CN112859765A - AGV capable of flexibly configuring instructions - Google Patents
AGV capable of flexibly configuring instructions Download PDFInfo
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- CN112859765A CN112859765A CN202011589028.5A CN202011589028A CN112859765A CN 112859765 A CN112859765 A CN 112859765A CN 202011589028 A CN202011589028 A CN 202011589028A CN 112859765 A CN112859765 A CN 112859765A
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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], computer integrated manufacturing [CIM]
- G05B19/41865—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], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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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
Abstract
The AGV comprises an AGV controller, wherein the AGV controller comprises a main control module, a plurality of soft IO instructions, a soft IO instruction set module, a soft IO instruction base and a plurality of hard IO ports, the hard IO ports are electrically connected with the main control module, the main control module is used for controlling an AGV body, the soft IO instruction set module comprises one or more soft IO instructions and is stored in the soft IO instruction base, the soft IO instructions are provided with soft IO input ends and soft IO output ends, the soft IO input ends are connected with the main control module after being correspondingly mapped with the input ends of the hard IO ports, and the soft IO output ends are connected with the main control module after being correspondingly mapped with the output ends of the hard IO ports. According to the IO port multiplexing configuration system, the hard IO port of the AGV controller can configure corresponding basic instructions according to use requirements, and a user can apply the same main controller to different AGVs without modifying programs.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to an AGV capable of flexibly configuring instructions.
Background
With the development of industrial automation, AGVs are used more and more widely in factories, and increasingly, AGVs become an important component of a factory logistics distribution system. Various working postures of the conventional AGV are switched, such as forward starting or stopping, pivot rotation, sudden stop and turning, sudden stop and obstacle avoidance and other working postures, and signals are transmitted mainly by a sensor, a controller or an information reading device arranged on the AGV; however, the electronic signals generated by the sensor, the controller or the information reading device need to be converted into action signals through a basic instruction program preset on the AGV master controller, so that the AGV can make corresponding gestures, specifically: the main controller is provided with a hard input port and a corresponding hard output port which are respectively electrically connected with the control module; the sensor, the controller or the information reading device are connected with a hard input port of the AGV controller, an electrical component for controlling the posture of the AGV is connected with a hard output port of the AGV controller, and a basic instruction program written into the main controller by a research and development staff is fixedly configured with each group of hard IO ports. However, the number of hard input ports and hard output ports of the conventional master controller is limited, the working postures of the AGVs have an intersection relationship, and the types of the connected electrical components are also many, so that the configurations (collocation of the electrical components) of the AGVs are also many, so that the same master controller needs to repeatedly modify basic instruction programs configured with the hard IO ports of each group to adapt to different electrical components and be applied to different AGVs. However, without modifying the program, the hardware resources of the AGV controller are not sufficiently flexible to be used on AGVs of other configurations.
Disclosure of Invention
The present invention is directed to overcoming the deficiencies of the prior art and providing an AGV with flexible configuration instructions that facilitate the use of configuration instructions by a user.
In order to achieve the purpose, the invention adopts the following technical scheme:
an AGV capable of flexibly configuring instructions comprises an AGV body, an electric component and an AGV controller, wherein the electric component and the AGV controller are arranged on the AGV body, the electric component at least comprises a lifting mechanism, a conveying platform and a telescopic conveying mechanism, the conveying platform and the telescopic conveying mechanism are arranged on the lifting mechanism, and the telescopic conveying mechanism is used for conveying materials transmitted by the conveying platform outwards; the AGV controller comprises a main control module, a plurality of soft IO instructions, a soft IO instruction library and a plurality of hard IO ports, wherein the hard IO ports are electrically connected with the main control module, the main control module is used for controlling the AGV body, the soft IO instructions are stored in the soft IO instruction library, the soft IO instructions comprise basic instructions, soft IO input ends and soft IO output ends, the soft IO input ends are correspondingly mapped with the input ends of the hard IO ports and then are connected with the main control module, and the main control module activates the basic instructions according to the signal condition of the input ends of the hard IO ports; the soft IO output end is connected with the main control module after the output end of the hard IO port is correspondingly mapped, the output end of the hard IO port is further connected with each electrical component in a one-to-one mode, and the main control module outputs action instructions to each electrical component of the AGV according to basic instructions.
Compared with the prior art, the AGV with flexibly configured instructions has the advantages that the hard IO port of the AGV controller can configure corresponding basic instructions according to use requirements, so that the same AGV controller can be applied to different AGVs, a user can apply the same AGV controller to different AGVs without modifying a program, and the use is convenient.
The AGV comprises an AGV controller, a soft IO input end, a soft IO output end and input and output ports of corresponding hard IO ports, wherein the AGV controller is connected with the AGV controller through a network; the user terminal is an upper computer and comprises a connecting module and a human-computer interaction module, the connecting module is respectively and electrically connected with the human-computer interaction module and the AGV controller, and the human-computer interaction module is used for being operated by a user and transmitting operation information to the AGV controller through the connecting module; the connection module is detachably connected with the AGV controller; through the arrangement, a user can conveniently and directly configure corresponding soft IO instructions for the hard IO ports from the man-machine interaction module, and the use is convenient.
Furthermore, the man-machine interaction module comprises a display interface, soft IO instruction options, hard IO port options, high-low level effective options, setting keys, deleting keys and interface switching keys which are arranged in the display interface, the display interface displays the mapping state of each hard IO port and each soft IO instruction, the soft IO instruction which corresponds to the hard IO port can be conveniently and directly selected, and the operation is convenient.
Furthermore, the input end of the hard IO port is used for connecting signals sent by sensors, controllers or information reading devices on the AGV.
Further, the sensor may be one or more of an obstacle sensor, an impact sensor, and a photo resistor.
Further, the electrical components further comprise one or more of a voice announcement machine, a travel driving mechanism, a rudder wheel driving mechanism and a hook driving mechanism.
Drawings
FIG. 1 is a schematic diagram of an AGV instruction configuration that allows flexible configuration of instructions;
FIG. 2 is a display interface of a user terminal soft IO input configuration;
fig. 3 is a display interface of the soft IO output configuration of the user terminal.
Detailed Description
The technical scheme of the invention is described in the following with the accompanying drawings:
referring to fig. 1, the AGV capable of flexibly configuring instructions comprises an AGV body, and an electrical component and an AGV controller which are arranged on the AGV body, wherein the electrical component at least comprises a lifting mechanism, a conveying platform and a telescopic conveying mechanism, the conveying platform and the telescopic conveying mechanism are arranged on the lifting mechanism, the telescopic conveying mechanism is used for conveying materials transmitted by the conveying platform outwards, and the lifting mechanism is used for adjusting the height of the telescopic conveying mechanism for conveying the materials.
The AGV controller comprises a main control module, a plurality of soft IO instructions, a soft IO instruction library and a plurality of hard IO ports, wherein the hard IO ports are electrically connected with the main control module, the main control module is used for controlling the AGV body, the soft IO instructions are stored in the soft IO instruction library, the soft IO instructions comprise basic instructions, soft IO input ends and soft IO output ends, the soft IO input ends are correspondingly mapped with the input ends of the hard IO ports and then are connected with the main control module, and the main control module activates the basic instructions according to the signal condition of the input ends of the hard IO ports; the soft IO output end is connected with the main control module after the output end of the hard IO port is correspondingly mapped, the output end of the hard IO port is further connected with each electrical component in a one-to-one mode, and the main control module outputs action instructions to each electrical component of the AGV according to basic instructions.
In addition, the system also comprises a soft IO instruction set module, wherein the soft IO instruction set module consists of one or more soft IO instructions and is divided into a functional instruction set module and an execution instruction set module, and the soft IO instruction library comprises a functional instruction set storage module and an execution instruction set storage module; the functional instruction set module and the execution instruction set module respectively comprise one or more soft IO instructions, the soft IO instructions specifically comprise basic instructions for converting input electronic signals into output action signals and soft IO input ends and soft IO output ends, the basic instructions and the corresponding hard IO ports map, the basic instructions can be understood as programs of functional parts in the soft IO instructions, and the soft IO input ends and the soft IO output ends can be understood as programs of connecting parts in the soft IO instructions. The soft IO input end and the soft IO output end are addressing with the numbers, the hard IO is also addressing with the numbers and determining offset, namely when the soft IO input end and the soft IO output end are mapped with the hard IO port, the hard IO realizes the configuration of the soft IO instruction and the corresponding hard IO port by increasing the offset to enable the addressing of the hard IO input end and the soft IO output end to be mapped with the addressing of the corresponding soft IO input end and the soft IO output end.
The execution instruction set storage module is specifically an EEPROM (electrically erasable programmable read-only memory) and is used for storing one or more execution instruction set modules; different electrical components on the AGV may require multiple soft IO instructions depending on the use case, and the execution instruction set stored in the EEPROM memory may involve adjustment of data or parameters of the electrical components; for example, for an execution instruction set for controlling the travel driving mechanism of the AGV, the AGV is controlled to execute different poses of the traveling speed, the slow braking, the fast braking, the direction switching and the like of various gears according to receiving different signals, and the different signals and the different poses are because the execution instruction set module comprises a plurality of soft IO instructions, so that the multiple poses of the travel driving mechanism of the AGV can be controlled.
The main control module comprises a processor, a plurality of functional instruction set modules and a functional instruction set storage module, wherein a plurality of hard IO ports are electrically connected with the processor, the functional instruction set storage module is used for storing one or more functional instruction set modules, the soft IO input end is connected with the processor after being mapped correspondingly with the input end of the hard IO port, and the soft IO output end is connected with the processor after being mapped correspondingly with the output end of the hard IO port; for example, the functional instruction set module for controlling the travel driving mechanism of the AGV only controls the AGV to start or stop traveling according to the received signal, and the functional instruction set module for controlling the travel driving mechanism of the AGV includes two soft IO instructions because of executing two states. It is understood that the functional instruction set module is a driver for the electrical component, and the execution instruction set module is a control program for adjusting various postures of the driven electrical component.
Compared with the prior art, the AGV with the flexibly configurable instructions has the advantages that the hard IO port of the AGV controller can configure the corresponding soft IO instructions according to the use requirements, so that the same AGV controller can be applied to different AGVs, a user can apply the same AGV controller to different AGVs without modifying programs, and the use is convenient. The problems in the prior art can be solved well by introducing a soft IO configuration system. Developers can write program logic with great care and without concern about the configuration of the AGVs, because the program logic only relates to the "soft IO port" and not to the "hard IO port" of a specific AGV controller. In practical application, a user determines functions required to be used and determines soft IO ports required to be used according to the configuration of the AGV, and then the soft IO ports are mapped with the hard IO ports through the AGV controller IO port multiplexing configuration system, so that the actual AGV electrical components can be controlled without modifying programs.
In this embodiment, the AGV controller can adopt current circuit board, host system and executive instruction set storage module are integrated on the circuit board, hard IO port input is the input port of locating on the input socket, hard IO port output is for locating the port on the output socket, the input and the output of hard IO port can set up more than the multiunit, for example 20 groups or 35 groups, make things convenient for AGV to carry out multiple instruction and realize multiple functions.
Soft IO instruction includes a set of soft IO input and soft IO output, the configuration of each basic instruction is realized with the one-to-one mapping of corresponding a set of hard IO port input and output to soft IO input and soft IO output of the same group, through setting up like this, in the hard IO port among the prior art, with soft IO input and soft IO output from the well separation, realize the portability and the multiplexibility of soft IO instruction, thereby realize that each soft IO instruction can form the configuration relation with each hard IO port, in this embodiment, the quantity of the soft IO instruction of function instruction set storage module and execution instruction set storage module's inclusion can be greater than or be greater than AGV controller hard IO port quantity far away, set up like this and can make things convenient for on the user allots more basic instructions and use all kinds of different functional AGV, facilitate the use.
In one embodiment, the AGV comprises a user terminal, wherein the user terminal is connected with the AGV controller, and a user performs mapping configuration on a soft IO input end, a soft IO output end and input and output ports of a corresponding hard IO port through the user terminal; the user terminal is an upper computer and comprises a connecting module and a human-computer interaction module, the connecting module is respectively and electrically connected with the human-computer interaction module and the AGV controller, and the human-computer interaction module is used for being operated by a user and transmitting operation information to the AGV controller through the connecting module; the connection module is detachably connected with the AGV controller, and the connection mode of the connection module and the AGV controller can adopt the existing plug-in type electric connection structure; through the arrangement, a user can conveniently and directly configure corresponding basic instructions for each hard IO port from the man-machine interaction module, and the use is convenient.
Referring to fig. 2 and 3, in an embodiment, the human-computer interaction module includes a display interface, and a soft IO instruction option, a hard IO port option, a high-low level valid option, a setting key, a deleting key, an interface switching key, and a return key, which are provided in the display interface, and the display interface displays each functional instruction which is convenient to directly select a corresponding configuration for each hard IO port, so that the operation is convenient. During operation, a user can select to enter a soft IO input configuration interface from a main display interface, select any column to edit, select a hard IO input port addressing needing to be configured with a soft IO instruction from a hard IO input port option, select a soft IO input end addressing mapped with the hard IO input port configuration from a soft IO instruction option, select whether the read-in information of the hard IO input port is high-level effective or low-level effective, complete mapping configuration of the hard IO input port and the soft IO input end by setting a key, and return to the main display interface by returning the key. And then selecting to enter a soft IO output configuration interface, selecting any column for editing, selecting a hard IO output port addressing needing to configure a soft IO instruction from a hard IO output port option, further selecting a soft IO output port addressing mapped with the hard IO output port configuration from a soft IO instruction option, and finally completing mapping configuration of the hard IO output port and the soft IO output port by setting a key. And repeating the above process to complete the configuration of the soft IO instruction of each hard IO port.
In one embodiment, the input end of the hard IO port is used for connecting a sensor, a controller or an information reading device on the AGV; the input end of the hard IO port is used for connecting electrical components on the AGV; furthermore, a first connector and a second connector are arranged on the AGV controller, a first slot is formed in the first connector, a second slot is formed in the second connector, the input end of the hard IO port is arranged in the first slot, and the output end of the hard IO port is arranged in the second slot; be equipped with first socket and second socket on the AGV, sensor, controller or information reading device's connection interface is located in the first socket, the connection interface of electric parts is located in the second socket, first socket can be dismantled with first slot and be connected the electricity, the second socket can be dismantled with the second slot and be connected the electricity.
In one embodiment, the sensor may be one or more of an obstacle sensor, a collision sensor, and a photoresistor, and the information reading device may be an RFID reader or a code scanner.
In one embodiment, the signal output is an electrical component located on the AGV, the electrical component further comprising one or more of a beeper, a travel drive mechanism, a rudder wheel drive mechanism, and a hook drive mechanism.
In addition, the execution program selected from the functional instruction set storage module and the execution instruction set storage module and configured with the hard IO port should be selected according to the electrical component actually connected to the hard IO port, for example, if the signal input terminal connected to the first hard IO port is electrically connected to an emergency stop button on the controller, and the corresponding signal output terminal is electrically connected to the AGV travel driving mechanism, the first hard IO port should be configured with an execution instruction set module that stops the travel driving mechanism.
Referring to fig. 2 and 3, when the user uses the user terminal, the operation may be performed by the following steps:
a. and the user logs in the user terminal and is connected with the AGV controller through the user terminal.
b. Selecting to enter a soft IO input configuration interface in a main display interface of a user terminal, selecting any column for editing, selecting a hard IO input port addressing needing to be configured with a soft IO instruction from a hard IO input port option, further selecting a soft IO input end addressing mapped with the hard IO input port configuration from a soft IO instruction option, then selecting the hard IO input port to read information that the high level is effective or the low level is effective, finally completing mapping configuration of the hard IO input port and the soft IO input end by setting a key, and returning to the main display interface by a return key.
c. And then selecting to enter a soft IO output configuration interface, selecting any column for editing, selecting a hard IO output port addressing needing to configure a soft IO instruction from a hard IO output port option, further selecting a soft IO output port addressing mapped with the hard IO output port configuration from a soft IO instruction option, and finally completing the mapping configuration of the hard IO output port and the soft IO output port by setting a key.
d. And d, repeating the step b and the step c to complete the soft IO instruction configuration of each hard IO port.
And b, in the step c, the soft IO input end addressing and the soft IO output end addressing configure the soft IO input end and the soft IO output end of the corresponding soft IO instruction mapped for the corresponding hard IO port, namely, the corresponding soft IO instruction is configured for the hard IO port by configuring the soft IO input end addressing and the soft IO output end addressing.
In one embodiment, the lifting mechanism is, for example, a scissor type lifting mechanism, the conveying platform is a roller conveying platform, an avoiding space is arranged in the middle of the roller conveying platform along the conveying direction, the telescopic conveying mechanism is arranged in the avoiding space, the telescopic conveying mechanism comprises a driving motor, a base and a supporting plate, the base is provided with a driving gear, a rack meshed with the driving gear is arranged at the bottom of the supporting plate, and the driving motor rotates through the driving gear to realize outward conveying of materials by the supporting plate.
The top surface of the supporting plate and the top of the conveying platform are on the same plane, the tail end of the supporting plate in the storage state and the tail end of the conveying platform are in the same vertical direction, the tail end of the conveying platform in the conveying direction is provided with a centering and positioning mechanism, and materials are placed on the tail end of the conveying platform and are positioned at the tail end of the supporting plate through the centering and positioning mechanism when moving towards the tail end. Specifically, the centering and positioning mechanism comprises two oppositely arranged guide pieces, guide inclined planes are arranged on the inner sides of the guide pieces, and the width of the two guide inclined planes is gradually narrowed inwards along the conveying direction.
The tail end of the conveying platform is provided with a detector, and the detector is triggered when materials move to the tail end from the conveying platform, so that the driving motor drives the supporting plate to convey the materials outwards, and the materials conveyed by the conveying platform are conveyed outwards.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (8)
1. The AGV capable of flexibly configuring the instructions is characterized by comprising an AGV body, an electric part and an AGV controller, wherein the electric part and the AGV controller are arranged on the AGV body;
the AGV controller comprises a main control module, a plurality of soft IO instructions, a soft IO instruction library and a plurality of hard IO ports, wherein the hard IO ports are electrically connected with the main control module, the main control module is used for controlling the AGV body, the soft IO instructions are stored in the soft IO instruction library, the soft IO instructions comprise basic instructions, soft IO input ends and soft IO output ends, the soft IO input ends are correspondingly mapped with the input ends of the hard IO ports and then are connected with the main control module, and the main control module activates the basic instructions according to the signal condition of the input ends of the hard IO ports; the soft IO output end is connected with the main control module after the output end of the hard IO port is correspondingly mapped, the output end of the hard IO port is further connected with each electrical component in a one-to-one mode, and the main control module outputs action instructions to each electrical component of the AGV according to basic instructions.
2. The AGV with flexibly configurable instructions according to claim 1, further comprising a user terminal configured for the AGV controller, wherein the user terminal is connected to the AGV controller, and a user performs mapping configuration on the soft IO input end, the soft IO output end and the input and output ports of the corresponding hard IO port through the user terminal.
3. An AGV capable of flexibly configuring instructions according to claim 2, further comprising: the user terminal is the host computer, and it includes connecting module and human-computer interaction module, connecting module respectively with human-computer interaction module, AGV controller electricity are connected, human-computer interaction module is used for supplying the user operation and passes through connecting module to AGV controller transmission operation information.
4. An AGV according to claim 3 wherein said flexibly configurable instructions further comprise: the connection module is detachably connected with the AGV controller.
5. An AGV according to claim 3 wherein said flexibly configurable instructions further comprise: the man-machine interaction module comprises a display interface, soft IO instruction options, hard IO port options, high-low level effective options, setting keys, deleting keys and interface switching keys, wherein the soft IO instruction options, the hard IO port options, the high-low level effective options, the setting keys, the deleting keys and the interface switching keys are arranged in the display interface, and the display interface displays the mapping state of each hard IO port and each soft IO instruction.
6. The AGV of claim 1, wherein: the input end of the hard IO port is used for being connected with a sensor, a controller or an information reading device on the AGV.
7. An AGV according to claim 6 wherein said flexibly configurable instructions further comprise: the sensor may be one or more of an obstacle sensor, an impact sensor, and a photoresistor.
8. AGV according to claim 6 or 7, wherein said flexible configuration instructions comprise: the electrical components further include one or more of a beeper, a travel drive mechanism, a rudder wheel drive mechanism, and a hitch drive mechanism.
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| CN108508812A (en) * | 2018-05-15 | 2018-09-07 | 广东嘉腾机器人自动化有限公司 | A kind of AGV controllers I/O port multiplexing configuration system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108508812A (en) * | 2018-05-15 | 2018-09-07 | 广东嘉腾机器人自动化有限公司 | A kind of AGV controllers I/O port multiplexing configuration system and method |
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Application publication date: 20210528 |