme:
an online dispatching system of AGV comprises a plurality of AGV trolleys, a plurality of production station dispatching terminals and a remote control center, wherein each production station dispatching terminal can send a dispatching instruction for calling the AGV trolleys to the remote control center, the remote control center sends a control signal to the AGV trolleys which are in an idle state at present according to the received dispatching instruction, and the AGV trolleys automatically drive to the production station dispatching terminals sending the dispatching instructions after receiving the control signal from the remote control center;
AGV dolly all includes:
the vehicle-mounted signal receiving module is used for receiving the optimal running route control information sent by the remote control center;
the vehicle-mounted control module is connected with the vehicle-mounted signal receiving module, the vehicle-mounted control module comprises a positioning module for acquiring the current position and the current state of the AGV, and a driving module for driving the AGV to drive the AGV to a production station scheduling terminal for sending a scheduling instruction according to the optimal running route information received by the vehicle-mounted signal receiving module, and the positioning module comprises a magnetic navigation module and an RFID module;
the vehicle-mounted signal sending module is used for sending the current position information and the current state information of the AGV, which are acquired by the vehicle-mounted control module, to the remote control center;
the remote control center includes:
the signal receiving module is used for receiving a scheduling instruction which is sent by the production station scheduling terminal and used for calling the AGV, and receiving the current position information and the current state information of each AGV sent by the vehicle-mounted signal sending module;
the storage module is connected with the signal receiving module and used for storing the position information of each production station scheduling terminal, the current position information and the current state information of each AGV;
the calculating module is used for calling the position information of the corresponding production station scheduling terminal which sends the scheduling instruction in the storage module according to the scheduling instruction received in the signal receiving module, calculating the distance between the idle-state trolley and the production station scheduling terminal which sends the scheduling instruction according to the current position information and the current state information of the AGV trolley, acquiring the AGV trolley which is closest to the production station scheduling terminal which sends the scheduling instruction and is in the idle state, and meanwhile calculating the optimal running route;
and the signal sending module is used for sending the optimal running route information calculated by the calculation module to the AGV trolley which is closest to the production station scheduling terminal sending the scheduling instruction and is in an idle state.
The improved AGV structure is characterized in that each AGV trolley is connected with each production station scheduling terminal through a navigation magnetic strip laid in a workshop, a plurality of RFID electronic tags are laid on the navigation magnetic strip at equal intervals, and the RFID electronic tags are in communication connection with the RFID modules.
The improved AGV driving system is characterized in that the remote control center further comprises a display module, the display module is connected with the storage module, the display module can display route maps of all AGV trolley driving paths in real time, mark points corresponding to the RFID electronic tags are marked on the route maps, and the mark points on the route maps driven by the AGV trolleys are displayed in green.
The signal receiving module is further improved in that the signal receiving module further comprises a signal sequencing unit, when the scheduling terminals of the plurality of production stations simultaneously send scheduling instructions for calling the AGV, the scheduling instructions are sequenced, and the scheduling instructions received firstly or the scheduling instructions set as priority processing are preferentially executed.
The invention has the following beneficial effects:
the online dispatching system is ingenious in design, each production station can send a dispatching instruction to the remote control center as required through the cooperation of the AGV, the production station dispatching terminal and the remote control center, the remote control center selects the AGV in an idle state to automatically drive to the production stations according to the production stations nearby, all the AGV in an industrial field can be dispatched flexibly and online, the production efficiency is improved, and the cost is saved.
Drawings
The invention is described in further detail below with reference to specific embodiments and with reference to the following drawings.
FIG. 1 is a schematic block diagram of an online dispatching system for AGV carts in accordance with the present invention.
Detailed Description
Referring to fig. 1, the present embodiment provides an online scheduling system for AGVs, including a plurality of AGVs, a plurality of production station scheduling terminals and a remote control center, each production station scheduling terminal can send a scheduling instruction for calling an AGV to the remote control center, the remote control center sends a control signal to the AGV currently in an idle state according to the received scheduling instruction, and the AGV automatically drives to the production station scheduling terminal that sends the scheduling instruction after receiving the control signal from the remote control center.
AGV dolly all includes: the vehicle-mounted signal receiving module is used for receiving the optimal running route control information sent by the remote control center; the system comprises a vehicle-mounted control module, a vehicle-mounted signal receiving module, a positioning module and a driving module, wherein the vehicle-mounted control module is connected with the vehicle-mounted signal receiving module, the vehicle-mounted control module comprises a positioning module and a driving module, the positioning module is used for acquiring the current position and the current state of the AGV, the driving module is used for driving the AGV to drive the AGV to a production station scheduling terminal which sends a scheduling instruction according to the optimal running route information received by the vehicle-mounted signal receiving module, and; and the vehicle-mounted signal sending module is used for sending the current position information and the current state information of the AGV, which are acquired by the vehicle-mounted control module, to the remote control center.
The remote control center includes: the signal receiving module is used for receiving a scheduling instruction which is sent by the production station scheduling terminal and used for calling the AGV, and receiving the current position information and the current state information of each AGV sent by the vehicle-mounted signal sending module; the storage module is connected with the signal receiving module and used for storing the position information of each production station scheduling terminal, the current position information and the current state information of each AGV; the calculating module is used for calling the position information of the corresponding production station scheduling terminal which sends the scheduling instruction in the storage module according to the scheduling instruction received in the signal receiving module, calculating the distance between the idle-state trolley and the production station scheduling terminal which sends the scheduling instruction according to the current position information and the current state information of the AGV trolley, acquiring the AGV trolley which is closest to the production station scheduling terminal which sends the scheduling instruction and is in the idle state, and meanwhile calculating the optimal running route; and the signal sending module is used for sending the optimal running route information calculated by the calculation module to the AGV trolley which is closest to the production station scheduling terminal sending the scheduling instruction and is in an idle state.
Each AGV trolley is connected with each production station scheduling terminal through a navigation magnetic strip laid in a workshop, a plurality of RFID electronic tags are laid on the navigation magnetic strip at equal intervals, and the RFID electronic tags are in communication connection with an RFID module; through the cooperation of the RFID electronic tags and the RFID modules, the real-time and accurate acquisition of the position information and the state information of each AGV is realized.
The remote control center also comprises a display module, the display module is connected with the storage module, the display module can display route maps of all AGV trolley traveling paths in real time, marking points corresponding to the RFID electronic tags are marked on the route maps, and the marking points on the route maps traveled by the AGV trolleys are displayed in green; the driving path of each AGV is dynamically displayed in real time by arranging the display module, so that background operators can conveniently monitor the dynamic state of each AGV.
The signal receiving module also comprises a signal sequencing unit which sequences the scheduling instructions when the plurality of production station scheduling terminals simultaneously send the scheduling instructions for calling the AGV, and selects the scheduling instruction received firstly to execute or executes the scheduling instruction set as priority processing.
The online dispatching system is ingenious in design, each production station can send a dispatching instruction to the remote control center as required through the cooperation of the AGV, the production station dispatching terminal and the remote control center, the remote control center selects the AGV in an idle state to automatically drive to the production stations according to the production stations nearby, all the AGV in an industrial field can be dispatched flexibly and online, the production efficiency is improved, and the cost is saved.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (4)
1. An online dispatching system of AGV trolleys is characterized by comprising a plurality of AGV trolleys, a plurality of production station dispatching terminals and a remote control center, wherein each production station dispatching terminal can send a dispatching instruction for calling the AGV trolleys to the remote control center, the remote control center sends a control signal to the AGV trolleys which are in an idle state at present according to the received dispatching instruction, and the AGV trolleys automatically drive to the production station dispatching terminals sending the dispatching instruction after receiving the control signal from the remote control center;
AGV dolly all includes:
the vehicle-mounted signal receiving module is used for receiving the optimal running route control information sent by the remote control center;
the vehicle-mounted control module is connected with the vehicle-mounted signal receiving module, the vehicle-mounted control module comprises a positioning module for acquiring the current position and the current state of the AGV, and a driving module for driving the AGV to drive the AGV to a production station scheduling terminal for sending a scheduling instruction according to the optimal running route information received by the vehicle-mounted signal receiving module, and the positioning module comprises a magnetic navigation module and an RFID module;
the vehicle-mounted signal sending module is used for sending the current position information and the current state information of the AGV, which are acquired by the vehicle-mounted control module, to the remote control center;
the remote control center includes:
the signal receiving module is used for receiving a scheduling instruction which is sent by the production station scheduling terminal and used for calling the AGV, and receiving the current position information and the current state information of each AGV sent by the vehicle-mounted signal sending module;
the storage module is connected with the signal receiving module and used for storing the position information of each production station scheduling terminal, the current position information and the current state information of each AGV;
the calculating module is used for calling the position information of the corresponding production station scheduling terminal which sends the scheduling instruction in the storage module according to the scheduling instruction received in the signal receiving module, calculating the distance between the idle-state trolley and the production station scheduling terminal which sends the scheduling instruction according to the current position information and the current state information of the AGV trolley, acquiring the AGV trolley which is closest to the production station scheduling terminal which sends the scheduling instruction and is in the idle state, and meanwhile calculating the optimal running route;
and the signal sending module is used for sending the optimal running route information calculated by the calculation module to the AGV trolley which is closest to the production station scheduling terminal sending the scheduling instruction and is in an idle state.
2. The online dispatching system of AGV dollies of claim 1, characterized in that each AGV dolly is connected through the navigation magnetic stripe of laying in the workshop with every production station dispatch terminal, a plurality of RFID electronic tags have been laid to equidistant the navigation magnetic stripe, RFID electronic tag with RFID module communication connection.
3. The AGV online scheduling system of claim 2, wherein the remote control center further comprises a display module, the display module is connected to the storage module, the display module can display a route map of all the AGV car travel paths in real time, the route map is marked with mark points corresponding to the RFID tags, and the mark points on the route map through which the AGV car travels are displayed in green.
4. The system of claim 1, wherein the signal receiving module further comprises a signal sequencing unit, and when the plurality of production station scheduling terminals simultaneously send scheduling commands for calling the AGV, the signal receiving module sequences the scheduling commands, and preferentially executes the scheduling command received first or sets the scheduling command to be preferentially processed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910088017X | 2019-01-29 | ||
| CN201910088017 | 2019-01-29 |
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| CN111487936A true CN111487936A (en) | 2020-08-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112925305A (en) * | 2021-01-11 | 2021-06-08 | 江麓机电集团有限公司 | AGV flexible scheduling method of workshop logistics system and workshop logistics system |
| CN114104630A (en) * | 2021-11-30 | 2022-03-01 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
| WO2023221156A1 (en) * | 2022-05-17 | 2023-11-23 | 恬家（上海）信息科技有限公司 | Agv auxiliary control system and method |
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