CN216286301U - AGV remote control device realized by using multiple communication modes of upper computer - Google Patents
AGV remote control device realized by using multiple communication modes of upper computer Download PDFInfo
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- CN216286301U CN216286301U CN202123079201.XU CN202123079201U CN216286301U CN 216286301 U CN216286301 U CN 216286301U CN 202123079201 U CN202123079201 U CN 202123079201U CN 216286301 U CN216286301 U CN 216286301U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The utility model discloses a device for realizing AGV remote control by applying multiple communication modes to an upper computer, which comprises the upper computer, a frequency converter, an AGV, a robot control cabinet, a laser scanning sensor, a tool support induction sensor, a force control sensor and an air compressor, wherein the upper computer is respectively connected with the frequency converter, the robot control cabinet and the force control sensor through gateways, the robot control cabinet is connected with the tool support induction sensor through a DeviceNet I/O board, and the upper computer is connected with an API (application program interface) of the AGV through an HTTP (hyper text transport protocol). The utility model has strong real-time performance, can well meet the requirements for the data transmission of a force control sensor, a laser sensor and a robot controller with high real-time performance requirements, has strong safety and stability, and adopts gateways for the data interaction among different protocols, thereby avoiding the transfer through intermediate equipment and greatly reducing the failure rate.
Description
Technical Field
The utility model relates to the technical field of remote control, in particular to an AGV remote control device which is realized by applying multiple communication modes to an upper computer.
Background
An Automated Guided Vehicle (AGV) is a distribution tool for transporting materials in a production workshop, and can travel along a magnetic strip guide path laid, and in industrial applications, a driver's transport Vehicle is not required, and a rechargeable battery is used as a power source.
The control of AGV system is accomplished by host computer scheduling system, AGV vehicle control system and wireless communication system cooperation, because the complexity of compound robot integrated system, current technical scheme all can't be with industrial robot, PLC, 3D laser sensor, force control sensor, laser navigation AGV, hydraulic system in addition, a series of complicated industrial equipment integrated control such as air feed system, only through a communication protocol, integrated to the control software of industrial computer, make it become one set of complete independent compound robot system of processing, all be short in security and stability, and delay again in the transmission of data, unable real-time supervision control, consequently, need improve current technical scheme.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems and designs an AGV remote control device which is realized by applying a plurality of communication modes to an upper computer.
The technical scheme includes that the AGV remote control device is realized by applying multiple communication modes to an upper computer, and comprises the upper computer, a frequency converter, the AGV, a robot control cabinet, a laser scanning sensor, a tool support induction sensor, a force control sensor and an air compressor, wherein the upper computer is respectively connected with the frequency converter, the robot control cabinet and the force control sensor through gateways, the robot control cabinet is connected with the tool support induction sensor through a DeviceNet I/O board, and the upper computer is connected with an API (application program interface) of the AGV through an HTTP (hyper text transport protocol).
As a further supplement of the utility model, the upper computer converts a serial port Modbus RTU protocol of the frequency converter into a TCP/IP protocol through a gateway, and the frequency converter is externally connected with a milling cutter spindle motor through a hard wire.
As a further supplement of the utility model, the upper computer converts the serial port 232 protocol of the force control sensor into a TCP/IP protocol through a gateway.
As a further supplement of the utility model, the scram information of the upper computer and the AGV transmits data through a UDP protocol, and the upper computer and the AGV transmit data through a TCP/IP protocol.
As a further supplement of the utility model, the upper computer and the robot control cabinet transmit data through a TCP/IP protocol.
As a further supplement to the present invention, the laser scanning sensor is installed on a laser device, and the upper computer controls the laser device through the SDK and transmits laser data through a UDP protocol.
As a further supplement of the utility model, the robot control cabinet is externally connected with the robot, the upper computer can control various tracks executed by the robot in real time, real-time coordinate information transmitted by the robot is transmitted to the upper computer through a UDP protocol every 4 milliseconds, and the upper computer controls devecent I/O signals of the robot by calling an SDK of the robot.
As a further supplement of the utility model, the industrial communication protocol Ethernet/IP of the robot control cabinet and the Modbus TCP protocol of the upper computer are converted through a gateway.
As a further supplement of the utility model, the upper computer and the air compressor transmit data through a TCP/IP protocol.
The method has the advantages that the method has strong real-time performance, can well meet the requirements for the data transmission of a force control sensor, a laser sensor and a robot controller which have high real-time performance requirements, has strong safety and stability, has high requirements for personnel and equipment safety such as emergency stop signals, sends data once every 100ms through UDP, if the upper computer does not receive the data within more than 100ms, the upper computer judges that the emergency stop signals are generated, and the data interaction among different protocols is converted through the gateway, so the gateway is adopted in the important data transmission, the transfer through intermediate equipment can be avoided, and the failure rate is greatly reduced.
Drawings
Fig. 1 is a schematic structural view of the present invention.
In the figure, 1, a host computer; 2. AGV; 3. a laser scanning sensor; 4. a force-controlled sensor; 5. an air compressor; 6. a frequency converter; 7. a robot control cabinet; 8. the tool holder senses the sensor.
Detailed Description
Firstly, the utility model provides a device for realizing remote control of an AGV by applying various communication modes to an upper computer, aiming at solving the problems that a series of complex industrial equipment such as an industrial robot, a PLC (programmable logic controller), a 3D (three-dimensional) laser sensor, a force control sensor, a laser navigation AGV, a hydraulic system, an air supply system and the like cannot be integrally controlled, certain delay is caused during data execution, and the safety and the stability cannot be ensured.
The utility model can remotely control the AGV composite robot system to work in real time, stably, effectively and safely by effectively matching a plurality of communication modes, and the utility model is described in detail by combining the following drawings:
as shown in fig. 1, this AGV remote control device mainly includes host computer 1, converter 6, AGV 2, robot control cabinet 7, laser scanning sensor 3, tool holder inductive transducer 8, force control sensor 4 and air compressor machine 5, wherein host computer 1 passes through the gateway and is connected with converter 6, convert the serial ports Modbus RTU protocol of converter 6 into TCP/IP protocol, play the effect of host computer 1 wireless control converter 6, converter 6 controls milling cutter spindle motor through the hard wire connection.
The upper computer 1 is connected with the force control sensor 4 through a gateway, and a serial port 232 protocol of the force control sensor 4 is converted into a TCP/IP protocol, so that the function of the upper computer 1 in wireless closed-loop control of the force control sensor 4 is achieved; the upper computer 1 calls an API (application program interface) of the AGV 2 through an HTTP (hyper text transport protocol) protocol and transmits data through a TCP/IP (transmission control protocol/internet protocol) protocol to achieve the effect of wirelessly controlling the AGV 2; the scram information of the upper computer 1 and the AGV 2 is transmitted through a UDP protocol, and the effect of wireless interaction of the scram information is achieved.
The robot control cabinet 7 is connected with the tool support induction sensor 8 through a DeviceNet I/O board, the upper computer 1 and the robot control cabinet 7 transmit data through a TCP/IP protocol, the robot control cabinet 7 is externally connected with a robot, an industrial communication protocol Ethernet/IP of the robot control cabinet 7 and a Modbus TCP protocol of the upper computer 1 are converted through a gateway, the upper computer 1 can directly communicate with the robot, and the upper computer 1 can control various tracks executed by the robot in real time through the protocols to realize real-time control of the robot; real-time coordinate information transmitted by the robot is transmitted to the upper computer 1 through a UDP protocol every 4 milliseconds, the upper computer 1 controls a Dexenet I/O signal of the robot by calling an SDK of the robot, and the effect of wirelessly controlling a series of complex industrial equipment such as a hydraulic system, a construction period system and the like is achieved.
The laser scanning sensor 3 is arranged on the laser equipment, the upper computer 1 controls the laser equipment through the SDK and transmits laser data through a UDP protocol, and the effect of wirelessly acquiring the laser data is achieved; the laser equipment is triggered by the robot by using a Devicenet I/O signal, and data is transmitted to the upper computer 1 through UDP; the upper computer 1 and the air compressor 5 transmit data through a TCP/IP protocol to achieve the function of wirelessly controlling the air compressor 5, and the data interaction between different protocols is converted through a gateway, so the gateway is adopted in important data transmission, the transfer through intermediate equipment can be avoided, the failure rate is greatly reduced, and the real-time performance, the safety and the stability are greatly improved.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides a host computer uses multiple communication mode to realize AGV remote control device, a serial communication port, including host computer (1), converter (6), AGV (2), robot control cabinet (7), laser scanning sensor (3), tool holder inductive sensor (8), force control sensor (4) and air compressor machine (5), host computer (1) through the gateway respectively with converter (6), robot control cabinet (7) and force control sensor (4) are connected, robot control cabinet (7) through DeviceNet IO board with tool holder inductive sensor (8) are connected, host computer (1) through the HTTP agreement with the API interface connection of AGV (2).
2. The AGV remote control device according to claim 1, wherein the upper computer (1) converts a serial port Modbus RTU protocol of the frequency converter (6) into a TCP/IP protocol through a gateway, and the frequency converter (6) is externally connected with a milling cutter spindle motor through a hard wire.
3. The AGV remote control device according to claim 1, wherein the upper computer (1) converts a serial port 232 protocol of the force control sensor (4) into a TCP/IP protocol through a gateway.
4. The AGV remote control device according to claim 1, wherein the upper computer (1) and the AGV (2) transmit data through UDP protocol according to the scram information, and the upper computer (1) and the AGV (2) transmit data through TCP/IP protocol.
5. The AGV remote control device according to claim 1, wherein the upper computer (1) and the robot control cabinet (7) transmit data through TCP/IP protocol.
6. The AGV remote control device according to claim 1, wherein the laser scanning sensor (3) is installed on a laser device, and the upper computer (1) controls the laser device through an SDK and transmits laser data through a UDP protocol.
7. The AGV remote control device according to claim 1, wherein the robot control cabinet (7) is externally connected with a robot, the upper computer (1) can control various tracks executed by the robot in real time, real-time coordinate information transmitted by the robot is transmitted to the upper computer (1) through a UDP protocol every 4 milliseconds, and the upper computer (1) controls a Dexenet I/O signal of the robot by calling an SDK of the robot.
8. The AGV remote control device according to claim 1, wherein the industrial communication protocol Ethernet/IP of the robot control cabinet (7) and the Modbus TCP protocol of the upper computer (1) are converted through a gateway.
9. The AGV remote control device according to claim 1, wherein the upper computer (1) and the air compressor (5) transmit data through a TCP/IP protocol.
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| CN202123079201.XU CN216286301U (en) | 2021-12-09 | 2021-12-09 | AGV remote control device realized by using multiple communication modes of upper computer |
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| CN202123079201.XU CN216286301U (en) | 2021-12-09 | 2021-12-09 | AGV remote control device realized by using multiple communication modes of upper computer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026811A (en) * | 2022-05-20 | 2022-09-09 | 北京理工大学 | Multi-robot serial port-to-WIFI communication and cooperative motion control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026811A (en) * | 2022-05-20 | 2022-09-09 | 北京理工大学 | Multi-robot serial port-to-WIFI communication and cooperative motion control method |
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