CN112529497A - Intelligent warehousing system based on OPC UA over TSN under 5G network - Google Patents
Intelligent warehousing system based on OPC UA over TSN under 5G network Download PDFInfo
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Abstract
The invention relates to an intelligent warehousing system based on OPC UA over TSN in a 5G network, which is used for establishing an intelligent warehousing model aiming at the problems of interconnection of equipment produced by various manufacturers and real-time effective intercommunication of different types of data information in the warehousing system. Firstly, connecting a plurality of devices in a warehouse together by utilizing an OPC UA technology to realize semantic interoperation among different devices; secondly, the real-time performance of the whole system is improved by fusing a time sensitive network technology, the data transmission delay is reduced, and the requirement of a management platform for mass real-time data interaction for calling the information of the warehoused goods in real time is met; and finally, a 5G micro base station is built in the warehouse, wireless connection of equipment in the warehouse is realized, the problems of complex wiring and limitation are avoided, and the cargo transportation efficiency, accuracy and flexibility of the system in the warehouse are improved. The warehousing system is fused with the three technologies, so that the communication performances of the system, such as safety, effectiveness, interoperability and the like, are optimized, the warehousing cost is reduced, and the warehousing process is more flexible, efficient and intelligent.
Description
Technical Field
The invention relates to a 5G network, which integrates a real-time Ethernet technology with an OPC UA unified architecture, is used for wireless communication among different devices and different types of machine units in a warehousing environment, and forms an intelligent warehousing system.
Background
The logistics industry, as an emerging industry, has developed rapidly in recent years and has become an important economic growth point for national economic development. As the flow of goods increases, warehousing of goods becomes a vital part. In the face of the storage problem of such a large quantity of goods, it is unrealistic to finish the storage only by manpower, and a machine is needed to replace the manpower to realize more efficient and convenient intelligent storage. The problems of low efficiency, poor safety and the like of the traditional manual operation are faced, so that the warehousing service quality is poor, the utilization rate is low, even the problems of cargo accumulation, deterioration, decay and the like of fresh goods are caused, good economic benefit cannot be brought, and the market demand is difficult to adapt. Later, the manual work is gradually replaced by the machine, although the manual work is liberated, the real intercommunication and interconnection cannot be realized due to different protocols among the devices, so that the management of the devices in the intelligent warehouse is complex, and the real-time performance of information transmission is poor.
Disclosure of Invention
The invention aims to solve the problems of poor semantic interoperability, poor information transmission real-time performance and easy influence of storage environment on the placement of machine equipment in a storage condition in the face of poor semantic interoperability among various types of machine equipment, and provides an intelligent storage system based on OPC UA over TSN in a 5G network, wherein more different equipment are connected together through OPC UA in the system, and software designed by different manufacturers is compatible with each other so as to realize the transverse connection among a sorting machine, a palletizing robot and an AGV used in storage and the longitudinal connection from bottom equipment to a management platform; the system is used for solving the problem of huge data types caused by the fact that the system uses OPC UA (optical proximity correction) through fusing TSN (traffic sequence number) technology, and distinguishing different data types, so that different types of flow can coexist on the same network, collision is avoided, and transmission of periodic and aperiodic data related to intelligent warehousing is realized; in addition, the TSN technology defines a real-time channel through a time synchronization mechanism of the TSN technology, so that the certainty of equipment communication is guaranteed, meanwhile, the transmission delay is shortened, the real-time performance of the system is improved, various sensors in a warehouse can transmit acquired information to a control center and a management platform in real time, and an operator can know the inventory condition of goods in time so as to conveniently check and manage the goods in real time; aiming at the problems that a large amount of machine equipment needs to be used in the storage process, and the problems that the equipment room in the storage environment is complicated in wired connection and wiring, the equipment room is easily influenced by storage space and equipment arrangement, and the maintenance is difficult, the wiring and maintenance cost of the machine equipment room is reduced by using 5G network wireless connection, the limitation of the space is broken through, the high reliability is utilized, the accuracy of storage and transportation real-time data is improved, and the failure rate is reduced.
The invention adopts the following technical scheme for realizing the aim of the invention:
an intelligent warehousing system based on OPC UA over TSN in a 5G network is characterized by comprising bottom equipment, an intelligent gateway, a 5G micro base station, a control center and a management platform.
The bottom layer equipment consists of a power supply module, a sensor module, an execution module, a wireless communication module and a PLC (programmable logic controller); the sensor module consists of a visual sensor, a distance measuring sensor, a touch sensor and a pose sensor; the execution module comprises a warehousing machine, a delivery machine, a sorting machine, an AGV trolley and a palletizing robot, wherein power is supplied to the controller through a power module in bottom equipment, a sensor module is connected to the PLC controller through an RS-485 serial port, the warehousing machine, the sorting machine and the delivery machine are connected to the PLC controller through an RS-485 serial port communication mode or a network port communication mode in the execution module, the PLC controller realizes wireless communication through a connected GPM10 module and transmits data streams to the intelligent gateway in a wireless mode, and in addition, the AGV transport vehicle and the palletizing robot are connected into the intelligent gateway in a wireless mode through a built-in 802.11 wireless interface.
The intelligent gateway supports an OPC UA over TSN communication protocol, and is connected with an OPC UA server through a network port.
The control center consists of an OPC UA server, a 5G wireless communication module and a display; the intelligent gateway is connected with the OPC UA server through an RS-485 serial port in a communication mode, the OPC UA server is connected with the display through a DP interface, meanwhile, the OPC UA server is connected with the 5G wireless communication module in a serial port mode, the control center processes data information transmitted by the bottom layer equipment, uploads the data information to the management platform, and the data information is displayed locally in real time through the display.
The management platform consists of an upper computer, a 5G wireless communication module and a display screen, wherein an OPC UA client is configured in the upper computer, and the upper computer is connected with the display screen and the 5G wireless communication module in a UART serial communication mode.
The invention has the beneficial effects that:
the intelligent warehousing system based on the OPC UA over TSN under the 5G network is different from the traditional warehousing system which only has single automatic carrying and storing functions, can realize real-time dynamic inventory of goods, periodically check the quality of the goods, timely master warehouse inventory, reduce the influence of environmental factors such as warehousing space on warehousing convenience, accelerate the goods circulation process and greatly reduce the warehousing cost. The intelligent warehousing system realizes transmission of data frames based on different protocols in warehousing through OPC UA technology, and improves the interoperability of the whole system; meanwhile, the information model is unified through the OPC UA technology, so that workers can access different types of data more conveniently and efficiently; in addition, through a standard redundancy model and a safety model in the OPC UA technology, software applications produced by different manufacturers are compatible with each other, the system interoperability is improved, meanwhile, safe data interaction is provided, and the safety of transmitted information is ensured; the real-time performance of the whole system is guaranteed through the TSN technology; by the characteristics of ultra-large bandwidth, low time delay and high reliability of the 5G wireless network, the in-warehouse machine equipment is flexibly deployed, the cost of the warehouse is greatly reduced, the working efficiency in the warehouse is improved, and resources are saved; OPC UA is combined with TSN and 5G to realize the automatic and intelligent warehousing system of multi-device + real-time + high efficiency.
Drawings
Fig. 1 is a schematic block diagram of an OPC UA over TSN-based smart warehousing system in a 5G network according to the present invention.
Detailed Description
As shown in fig. 1, a schematic block diagram of an OPC UA over TSN-based intelligent warehousing system in a 5G network is composed of a bottom device, an intelligent gateway, a 5G micro base station, a control center, and a management platform; the method comprises the following steps that (1) each bottom layer device is installed in a warehouse according to system requirements, each bottom layer device is composed of a power supply module, a sensor module, an execution module and a wireless communication module, and the sensor module is composed of a visual sensor, a distance measuring sensor, a touch sensor and a pose sensor; the execution module comprises a warehousing machine, a warehouse-out machine, a sorting machine, an AGV trolley and a stacking robot. The bottom equipment uses the sensor modules for collecting information, the driving units, the execution units and the like as nodes through an OPC UA technology to access a network, transmits the information collected by the bottom equipment and the machine units to an intelligent gateway through a unified data model thereof to realize data sharing and information interaction, and then repacks the data through the intelligent gateway to transmit to the upper level, thereby realizing the multi-equipment compatibility of the intelligent warehousing system.
The connection between each equipment unit of the system is realized by the following steps:
the method comprises the following steps: warehouse entry machine, sorting machine, the machine of leaving warehouse in the bottom equipment execution module, the goods information that vision sensor, range finding sensor, touch sensor, position appearance sensor will gather among the sensor module, if: the production place, the delivery destination, the quality, the type, the quality and the like of the goods, the position information, the pose state and the like of the equipment in the transportation process are transmitted to the PLC.
Step two: after the goods are sorted by the sorting machine, the goods are conveyed to a temporary destination by the AGV transport vehicle, then the goods of the temporary destination are arranged by the palletizing robot and are placed at the corresponding goods shelf position in the warehouse, the information collected by the AGV transport vehicle and the palletizing robot and the information of the PLC equipment in the step one are transmitted to the intelligent gateway, and the collection task of the information in the intelligent warehousing system is completed. The PLC equipment is connected with the wireless transceiver module, and information transmission is carried out between different types of PLC equipment, the AGV transport trolley and the palletizing robot in a wireless mode and the intelligent gateway.
Step three: and secondly, carrying out flow shaping on the data transmitted to the intelligent gateway in the second step by using a TSN technology to carry out flow shaping on different data streams, distinguishing different data types, eliminating the congestion condition of data in the system, effectively avoiding data collision, improving the bandwidth occupancy rate, and enabling a large amount of data of different types to be subjected to control on the transmission time of the data frame by a TSN internal scheduling table according to the requirements of periodicity, non-periodicity, instantaneity and the like.
Step four: and the data is transmitted to the OPC UA server by the intelligent gateway, the OPC UA server analyzes various received data frames, and stores the analyzed data content in the address space of the corresponding node of the configured OPC UA server according to the data content attribute.
Step five: the OPC UA client in the upper computer realizes communication with the OPC UA server through a 5G wireless communication module, and the OPC UA client acquires information of a required target node by subscribing the OPC UA server, so that the goods in the storage are dynamically checked according to actual requirements, and the states of time, quality, position information and the like of the goods in and out of the warehouse are known in real time.
The method has the advantages that the real-time information of the bottom layer equipment in the intelligent storage is transmitted to the server, and the operation steps of browsing the server by the client are as follows:
the method comprises the following steps: the underlying device establishes contact with the server. The method comprises the steps of constructing an information model of the system, mapping different types of bottom layer equipment into nodes of OPC UA, classifying the types of equipment according to the functions of the equipment, and defining variables and methods of different object types according to the properties of the equipment and operation in running so as to construct the information model of the system.
Step two: and binding the real-time data. The method comprises the steps of realizing instantiation of an information model, generating an XML file according to the constructed information model, realizing instantiation of the information model through description of nodes by the XML file, constructing an address space of an OPC UA server, binding real-time information collected by a sensor and real-time motion states of a motor, a palletizing robot and the like as real-time data sources with the nodes in the corresponding information model, and automatically updating the real-time data according to a set sampling period.
Step three: and realizing the fusion of OPC UA and TSN. The method comprises the specific steps that the network message of the OPC UA is directly mapped to a data link layer, the network message issued by an OPC UA issuing end is directly used as an effective load of a TSN data frame, an MAC address is used as a destination address, and the mapping from the network message of the OPC UA to a TSN data stream is established, so that the integration of the OPC UA and the TSN is realized.
Step four: the OPC UA client acquires information. The OPC UA client may subscribe to the relevant node information by accessing the OPC UA server.
As shown in fig. 1, the entire intelligent warehousing system has 1 to n pieces of bottom layer devices according to requirements, machine units in the bottom layer devices are modeled in a node form through OPC UA specifications and an address space is constructed for an OPC UA client to access, and a client connected to an OPC UA server reads information of a required node through a visual interface.
Placing each machine unit of an execution module in bottom equipment according to actual requirements, placing a warehousing machine at a warehouse entrance, inputting warehousing time, production place, storage time and other information of goods into the warehouse through the warehousing machine, sorting the warehoused goods according to warehousing requirements by a sorting machine, conveying the goods to a temporary storage point by an AGV trolley according to an upper-layer equipment instruction, placing the goods on a warehousing goods shelf by a palletizing robot, selecting the needed goods according to a corresponding instruction issued by a management platform according to the requirement of actual order condition, conveying the goods from the warehousing goods shelf to a delivery position by the palletizing robot, delivering the goods out of the warehouse through the delivery machine, and inputting information of the delivery time, destination and the like of the goods through the delivery machine. During the process of warehousing, sorting, storing and delivering goods in the intelligent warehouse, single-side information of the goods is acquired through a visual sensor, weight information of the goods is acquired through a touch sensor, and a distance measurement and pose sensor is used for preventing collision and selecting paths when a trolley and a robot working in the warehouse work; in addition, the information collected by the sensor devices distributed in the warehouse is transmitted to the controller PLC 1. Meanwhile, the data information of the warehousing machine, the sorting machine and the ex-warehouse machine in the execution equipment is also transmitted to the controller PLC2, and different types of PLC equipment are selected according to actual requirements in the process. The controller sends the data flow to the intelligent gateway, realizes the exchange of data information between the devices, the conversion of protocols and the selection of routes, the gateway processes the data and then transmits the processed data to the control center, the control center performs reasonable and efficient path planning, task allocation and the like on each mobile machine device according to the information collected by the bottom device, schedules and tests the quality of the warehoused goods according to the instructions given by the superior, and transmits the information to the management platform, thereby facilitating the dynamic inventory, quality control management, quota management and the like of the goods in the warehouse. The bandwidth is increased between the OPC UA manager and the server through the 5G network, so that the channel capacity is increased, the communication rate is increased, the low-delay and reliable transmission of mass data is realized, the 5G micro base station can be built above a storage working area by utilizing the storage environment characteristics, and the accurate and efficient transmission of data information is realized by building the 5G micro base station in the storage.
Claims (5)
1. An intelligent warehousing system based on OPC UA over TSN in a 5G network is characterized by comprising bottom equipment, an intelligent gateway, a 5G micro base station, a control center and a management platform.
2. The intelligent warehousing system based on OPC UA over TSN under 5G network of claim 1, characterized in that the bottom layer equipment is composed of power module, sensor module, execution module, wireless communication module and PLC controller; the sensor module consists of a visual sensor, a distance measuring sensor, a touch sensor and a pose sensor; the execution module comprises a warehousing machine, a delivery machine, a sorting machine, an AGV trolley and a palletizing robot, wherein power is supplied to the controller through a power module in bottom equipment, a sensor module is connected to the PLC controller through an RS-485 serial port, the warehousing machine, the sorting machine and the delivery machine are connected to the PLC controller through an RS-485 serial port communication mode or a network port communication mode in the execution module, the PLC controller realizes wireless communication through a connected GPM10 module and transmits data streams to the intelligent gateway in a wireless mode, and in addition, the AGV transport vehicle and the palletizing robot are connected into the intelligent gateway in a wireless mode through a built-in 802.11 wireless interface.
3. The intelligent warehousing system based on the OPC UA over TSN under 5G network of claim 1, wherein the intelligent gateway supports OPC UA over TSN communication protocol, and the intelligent gateway is connected with OPC UA server through network port.
4. The intelligent warehousing system based on OPC UA over TSN under 5G network of claim 1, wherein the control center is composed of OPC UA server, 5G wireless communication module, display; the intelligent gateway is connected with the OPC UA server through an RS-485 serial port in a communication mode, the OPC UA server is connected with the display through a DP interface, meanwhile, the OPC UA server is connected with the 5G wireless communication module in a serial port mode, the control center processes data information transmitted by the bottom layer equipment, uploads the data information to the management platform, and the data information is displayed locally in real time through the display.
5. The intelligent warehousing system based on the OPC UA over TSN under the 5G network of claim 1, wherein the management platform is composed of an upper computer, a 5G wireless communication module and a display screen, a client of the OPC UA is configured in the upper computer, and the upper computer is connected with the display screen and the 5G wireless communication module in a UART serial communication mode.
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| CN113110140A (en) * | 2021-03-26 | 2021-07-13 | 苏州振畅智能科技有限公司 | Instruction synchronization system based on 5G and satellite time service and execution method |
| CN113411215A (en) * | 2021-06-18 | 2021-09-17 | 重庆邮电大学工业互联网研究院 | Time-sensitive network centralized user configuration method and system based on OPC UA |
| CN114154925A (en) * | 2021-11-16 | 2022-03-08 | 昆明理工大学 | OPC UA-based digital twin warehouse research and application |
| CN114466039A (en) * | 2022-01-04 | 2022-05-10 | 中国船舶重工集团公司第七一六研究所 | OPCUA communication system and method based on 5G private network |
| CN115174492A (en) * | 2022-01-12 | 2022-10-11 | 中国科学院沈阳自动化研究所 | Data flow optimization method of data acquisition system based on OPC UA |
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| CN115174492B (en) * | 2022-01-12 | 2024-01-23 | 中国科学院沈阳自动化研究所 | OPC UA-based data acquisition system data stream optimization method |
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