CN113835035A - AGV trolley battery power rapid diagnosis method - Google Patents
AGV trolley battery power rapid diagnosis method Download PDFInfo
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- 125000004122 cyclic group Chemical group 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3835—Arrangements for monitoring battery or accumulator variables, e.g. SoC involving only voltage measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/392—Determining battery ageing or deterioration, e.g. state of health
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/396—Acquisition or processing of data for testing or for monitoring individual cells or groups of cells within a battery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
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Abstract
本发明提供一种AGV小车电池动力快速诊断方法，包括：在上位机与各AGV小车之间设置MODBUS协议，并设置各个AGV小车相对应的设备地址编号，以形成主‑从设备的指令与数据通讯模式；在上位机与各AGV小车之间设置ZigBee无线网络进行网络通讯，使上位机作为主站点，各个AGV小车作为从站点，进行上位机与AGV小车之间的指令和数据的传输；对AGV小车的电池组进行单体电池的电压采集，并依据MODUS协议按AGV小车的设备地址编号形成的报文格式来进行定位数据和电池电压数据的发送；上位机根据各个AGV小车发送的定位数据和电池电压数据进行电池动力数据运算处理及显示，并根据各个AGV小车的单体电池的电压及总电压判断是否存在动力故障。本发明能提高AGV小车的智能监控水平。
The present invention provides a method for quickly diagnosing battery power of AGV trolleys. Communication mode; ZigBee wireless network is set up between the host computer and each AGV trolley for network communication, so that the host computer acts as the master site, and each AGV trolley acts as the slave site to transmit instructions and data between the host computer and the AGV trolley; The battery pack of the AGV car collects the voltage of the single battery, and sends the positioning data and battery voltage data according to the MODUS protocol according to the message format formed by the device address number of the AGV car; the host computer is based on the positioning data sent by each AGV car. Carry out battery power data calculation processing and display with battery voltage data, and judge whether there is a power failure according to the voltage and total voltage of the single battery of each AGV car. The invention can improve the intelligent monitoring level of the AGV car.
Description
Technical Field
The invention relates to the technical field of monitoring of AGV trolleys, in particular to a quick diagnosis method for the battery power of an AGV trolley.
Background
The AGV is an important transport tool in logistics service work, the improvement of the operation efficiency is the key for reducing the cost of enterprises, the battery is used as the core part of the AGV, and the service life and the maintenance effect of the battery directly determine the operation efficiency of the AGV. At present, the conventional handheld multimeter and manual electric quantity observation methods are mainly adopted for the detection of the batteries of the AGV at home and abroad for maintenance, time and labor are wasted, a networked wireless online detection method is not available, and the defects of the batteries cannot be found as early as possible in advance and can be processed in time. Therefore, with the deep requirements of the application of the AGV, how to quickly and accurately diagnose the power device of the AGV intelligent trolley so as to diagnose the position and the reason of the power fault and monitor the power state of the battery of the AGV intelligent trolley in real time has important research significance.
Disclosure of Invention
The invention provides a rapid diagnosis method for AGV trolley battery power, which solves the problem that the conventional AGV trolley battery power state monitoring adopts manual detection and lacks real-time online monitoring, can improve the intelligent monitoring level of the AGV trolley, and reduces the production cost of tobacco plant management.
In order to achieve the above purpose, the invention provides the following technical scheme:
a rapid diagnosis method for AGV trolley battery power comprises the following steps:
an MODBUS protocol is set between the upper computer and each AGV trolley, and equipment address numbers corresponding to the AGV trolleys are set so as to form a command and data communication mode of the master-slave equipment;
a ZigBee wireless network is arranged between the upper computer and each AGV trolley for network communication, so that the upper computer is used as a master station, each AGV trolley is used as a slave station, and instructions and data between the upper computer and the AGV trolleys are transmitted;
acquiring the voltage of a single battery for a battery pack of the AGV, and sending positioning data and battery voltage data according to a message format formed by an MODUS protocol according to the equipment address number of the AGV;
and the upper computer performs battery power data operation processing and display according to the positioning data and the battery voltage data sent by each AGV trolley, and judges whether a power fault exists according to the voltage and the total voltage of the single batteries of each AGV trolley.
Preferably, the method further comprises the following steps:
setting an AGV trolley calling algorithm to send an acquisition instruction to each AGV trolley so as to acquire the positioning data and the battery voltage data of each AGV trolley;
and the corresponding AGV trolley carries out voltage acquisition when receiving the acquisition instruction, and returns data to the upper computer for processing according to a set message format.
Preferably, the setting of the AGV car calling algorithm sends the acquisition instruction to each AGV car, including:
and polling all AGV trolleys by a set interval cyclic scheduling algorithm, and starting to send acquisition instructions at intervals in a cyclic mode according to the initial value of the equipment address number.
Preferably, the setting of the AGV car calling algorithm sends an acquisition instruction to each AGV car, further comprising:
and setting a specified time scheduling algorithm to send an acquisition instruction to the AGV according to set time.
Preferably, the determining whether there is a power failure according to the voltage and the total voltage of the battery cells of each AGV includes:
comparing the voltage of the single battery of the AGV trolley with the average threshold value of the single battery, if the difference value is larger than 0.2V and smaller than 1V, the corresponding single battery has power failure, and the voltage needs to be checked and charging maintenance is carried out; if the difference value is larger than the set value of 1V, the corresponding single battery has a serious problem, whether the pole plate has short circuit needs to be checked, and if the pole plate has short circuit, the single battery is replaced and maintained.
Preferably, the determining whether there is a power failure according to the voltage and the total voltage of the battery cells of each AGV further includes:
and judging whether the total voltage obtained by accumulating the single batteries of the AGV exceeds a set voltage range or not, and if so, judging that the total voltage is abnormal and needs to be charged or overhauled.
Preferably, the method further comprises the following steps:
and the upper computer judges whether the AGV is in a normal state or an abnormal state according to the received battery voltage data of the AGV, and if the AGV is in the abnormal state, abnormal display and alarm are carried out.
Preferably, the method further comprises the following steps:
the upper computer determines the distance between the AGV and the charging position according to the received positioning data of the AGV, and judges whether to send a charging instruction to the AGV according to the battery voltage data.
The invention provides a rapid diagnosis method for AGV trolley battery power, which is characterized in that an MODBUS protocol is arranged between an upper computer and an AGV trolley, a ZigBee wireless network is adopted for instruction and data transmission, and voltage data acquired by a battery pack of the AGV trolley are sent to the upper computer for fault diagnosis, so that the problem that manual detection is adopted for monitoring the battery power state of the existing AGV trolley, real-time online monitoring is lacked is solved, the intelligent monitoring level of the AGV trolley can be improved, and the production cost of cigarette factory management is reduced.
Drawings
In order to more clearly describe the specific embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of an AGV car battery power rapid diagnosis method provided by the present invention.
FIG. 2 is a schematic diagram illustrating the flow of information between an upper computer and an AGV provided by the present invention.
FIG. 3 is a flow chart illustrating AGV cart battery power diagnostics provided by embodiments of the present invention.
Detailed Description
In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.
The problem that the battery power of the current AGV trolley lacks real-time online monitoring is solved. The invention provides a rapid diagnosis method for AGV trolley battery power, which is characterized in that an MODBUS protocol is arranged between an upper computer and an AGV trolley, a ZigBee wireless network is adopted for instruction and data transmission, and voltage data acquired by a battery pack of the AGV trolley are sent to the upper computer for fault diagnosis, so that the problem that manual detection is adopted for monitoring the battery power state of the existing AGV trolley, real-time online monitoring is lacked is solved, the intelligent monitoring level of the AGV trolley can be improved, and the production cost of cigarette factory management is reduced.
As shown in fig. 1, a method for quickly diagnosing AGV car battery power includes:
s1: and an MODBUS protocol is set between the upper computer and each AGV trolley, and the equipment address number corresponding to each AGV trolley is set so as to form an instruction and data communication mode of the master-slave equipment.
S2: ZigBee wireless networks are arranged between the upper computer and the AGV trolleys for network communication, so that the upper computer serves as a master station, the AGV trolleys serve as slave stations, and instructions and data between the upper computer and the AGV trolleys are transmitted.
S3: and acquiring the voltage of the single battery for the battery pack of the AGV, and sending positioning data and battery voltage data according to a message format formed by the MODUS protocol according to the equipment address number of the AGV.
S4: and the upper computer performs battery power data operation processing and display according to the positioning data and the battery voltage data sent by each AGV trolley, and judges whether a power fault exists according to the voltage and the total voltage of the single batteries of each AGV trolley.
In practical application, in order to ensure the accuracy, reliability and robustness of the system, the states of all the cells of the battery pack power of each AGV trolley can be known in real time through man-machine conversation in a monitoring center, and fine management and accurate fault prediction or indication are realized. Constructing a diagnostic system, as shown in fig. 2, specifically comprising the steps of:
(1) an A/D data conversion module is additionally arranged on each AGV trolley, so that the analog voltage of each battery cell is converted into digital data, and an acquisition instruction is waited, which is an application bottom layer of the whole system.
(2) The upper monitoring software generates call instructions with different address contents and same length according to the MODBUS protocol for broadcast transmission,
(3) the ZigBee wireless Internet of things addresses the master station and the slave station according to the network number and address mode, so that a master station is arranged in a superior computer monitoring center, network slave stations with different addresses are respectively arranged on the nodes of the midway points and the AGV trolley bodies below the superior computer monitoring center for networking deployment, and the transmission of instructions and data is realized, which is an intermediate network layer of the whole system.
(4) After each AGV car receives MODBUS instruction information, the MODBUS instruction information is verified to be the same as a calling address of the AGV car, return data are collected immediately and are returned to an upper computer through a ZIGBEE wireless Internet of things, upper monitoring software is in a triggered monitoring state, and once monitoring data are received, the immediately-triggered AGV car is shifted to data operation processing and alarm display instruction, which is the application top layer of the whole system.
Meanwhile, as the AGV trolleys are continuously moved and delivered in a workshop field, the acquisition devices arranged on the trolleys are also continuously changed in place along with the trolleys, so that the acquired data on the AGV trolleys are extracted in a one-to-one correspondence manner, and the upper computer establishes vehicle identification information with the trolleys in the field through an MODBUS protocol, so that the vehicle can be positioned and accurately responded, and an instruction and data communication mode of the master-slave equipment is formed. The master device of the Modbus protocol can communicate with the slave devices independently or can communicate with all the slave devices in a broadcast mode. The slave device returns a message in response if communicating alone, and no response if queried in a broadcast manner.
The Internet of things is an application network formed by combining sensing equipment and various information; the specific bridging function played in the system is as follows: transmitting moving instructions and data between the upper monitoring software and each AGV trolley acquisition device; the AGV trolley is in a movable delivery mode on the spot and cannot be provided with a line network, so that the AGV trolley can be realized by selecting a ZigBee wireless network of a wireless transmission network.
The method further comprises the following steps:
s5: and setting an AGV trolley calling algorithm to send acquisition instructions to each AGV trolley so as to acquire the positioning data and the battery voltage data of each AGV trolley.
S6: and the corresponding AGV trolley carries out voltage acquisition when receiving the acquisition instruction, and returns data to the upper computer for processing according to a set message format.
Further, set up AGV dolly calling algorithm and send the acquisition instruction to each AGV dolly, include: and polling all AGV trolleys by a set interval cyclic scheduling algorithm, and starting to send acquisition instructions at intervals in a cyclic mode according to the initial value of the equipment address number.
Set up AGV dolly calling algorithm and send the acquisition instruction to each AGV dolly, still include: and setting a specified time scheduling algorithm to send an acquisition instruction to the AGV according to set time.
In practical application, as shown in fig. 3, a clock timer may be used to drive voltage acquisition, the interval time may be 10s, and the variation of the transmitted acquisition instruction is determined according to the difference of the selected scheduling algorithm.
(1) The interval cycle scheduling algorithm: if all the trolleys are selected to be polled, firstly, the default trolley is determined to be the No. 1 trolley, the timer is incremented from 0 second to 1, when the timing reaches 10 seconds, the computer sends a hexadecimal byte acquisition instruction containing 1 digit, the timer only plays a role of triggering regardless of the final result, the instruction is usually transmitted to all the trolleys within 30 milliseconds through a wireless internet of things router, the data acquisition of the trolley is carried out only after the verification of the only trolley with the vehicle number of 1 is consistent, other trolleys are in a silent state and return data to the upper computer for fast calculation within 100 milliseconds, and the upper computer usually completes the processing within 100 milliseconds and displays the result. Of course, the timer again starts parallel computation of time from 0.
When the timer counts for 10 seconds, the serial number of the trolley is increased by 1 to be 2, and the upper computer sends an acquisition instruction containing 2 digits to indicate the No. 2 trolley module to acquire data. If the timer is later, the upper computer performs acquisition operation according to the mechanisms of 3, 4, 5 and 1.
(2) And (3) specifying a scheduling algorithm: if a certain specified trolley is selected, the upper computer only sends out the acquisition instruction of the trolley repeatedly as long as the timing time is up.
Whether there is power failure according to the voltage and the total voltage judgement of the battery cell of each AGV dolly includes:
comparing the voltage of the single battery of the AGV trolley with the average threshold value of the single battery, if the difference value is larger than 0.2V and smaller than 1V, the corresponding single battery has power failure, and the voltage needs to be checked and charging maintenance is carried out; if the difference value is larger than the set value of 1V, the corresponding single battery has a serious problem, whether the pole plate has short circuit needs to be checked, and if the pole plate has short circuit, the single battery is replaced and maintained.
Further, whether there is power failure according to the voltage and the total voltage judgement of the battery cell of each AGV dolly, still include:
and judging whether the total voltage obtained by accumulating the single batteries of the AGV exceeds a set voltage range or not, and if so, judging that the total voltage is abnormal and needs to be charged or overhauled.
The method further comprises the following steps: and the upper computer judges whether the AGV is in a normal state or an abnormal state according to the received battery voltage data of the AGV, and if the AGV is in the abnormal state, abnormal display and alarm are carried out.
In practical application, the upper computer is provided with a monitoring interface, each acquired single battery voltage is displayed in a corresponding cell text box of the monitoring interface in decimal data, and the text box initializes the background color to be gray and is also the color displayed when the cell voltage is normal. When the difference between the cell voltage and the average value is larger than the set range of 0.2-1 volt, the background color corresponding to the cell text box is yellow. When the difference value between the cell voltage and the average value is larger than the set 1V value, the background color corresponding to the cell frame is red. When the difference between the cell voltage and the average value is more than 0.2V and less than 1V, the background color of the alarm frame is yellow and the text is displayed. When the difference value between the cell voltage and the average value is larger than the set value of 1V, the background color of the alarm frame is red and displays a text, i.e., whether the power unit corresponding to the abnormal background frame is checked and the polar plate is damaged is judged! ". When the total voltage of the battery pack is normal, the background color of the alarm box is green and displays ' congratulation ', and the alarm box is in a normal state after analyzing the power supply balance of all the power cells '. When the total voltage of the battery pack is abnormal, the background color of the alarm box is red and displays that' the battery power has a problem, the battery power needs to be checked! ". The monitoring interface also can dynamically display the trolley number, the diagnosis time interval and the current time of the current call according to a background program algorithm.
The method further comprises the following steps: the upper computer determines the distance between the AGV and the charging position according to the received positioning data of the AGV, and judges whether to send a charging instruction to the AGV according to the battery voltage data.
Therefore, the method for rapidly diagnosing the AGV trolley battery power provided by the invention has the advantages that the MODBUS protocol is arranged between the upper computer and the AGV trolley, the ZigBee wireless network is adopted for instruction and data transmission, and further, the voltage data acquired by the battery pack of the AGV trolley is sent to the upper computer for fault diagnosis, so that the problem that the conventional AGV trolley battery power state monitoring is lack of real-time online monitoring due to manual detection is solved, the intelligent monitoring level of the AGV trolley can be improved, and the production cost of cigarette factory management is reduced.
The construction, features and functions of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified by the spirit and scope of the present invention should be protected without departing from the spirit of the present invention.
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