CN117193194A

CN117193194A - AGV dispatch system based on optical communication

Info

Publication number: CN117193194A
Application number: CN202311221456.6A
Authority: CN
Inventors: 项卫锋; 芮敏; 汪磊
Original assignee: Anhui Yufeng Equipment Co ltd
Current assignee: Anhui Yufeng Equipment Co ltd
Priority date: 2023-09-21
Filing date: 2023-09-21
Publication date: 2023-12-08

Abstract

The application relates to the technical field of optical signal communication, and discloses an AGV scheduling system based on optical communication, which comprises the following components: the upper computer system belongs to an Automatic Logistics Control System (ALCS), and is connected with the storage management system (WMS). The conveying line PLC control system comprises a plurality of connection tables. According to the AGV scheduling system based on optical communication, the butt joint of the conveyor line PLC control system and the AGV vehicle-mounted control system AMS is realized by using an optical communication mode, the upper computer system receives a task instruction of the WMS system, processes the task instruction and converts the task instruction into an instruction which can be identified by the AGV vehicle-mounted control system AMS, the task instruction is issued to the conveyor line PLC control system, the task is transmitted to the AGV vehicle-mounted control system AMS through optical communication equipment arranged on a conveyor line and an AGV vehicle body, and meanwhile, the execution condition of the task is fed back to the upper computer system through the optical communication equipment by the AGV vehicle-mounted control system AMS, so that the scheduling function of the AGV trolley is realized under the environment without wireless local area network, wired communication and radio communication.

Description

AGV dispatch system based on optical communication

Technical Field

The application relates to the technical field of optical signal communication, in particular to an AGV scheduling system based on optical communication.

Background

With the development of computer, communication and network technologies, the pace of global informatization is faster and faster, and a network information system has become an infrastructure for the development of a country, an industry, a group and an enterprise. While human beings feel the great contribution of the network information system to the social civilization, the network information security problem is recognized as a great key problem to be solved urgently for affecting the military industry and long-term benefits. Network security is particularly important in relation to the military industry and units with security properties, and in some projects, it is often the case that wireless local area networks are not allowed to be used in projects required by customers for security and security.

But generally AGV dolly is through carrying out induction communication with dispatch system radio communication, or through the wire of burying on the line, also accessible infrared laser, also accessible wireless local area network realizes the dispatch of preventing bumping dispatch, operating condition detection, task between the AGV robot, and fixed path AGV adopts the communication cable or the infrared device of fixed position buried in the geosyncline to communicate, and free path AGV adopts radio communication and wireless local area network more.

The communication mode used in the vast majority is a wireless local area network, so that communication cannot be performed in an environment where the wireless local area network is not allowed to be used. In order to solve the scheduling problem of AGVs in a wifi-free network environment, the application provides a control system based on optical signal communication.

Disclosure of Invention

The application provides an AGV scheduling system based on optical communication, which has the advantages of interaction in a network-free environment and realizing the safety of information interaction, and is used for solving the AGV scheduling problem of the military industry and a confidentiality unit.

In order to achieve the above purpose, the application adopts the following technical scheme: an AGV scheduling system based on optical communications, comprising:

the upper computer system belongs to an Automatic Logistics Control System (ALCS), and is connected with the storage management system (WMS).

The conveying line PLC control system comprises a plurality of connection platforms which are mutually connected with the upper computer system and follow a first butt joint protocol.

AGVs for transporting cargo.

And the vehicle-mounted control system AMS is mounted on the AGV trolley, and the vehicle-mounted control system AMS is mutually connected with the conveyor line PLC control system and conforms to a second docking protocol.

And the optical communication equipment is arranged on the AGV body and the conveying line and is used for communicating through optical signals.

The conveying line PLC control system is connected with optical communication equipment arranged on an AGV body through optical communication equipment arranged on a conveying line.

The vehicle-mounted control system AMS is connected with optical communication equipment arranged on the AGV body.

Further, the upper computer system comprises at least one processor and a memory in communication connection with the at least one processor.

The memory stores instructions executable by the at least one processor to enable the at least one processor to interface with the conveyor line PLC control system and to follow a first docking protocol.

Further, the route planning of AGV is preset to adopt decentralized communication framework, through car body and the predetermined place installation optical communication equipment at AGV, like AGV berth, charging station, transfer chain body, utilize optical communication equipment's light signal to carry out information interaction.

Further, the vehicle-mounted control system AMS is connected with the optical communication equipment arranged on the vehicle body in a wired mode through the IO module, 15 lines are total, 2 groups of connectors, 4 signal control lines, 2 power lines and the balance signal lines are arranged. The line is exclusive channel during communication, and the vehicle-mounted control system AMS controls the communication channel to switch between receiving data and transmitting data.

Further, the vehicle-mounted control system AMS includes the following functional modules: the device comprises a manual control end, a safety device starting end, a storage battery state end, a steering limit end, a brake release end, a walking light end, a driving and steering motor control end and a charging contactor.

Further, the first docking protocol, including the first docking protocol, includes:

(1) The upper computer system sends task information to the conveying line PLC control system, wherein the task information comprises a task number, a task serial number, a connection platform number, a starting point and a terminal point.

(2) Comprises a step (21) and a step (22), and is specifically as follows:

(21) The Automatic Guided Vehicle (AGV) online heartbeat packet HB-PA is sent to the upper computer system at regular time by the PLC control system of the conveying line, and the content of the AGV online heartbeat packet HB-PA is as follows: XTPRES _DS . I.e., beginning with XT, and sequentially adding the online status of the AGV for the mth to 1 st docking stations.

Wherein PRES _DS For describing the online status of m docking stations.

PRES _DS ＝PRES _DS-m …PRES _DS-i …PRES _DS-1 。

PRES _DS-i Indicating the ith docking station _i AGV presence, PRES _DS-i =0 indicates that the AGV of the i-th docking station is not on line. PRES (pre) _DS-i =1 indicates that the AGV of the i-th docking station is online.

(22) The PLC control system of the conveying line sends a docking station state information packet DS-STAT-PA to the upper computer system at regular time, wherein the docking station state information packet DS-STAT-PA comprises the following contents: JBFLT _DS . That is, the state information of the mth to 1 st docking stations is added in order starting with the JB.

Wherein FLT _DS For describing the fault situation of m docking stations.

FLT _DS ＝FLT _DS-m …FLT _DS-i …FLT _DS-1 。

FLT _DS-i Representing the fault condition of the ith connection platform, FLT _DS-i =0 indicates that the ith docking station is normal, FLT _DS-i =1 indicates the i-th docking station failure.

(23) The upper computer system generates a heartbeat handshake information packet HB-HC-PA and sends the heartbeat handshake information packet HB-HC-PA to the conveying line PLC control system, and the heartbeat handshake information packet HB-HC-PA is used as a disconnection reconnection mechanism of the conveying line PLC control system.

The heartbeat handshake information packet HB-HC-PA comprises the following contents: PLC (programmable logic controller) _j XTPRES _DS JBFLT _DS 。

Wherein, PLC _j And (5) marking the heartbeat normal mark of the PLC control system for the jth conveying line.

XTPRES _DS The content of the heartbeat packet HB-PA is online for the AGV.

JBFLT _DS Is the content of the docking station status information packet DS-STAT-PA.

(3) The PLC control system of the conveying line sends task feedback information to the upper computer system, wherein the task feedback information consists of a task number, a task serial number, a connection platform number, a task start mark or a task completion mark.

The automatic transmission system comprises an AGV vehicle-mounted control system AMS, a transmission line PLC control system, a vehicle-mounted control system AMS, a transmission line PLC control system and a control system, wherein the transmission line PLC control system simultaneously sends a task feedback signal to the AGV vehicle-mounted control system AMS, the vehicle-mounted control system AMS immediately replies the same task feedback information to the transmission line PLC control system after receiving the feedback signal, and the transmission line PLC control system stops sending after receiving the same task feedback information, otherwise, the transmission line PLC control system continues sending after a period of time.

(4) And the conveying line PLC control system connected with the connection platform transmits empty support request information to the upper computer system, wherein the empty support request information comprises a connection platform number and a starting point.

(5) And the upper computer system sends task alarm information to a conveying line PLC control system connected with the connection platform.

Further, the second docking protocol includes:

(1) The AGV vehicle-mounted control system AMS sends an online heartbeat signal to the optical communication equipment A of the conveyor line PLC control system through the optical communication equipment B.

(2) The AGV vehicle-mounted control system AMS carries out safe interaction through a preset in-and-out signal by the aid of optical communication equipment A of the conveying line PLC control system connected with the connection platform through the optical communication equipment B, so that interaction between the AGV and the connection platform is realized.

The request signal sent by the optical communication device b of the vehicle-mounted control system AMS to the optical communication device a of the conveyor line PLC control system includes:

00010000: indicating that the AGV is applying for entry-shipment. That is, the AGV applies to enter the docking station with the load, at which time the AGV rollers wait for rolling.

00100000: indicating that the AGV is applying for enter-no-load.

The response signal sent by the optical communication device a of the conveyor line PLC control system to the optical communication device b of the AGV vehicle-mounted control system AMS comprises the following steps:

10000000: indicating that discharge is allowed. And the conveying line PLC control system sends a unloading permission signal when judging that the connection platform is in a non-cargo state.

01000000: indicating that pickup is allowed. And the conveying line PLC control system sends a goods taking permission signal when judging that the connection platform is in a goods state.

11110000: indicating that no pick-up or drop-off is allowed.

(3) And the transfer chain PLC control system connected with the connection platform transmits task signals to the AGV vehicle-mounted control system AMS, wherein the task signals comprise a starting point and a terminal point.

(4) The optical communication equipment b of the vehicle-mounted control system AMS sends a task feedback signal to the optical communication equipment a of the conveyor line PLC control system, wherein the task feedback signal comprises the following components:

00000001: indicating the start.

00000010: indicating that the pick is complete.

00000011: indicating that the discharge is complete:

00000100: indicating completion.

00000101: representing a reacquiring task.

Further, the AGV includes:

the AGV car body AGV automobile body, the frame is installed at the top of AGV automobile body, the top of frame is provided with the tray, and optical communication equipment installs in the AGV automobile body.

The optical transmitter is connected with the controller of the optical communication equipment and is used for transmitting and receiving optical signals.

The guide rail is arranged on the outer wall of the AGV body, and the light emitter moves along the guide rail. The guide rail comprises a transverse rail, a vertical rail and a ring rail, wherein the transverse rail is positioned on the bottom surface of an AGV body of the AGV body, the head end of the vertical rail is connected with the tail end of the transverse rail, the vertical rail is arranged on the side surface of the AGV body, the head end of the ring rail is connected with the tail end of the vertical rail, the ring rail surrounds the side surface of the AGV body and the tail end of the ring rail is positioned close to the tail end of the vertical rail.

The sweeper is arranged on the bottom surface of an AGV body, four directions of the bottom surface of the AGV body are provided with one sweeper, and the light emitter is positioned in the middle of the four sweepers at normal time.

Further, the guide rail includes:

and the rail frame is connected to the outer wall of the AGV body.

The driving roller is arranged in the rail frame and positioned at the bending position of the rail frame, and is connected with a forward and reverse rotation motor.

The transmission chain belt is wound on the transmission roller, extends along the rail frame and is connected end to end, and the light emitter is connected to the transmission chain belt.

Further, the sweeper includes:

the cleaning frame is arranged on the bottom surface of the AGV body, the number of the cleaning frames is two, the cleaning frames are symmetrically arranged on two sides of the rail frame, and the height of the cleaning frame is greater than the distance from the bottom end of the light emitter to the bottom surface of the AGV body.

The cleaning head traverses below the rail frame, and two ends of the cleaning head are respectively connected to the cleaning frame, and the cleaning frame.

The application has the following beneficial effects:

1. according to the AGV scheduling system based on optical communication, the butt joint of the conveyor line PLC control system and the AGV vehicle-mounted control system AMS is realized by using an optical communication mode, the upper computer system receives a task instruction of the WMS system, processes the task instruction and converts the task instruction into an instruction which can be identified by the AGV vehicle-mounted control system AMS, the task instruction is issued to the conveyor line PLC control system, the task is transmitted to the AGV vehicle-mounted control system AMS through optical communication equipment arranged on a conveyor line and an AGV vehicle body, and meanwhile, the execution condition of the task is fed back to the upper computer system through the optical communication equipment by the AGV vehicle-mounted control system AMS, so that the scheduling function of the AGV trolley is realized under the environment without wireless local area network, wired communication and radio communication.

2. According to the AGV dispatching system based on optical communication, the guide rail is arranged on the AGV body and matched with the transverse rail, the vertical rail and the annular rail which are respectively positioned on the bottom surface and the side surface, so that the light emitter can move to the side surface from the bottom surface, the receiving and transmitting range of the optical signal of the light emitter is enlarged, signal transmission of optical communication equipment arranged on the AGV body and optical communication equipment on a conveying line is facilitated, and the problem that the AGV cannot be positioned due to deviation from a preset conveying line is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

The application may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic diagram of the system components of the present application;

FIG. 2 is a schematic view of the structure of the AGV of the present application;

FIG. 3 is a bottom view of the AGV of the present application;

FIG. 4 is a side view of the AGV of the present application;

FIG. 5 is a schematic view of a partial structure of the guide rail of the AGV of the present application.

In the figure: 1. AGV body; 101. a frame; 102. a tray; 2. a guide rail; 201. a rail frame; 202. a driving roller; 203. a drive chain belt; 211. a transverse rail; 212. a vertical rail; 213. a circular rail; 3. a light emitter; 4. a cleaner; 401. a cleaning frame; 402. a cleaning head.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Example 1

Referring to fig. 1, an AGV scheduling system based on optical communication includes:

AGVs for transporting cargo.

The conveying line PLC control system is connected with optical communication equipment b arranged on an AGV body through optical communication equipment a arranged on a conveying line, and the communication modes of the optical communication equipment a and the optical communication equipment b are as follows: and carrying out data interaction in a visible light mode, and carrying out data transmission and reception by using a specific information code, wherein the specific information code is specifically a second docking protocol.

The upper computer system comprises at least one processor and a memory which is in communication connection with the at least one processor;

The route planning of AGV is preset to adopt decentralized communication framework, through the automobile body at AGV and predetermined place installation optical communication equipment, like AGV berth station, charging station, transfer chain body, utilize optical communication equipment's light signal to carry out information interaction.

The vehicle-mounted control system AMS is connected with optical communication equipment arranged on a vehicle body in a wired mode through an IO module, 15 lines are total, 2 groups of connectors, 4 signal control lines, 2 power lines and the balance signal lines. The line is exclusive channel during communication, and the vehicle-mounted control system AMS controls the communication channel to switch between receiving data and transmitting data.

In the operation process, the AGV trolley receives instructions from the conveyor line PLC control system through the vehicle-mounted control system AMS and reports the state of the AGV trolley, and the upper computer system gives tasks to the AGV through the conveyor line PLC control system, and meanwhile collects information sent back by the AGV so as to monitor the working condition of the AGV.

The vehicle-mounted control system AMS comprises the following functional modules: the device comprises a manual control end, a safety device starting end, a storage battery state end, a steering limit end, a brake release end, a walking light end, a driving and steering motor control end and a charging contactor.

A first docking protocol comprising:

(1) The upper computer system sends task information to the conveyor line PLC control system, wherein the task information comprises a task number, a task serial number, a connection platform number, a starting point and a terminal point; the connection platform numbers, the starting point and the end point are transmitted by decimal numbers;

for example, the following task information is: TN1710250001101 001 001, where TN1710250001 represents a task number; 1 represents a task number; 01 represents a connection table number which is a decimal number; the second 001 of the right number represents the starting point, which is a decimal number; the first 001 of the right number represents the end point and is a decimal number. The final transmission format is decimal string format TN1710250001101 001 001 $.

The guide rail (2) comprises a step (21) and a step (22), and specifically comprises the following steps:

(21) The PLC control system of the conveying line sends an AGV online heartbeat packet HB-PA to the upper computer system at regular time, wherein the AGV online heartbeat packet HB-PA comprises the following contents: XTPRES _DS The method comprises the steps of carrying out a first treatment on the surface of the That is, starting with XT and adding the AGV presence from mth to 1 st docking station in sequence, where PRES _DS For describing the online status of m docking stations.

PRES _DS ＝PRES _DS-m …PRES _DS-i …PRES _DS-1

PRES _DS-i Indicating the ith docking station _i AGV presence, PRES _DS-i =0 indicates that the AGV of the i-th docking station is not online; PRES (pre) _DS-i =1 represents the ith jointAGVs of the docking station are online.

The conveyor line PLC control system generally transmits an AGV online heartbeat packet HB-PA to the upper computer system every few seconds.

Example 1: m=14, the online heartbeat packet HB-PA content of the AGV is XT00000000000000, the online status of the AGV is from low to high dimension No. 1 to No. 14 respectively, 0 indicates that the AGV is not online, 1 indicates that the AGV is online, and the final transmission format is decimal character string format: XT00000000000000 $. AGV with content XT00000000000000 on-line heartbeat packet HB-PA indicates that AGVs of the No. 1 to No. 14 docking stations are all off-line.

Example 2: the AGV online heartbeat packet HB-PA comprises the following contents: XT00000000000001 indicates that No. 1 docking station AGV is online and No. 2-13 docking station AGVs are not online. Or expressed as AGV trolley at dock number 1.

(22) The PLC control system of the conveying line sends a docking station state information packet DS-STAT-PA to the upper computer system at regular time, wherein the contents of the docking station state information packet DS-STAT-PA are as follows: JBFLT _DS The method comprises the steps of carrying out a first treatment on the surface of the I.e. begin with JB and add the status information of the mth to 1 st docking station in turn, wherein FLT _DS For describing the fault situation of m docking stations.

FLT _DS ＝FLT _DS-m …FLT _DS-i …FLT _DS-1

The PLC control system of the conveyor line generally transmits a docking station state information packet DS-STAT-PA to the upper computer system every few seconds.

Example 1: m=14, the content of the docking station status packet DS-STAT-PA is JB00000000001111, which indicates that No. 1, no. 2, no. 3, no. 4 docking stations are malfunctioning, and the rest of docking stations are normal.

Example 2: m=14, the content of the docking station status packet DS-STAT-PA is JB00000001110000, which indicates that the docking stations No. 5, 6 and 7 are faulty, and the rest of docking stations are normal.

The heartbeat handshake packet HB-HC-PA comprises the following contents: PLC (programmable logic controller) _j XTPRES _DS JBFLT _DS 。

XTPRES _DS The content of the heartbeat packet HB-PA is online for the AGV.

Example 1: the heartbeat handshake packet HB-HC-PA comprises the following contents:

PLC ₁ XT00000000000001JB00000000001111

representing PLC ₁ The heartbeat is normal, and AGV dolly is in No. 1 connection platform, no. 1, no. 2, no. 3, no. 4 connection platform trouble.

Example 2: PLC (programmable logic controller) ₂ XT00000000010000JB00000001110000

Representing PLC ₂ The heartbeat is normal, and AGV dolly is in No. 5 connection platform, no. 5, no. 6, no. 7 connection platform trouble.

Example 1: the task feedback information is: TN171025000110101

Wherein, from left to right four component parts are in proper order: TN1710250001 represents a task number; 1 represents a task number; the second 01 of the right numbers represents the docking station number; the first 01 on the right indicates the start of the task as a decimal value.

The final transmission format is a decimal string format: TN171025000110101 $.

Example 2: TN171025000110102

Wherein, from left to right four component parts are in proper order: TN1710250001 represents a task number; 1 represents a task number; 01 represents a docking station number; 02 indicates that the task is completed, and the task is a decimal value.

The final transmission format is a decimal string format: TN171025000110102 $.

The PLC control system of the conveying line simultaneously sends a task feedback signal to the AMS, the AMS immediately replies the same task feedback information to the PLC control system of the conveying line after receiving the feedback signal, and the PLC control system of the conveying line stops sending after receiving the feedback signal, otherwise, the PLC control system of the conveying line continues sending after a period of time;

(4) And the conveying line PLC control system connected with the connection platform sends empty support request information to the upper computer system, wherein the empty support request information comprises the connection platform number and a starting point.

The decimal character string format of the task alarm information is as follows: 111 111 111 111 111 111 111 $.

A second docking protocol comprising:

Examples: the online heartbeat signal is: 10000000, the leftmost bit, i.e. the highest bit, being a 1 indicates an on-line signal;

examples: the online heartbeat signal is: 00000000, a 0 on the leftmost bit, i.e., the most significant bit, indicates that the signal is not on line. And the conveyor line PLC control system senses whether the AGV is on the connection platform or not.

(2) The AGV vehicle-mounted control system AMS performs safety interaction through a preset in-and-out signal through optical communication of a conveying line PLC control system connected with the connection platform through optical communication equipment b. To achieve interaction of the AGV with the docking station.

00010000: indicating that the AGV is applying for entry-shipment; i.e., the AGV applies for access to the docking station with the load. At this point the AGV rollers wait to roll.

00100000: indicating that the AGV is applying for enter-no-load; i.e., the AGV applies for access to the docking station without the load. At this point the AGV is in place and the roller of the AGV begins to roll.

10000000: indicating that discharge is allowed; and the conveying line PLC control system sends a unloading permission signal when judging that the connection platform is in a non-cargo state. After the signal is sent, the docking station automatically starts to roll the rolling shaft, and the rolling direction of the rolling shaft faces the unloading direction. After receiving the signal, the vehicle-mounted control system AMS starts rolling the roller of the AGV, and the rolling direction of the AGV roller is consistent with that of the roller of the docking station. The load rolls from the roller of the AGV onto the roller of the docking station and moves toward the discharge location.

01000000: representing that pickup is allowed; and the conveying line PLC control system sends a goods taking permission signal when judging that the connection platform is in a goods state. After the signal is sent, the docking station automatically starts to roll the rolling shaft, and the rolling direction of the rolling shaft faces to the goods taking direction.

11110000: indicating that no pick-up or drop-off is allowed. After receiving the signal, the vehicle-mounted control system AMS gives an audible alarm.

(3) The transfer chain PLC control system that the platform of plugging into is connected gives task signal to the on-vehicle control system AMS of AGV, and task signal includes start point and terminal point.

Examples: the task signals are: 0001 0005

Wherein 0001 represents a starting point, namely a starting point is a number 1 docking station; 0005 denotes the endpoint, i.e. endpoint No. 5 docking station.

(4) The optical communication equipment b of the vehicle-mounted control system AMS sends task feedback signals to the optical communication equipment a of the conveyor line PLC control system, wherein the task feedback signals comprise:

00000001: representing the start;

00000010: indicating that the picking is completed;

00000011: indicating that the discharge is complete:

00000100: indicating completion;

00000101: representing a reacquiring task.

The application adopts a wireless point-to-point parallel signal communication mode with light as a medium, establishes a set of communication rules based on the optical communication mode, realizes the butt joint with an external WMS system, the butt joint with a conveyor line PLC control system and the butt joint between an AGV trolley and the control system in a network-free environment, greatly increases the safety of network information and solves the important key problems of the military industry.

The application realizes the automatic operation of the AGV, the interaction of task information and the AGV state under the environment without a wireless local area network, the selected optical communication equipment has strong electromagnetic interference resistance, simple equipment structure, small volume, light weight, low price, clear function division of a control system, simple and practical docking protocol, supports expansion, has the AGV state recording function, reports the state after reaching a communication position, has the AGV task recovery function, and can continuously execute the task after the manual recovery is abnormal.

Example two

Referring to fig. 2, 3, 4 and 5, the agv includes:

the Automatic Guided Vehicle (AGV) body 1, wherein a frame 101 is arranged at the top of the AGV body 1, a tray 102 is arranged at the top end of the frame 101, and optical communication equipment is arranged in the AGV body 1; the cargo is placed on the pallet 102.

An optical transmitter 3 connected to a controller of the optical communication device, the optical transmitter 3 being configured to transmit and receive an optical signal; in this embodiment, the controller of the optical communication device is separated from the optical transmitter 3, and is connected by a wire, under the normal condition, the optical transmitter 3 is positioned at the center of the bottom surface of the AGV body 1, when the AGV deviates from a preset conveying line under the condition of damage and the like, the optical transmitter 3 is moved to adjust the transceiving range of the optical transmitter 3, so that the optical transmitter 3 can perform optical signal transmission with the optical communication device on the conveying line, send alarm information, and perform positioning post-processing on the damaged AGV.

The guide rail 2 is arranged on the outer wall of the AGV body 1, and the light emitter 3 moves along the guide rail 2; the guide rail 2 is composed of a transverse rail 211, a vertical rail 212 and a ring rail 213, wherein the transverse rail 211 is positioned on the bottom surface of the AGV body 1, the head end of the vertical rail 212 is connected with the tail end of the transverse rail 211, the vertical rail 212 is arranged on the side surface of the AGV body 1, the head end of the ring rail 213 is connected with the tail end of the vertical rail 212, the ring rail 213 surrounds the side surface of the AGV body 1 for one circle, and the tail end of the ring rail 213 is positioned close to the tail end of the vertical rail 212.

The sweeper 4 is arranged on the bottom surface of the AGV body 1, one sweeper 4 is arranged in four directions of the bottom surface of the AGV body 1, and the light emitter 3 is positioned in the middle of the four sweepers 4 at normal time.

The cleaner 4 includes:

the cleaning frames 401 are arranged on the bottom surface of the AGV body 1, two cleaning frames 401 are symmetrically arranged on two sides of the rail frame 201, and the height of each cleaning frame 401 is greater than the distance between the bottom end of each light emitter 3 and the bottom surface of the AGV body 1;

the cleaning head 402 traverses under the rail 201, and both ends of the cleaning head 402 are connected to the cleaning frame 401.

The light emitter 3 moves along the rail 201 from above the cleaning head 402 along with the driving chain belt 203. The cleaning head 402 is used for cleaning the light emitter 3 in the front, back, left and right of the conveying line under normal conditions, and preventing sundries on the conveying line from obstructing the transmission of optical signals.

Referring to fig. 1, 4 and 5, the guide rail 2 includes:

a rail frame 201 connected to the outer wall of the AGV body 1;

the driving roller 202 is arranged in the rail frame 201 and positioned at the bending position of the rail frame 201, and the driving roller 202 is connected with a forward and reverse rotation motor;

the driving chain belt 203 is looped around the driving roller 202, extends along the rail 201 and is connected end to end, and the light emitter 3 is connected to the driving chain belt 203.

In this embodiment, the forward and reverse rotation motor is not shown, and referring to fig. 4, the positional relationship between the driving roller 202 and the rail 201 is shown. Referring to fig. 5, in order to connect the driving roller 202 with the driving chain belt 203, the rotating shaft of the forward and reverse rotating motor is connected to the driving roller 202, the motor rotates forward, so that the driving roller 202 rotates unidirectionally, the driving chain belt 203 drives unidirectionally, the light emitter 3 moves along the transverse rail 211, the vertical rail 212 and the circular rail 213 along with the driving chain belt 203, and when the light emitter 3 moves to the tail end of the circular rail 213, that is, the end of the circular rail 213 on the left side, which is close to the vertical rail 212 in fig. 4, the motor rotates reversely, and the light emitter 3 returns in the original path.

When the AGV deviates from the conveyor line, the optical signal transmitted by the optical communication device conventionally fixed at a specific position of the AGV body 1 cannot be received by the optical communication device on the conveyor line, because the transmission of the optical signal is linear transmission, and is easily blocked. At this time, the motor is started to rotate forward, and the light emitter 3 moves along the guide rail 2, namely, can reach the front, back, left and right positions of the side surface of the AGV body 1, so that the emitting range and the receiving range of the light emitter 3 are enlarged, and the signal transmission with the optical communication equipment on the conveying line is improved. If it is necessary to return the light emitter 3 to the original position, the motor is required to be reversed.

Claims

1. An AGV scheduling system based on optical communication, comprising:

the upper computer system belongs to an Automatic Logistics Control System (ALCS), and is connected with the storage management system (WMS);

the conveyor line PLC control system comprises a plurality of connection tables which are mutually connected with the upper computer system and follow a first butt joint protocol;

AGVs for transporting cargo;

the vehicle-mounted control system AMS is mounted on the AGV trolley, and the vehicle-mounted control system AMS is connected with the conveyor line PLC control system and conforms to a second docking protocol;

the optical communication equipment is arranged on the AGV body and the conveying line and is used for communicating through optical signals;

the conveying line PLC control system is connected with optical communication equipment arranged on an AGV body through optical communication equipment arranged on a conveying line;

2. The AGV scheduling system based on optical communication of claim 1, wherein the host computer system includes at least one processor and a memory communicatively coupled to the at least one processor;

3. The AGV scheduling system according to claim 1, wherein the route of the AGV is preset and a distributed communication architecture is adopted, and the information interaction is performed by installing optical communication devices such as an AGV parking station, a charging station, and a conveyor line at the vehicle body and a predetermined location of the AGV, using optical signals of the optical communication devices.

4. The AGV scheduling system according to claim 1, wherein the vehicle control system AMS is wired to an optical communication device mounted on a vehicle body through an IO module, and is configured to have 15 lines in total, 2 sets of connectors, 4 signal control lines, 2 power lines, and the balance signal lines; the line is exclusive channel during communication, and the vehicle-mounted control system AMS controls the communication channel to switch between receiving data and transmitting data.

5. The AGV scheduling system based on optical communication of claim 1, wherein the in-vehicle control system AMS comprises the following functional modules: the device comprises a manual control end, a safety device starting end, a storage battery state end, a steering limit end, a brake release end, a walking light end, a driving and steering motor control end and a charging contactor.

6. The AGV scheduling system based on optical communication of claim 1, wherein the first docking protocol, including the first docking protocol, comprises:

(1) The upper computer system sends task information to the conveyor line PLC control system, wherein the task information comprises a task number, a task serial number, a connection platform number, a starting point and a terminal point;

(2) Comprises a step (21) and a step (22), and is specifically as follows:

(21) The PLC control system of the conveying line sends an AGV online heartbeat packet HB-PA to the upper computer system at regular time, and the AGV online heartbeat packet HB-PAThe content of packet HB-PA is: XTPRES _DS The method comprises the steps of carrying out a first treatment on the surface of the Starting with XT, and sequentially adding the online states of AGVs of the mth to 1 st connection tables;

wherein PRES _DS The online state of the m docking stations is described;

PRES _DS ＝PRES _DS-m …PRES _DS-i …PRES _DS-1 ；

PRES _DS-i indicating the ith docking station _i AGV presence, PRES _DS-i =0 indicates that the AGV of the i-th docking station is not online; PRES (pre) _DS-i =1 indicates that the AGV of the i-th docking station is online;

(22) The PLC control system of the conveying line sends a docking station state information packet DS-STAT-PA to the upper computer system at regular time, wherein the docking station state information packet DS-STAT-PA comprises the following contents: JBFLT _DS The method comprises the steps of carrying out a first treatment on the surface of the Starting with JB, and adding state information of mth to 1 st connection platform in turn;

wherein FLT _DS The method is used for describing the fault conditions of m connection platforms;

FLT _DS ＝FLT _DS-m …FLT _DS-i …FLT _DS-1 ；

FLT _DS-i representing the fault condition of the ith connection platform, FLT _DS-i =0 indicates that the ith docking station is normal, FLT _DS-i =1 represents an i-th docking station failure;

(23) The upper computer system generates a heartbeat handshake information packet HB-HC-PA and sends the heartbeat handshake information packet HB-HC-PA to the conveying line PLC control system, wherein the heartbeat handshake information packet HB-HC-PA is used as a disconnection reconnection mechanism of the conveying line PLC control system;

the heartbeat handshake information packet HB-HC-PA comprises the following contents: PLC (programmable logic controller) _j XTPRES _DS JBFLT _DS ；

Wherein, PLC _j A heartbeat normal mark of a PLC control system of the jth conveying line;

XTPRES _DS the content of an AGV online heartbeat packet HB-PA;

JBFLT _DS the content of the DS-STAT-PA is the status information packet of the docking station;

(3) The PLC control system of the conveying line sends task feedback information to the upper computer system, wherein the task feedback information consists of a task number, a task serial number, a connection platform number, a task start mark or a task completion mark;

the conveyor line PLC control system simultaneously sends a task feedback signal to an AMS (automatic guided vehicle) vehicle-mounted control system, and after the AMS vehicle-mounted control system receives the feedback signal, immediately replying the same task feedback information to the conveying line PLC control system, stopping sending after the conveying line PLC control system receives the same task feedback information, and continuing sending after a period of time is not interrupted;

(4) The method comprises the steps that a conveying line PLC control system connected with a connection platform sends empty support request information to an upper computer system, wherein the empty support request information comprises a connection platform number and a starting point;

7. The AGV scheduling system based on optical communication of claim 1, wherein the second docking protocol comprises:

(1) The AGV vehicle-mounted control system AMS sends an online heartbeat signal to an optical communication device A of the conveyor line PLC control system through an optical communication device B;

(2) The Automatic Guided Vehicle (AGV) vehicle-mounted control system (AMS) performs safe interaction through a preset accessible signal by an optical communication device (A) of a conveying line PLC control system connected with the docking station through an optical communication device (B) so as to realize interaction between the AGV and the docking station;

00010000: indicating that the AGV is applying for entry-shipment; the AGV applies to enter the docking station under the condition of carrying cargoes, and the AGV roller waits for rolling at the moment;

00100000: indicating that the AGV is applying for enter-no-load;

10000000: indicating that discharge is allowed; the PLC control system of the conveying line sends a unloading permission signal when judging that the connection platform is in a non-cargo state;

01000000: representing that pickup is allowed; the PLC control system of the conveying line sends a goods taking permission signal when judging that the connection platform is in a goods state;

11110000: indicating that pick-up or drop-off is not allowed;

(3) The method comprises the steps that a conveying line PLC control system connected with a connection platform transmits task signals to an AGV vehicle-mounted control system AMS, wherein the task signals comprise a starting point and a terminal point;

00000001: representing the start;

00000010: indicating that the picking is completed;

00000011: indicating that the discharge is complete:

00000100: indicating completion;

00000101: representing a reacquiring task.

8. The optical communication based AGV scheduling system of claim 1, wherein the AGV comprises:

the Automatic Guided Vehicle (AGV) comprises an AGV body (1), wherein a frame (101) is arranged at the top of the AGV body (1), a tray (102) is arranged at the top end of the frame (101), and optical communication equipment is arranged in the AGV body (1);

the optical transmitter (3) is connected with a controller of the optical communication equipment, and the optical transmitter (3) is used for transmitting and receiving optical signals;

the guide rail (2) is arranged on the outer wall of the AGV body (1) of the AGV body, and the light emitter (3) moves along the guide rail (2); the guide rail consists of a transverse rail (211), a vertical rail (212) and a ring rail (213), wherein the transverse rail (211) is positioned on the bottom surface of an AGV body (1) of the AGV body, the head end of the vertical rail (212) is connected with the tail end of the transverse rail (211), the vertical rail (212) is arranged on the side surface of the AGV body (1) of the AGV body, the head end of the ring rail (213) is connected with the tail end of the vertical rail (212), the ring rail (213) surrounds one circle of the side surface of the AGV body (1) of the AGV body, and the tail end of the ring rail (213) is positioned at a position close to the tail end of the vertical rail (212);

the sweeper (4) is arranged on the bottom surface of the AGV body (1), one sweeper (4) is arranged in four directions of the bottom surface of the AGV body (1), and the light emitter (3) is positioned in the middle of the four sweepers (4) when the light emitter is normal.

9. The AGV scheduling system based on optical communication according to claim 8, wherein the guide rail (2) comprises:

the rail frame (201) is connected to the outer wall of the AGV body (1);

the driving roller (202) is arranged in the rail frame (201) and positioned at the bending position of the rail frame (201), and the driving roller (202) is connected with a forward and reverse rotation motor;

the transmission chain belt (203) is wound on the transmission roller (202), extends along the rail frame (201) and is connected end to end, and the light emitter (3) is connected to the transmission chain belt (203).

10. The AGV scheduling system based on optical communication according to claim 8, wherein the sweeper (4) comprises:

the cleaning frames (401) are arranged on the bottom surface of the AGV body (1), the number of the cleaning frames (401) is two, the cleaning frames are symmetrically arranged on two sides of the rail frame (201), and the height of each cleaning frame (401) is larger than the distance between the bottom end of each light emitter (3) and the bottom surface of the AGV body (1);

and the cleaning head (402) traverses below the rail frame (201), and two ends of the cleaning head (402) are respectively connected to the cleaning frame (401), wherein the cleaning frame (401).