CN107705045A - A kind of production logistics intelligent distribution AGV system and its application based on cloud website framework - Google Patents
A kind of production logistics intelligent distribution AGV system and its application based on cloud website framework Download PDFInfo
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Abstract
The present invention relates to a kind of production logistics intelligent distribution AGV system based on cloud website framework and its application, including cloud platform, stand end and point end, wherein cloud platform to include looped network and the Cloud Server of Operational Data Analysis decision system；End of standing includes multiple AGV scheduler subsystems, and every AGV scheduler subsystems include at least one site server that corresponding plant area is responsible for AGV vehicle schedulings；Point end corresponds to multiple AGV vehicles under plant area including every AGV scheduler subsystems；Multiple AGV vehicles carry out live signal transmission by wireless aps, interchanger and station end, and end of standing is connected by wireless communication module with cloud platform signal to carry out data transmission.The present invention realizes concentrates purpose to more AGV distributed management and control and data, reach unified management, scheduling, monitoring and the analysis to more AGV, solve the problem that legacy system can not be controlled trans-regional standdle carrier span plant area AGV and data are concentrated, be truly realized the effective integration of data.
Description
Technical field
The present invention relates to it is a kind of based on cloud-stand-the production logistics intelligent distribution AGV system of a framework and its application, belong to
Intelligent logistics technical field.
Background technology
There are for more than 60 years in self-navigation transport vehicle (Automated Guided Vehicle, AGV), to having turned at present
One of point-to-point automatic material flow dispatching instrument of more ripe workshop level.In the research and practice process to prior art, skill
Art personnel have found AGV scheduling system, and there are the following problems：(1) only solving the point-to-point automated material dispatching of workshop level will
Ask, fail to consider from Lean Production, do not reach the quick material allocation of lean.(2) system rigidity is too strong, logistics route
Later stage adjustment and modification difficulty it is larger, AGV is difficult to change logistics route by oneself changing production demand using producer itself.
(3) AGV scheduling also fail to consider production status, equipment situation and AGV system some resources of production key elements in itself and lead
Cause running efficiency of system low.(4) when being required in face of trans-regional more plant area's automatic material flow dispatchings, also only by each factory
Area/workshop lacks data interaction between arranging the system for realize, causing each plant area/workshop one by one, does not reach efficiently collaboration life
Production, can not carry out Centralized Monitoring, lack the concentration analysis to data and utilized with increment.
As industry 4.0 and intelligence manufacture implementation and personalized production requirement are increasingly strong, these fixations are ineffective
It is living, blunt it is not quick, be independently not coordinated with, bad adaptability the problems such as it is more and more prominent.Meanwhile the trans-regional more workshops of more plant areas are managed
Have become normality, in terms of solving material flows automation, existing AGV solution is exactly automatic by workshop progress AGV one by one
Change deployment.Therefore the system data after existing AGV system deployment is dispersed in different location, it is difficult to accomplish in data set, it more difficult to enter
The big data extraction and analysis of row AGV system.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of production logistics intelligent distribution AGV system based on cloud framework,
The system disclosure satisfy that the production system of trans-regional more plant areas cooperates with the efficient of more AGV, lean is quick and the thing of flexible customization
Stream dispatching requires.
The present invention also provides the logistics distribution operating method of said system.
Technical scheme is as follows：
A kind of production logistics intelligent distribution AGV system based on cloud platform framework, including：
- cloud platform, the cloud platform include looped network and the Cloud Server of Operational Data Analysis decision system；
- end of standing, the station end include multiple AGV scheduler subsystems, and every AGV scheduler subsystems include corresponding plant area and are responsible for
At least one site server of AGV vehicle schedulings；
- end, described end correspond to multiple AGV vehicles under plant area including every AGV scheduler subsystems；
The multiple AGV vehicles carry out live signal transmission by wireless aps, interchanger and station end, and the station end passes through nothing
Line communication module is connected with cloud platform signal to carry out data transmission.
Preferably, the Cloud Server includes：A to multiple AGV scheduler subsystems under cloud platform framework appointing
The product administration module with task management is assigned in business；B is to client's progress authentication and the power to accessing cloud platform interface
The customer management module of checking；C is collecting plan distribution time during multiple AGV vehicle deliveries, actually start to dispense
Time, the speed of service, run the last time, pause has avoided the last time, failure last time, has waited last time, charge number
The high in the clouds efficiency big data analysis module of amount and weight data information；D is to during multiple AGV vehicle deliveries, collection is drawn
The factor of AGV vehicle troubles is sent out, to station end AGV scheduler subsystems push failure in the case of AGV vehicle trouble incidence height
Probabilistic information, the high in the clouds fault pre-alarming analysis module for causing AGV vehicle schedulings index to change.
Preferably, the Cloud Server also includes：E is counted greatly high in the clouds efficiency big data analysis module to be passed through to data
Result after being analyzed according to analysis model is pushed to the multi-platform push technology module in high in the clouds of each terminal platform.
Preferably, the terminal platform includes mobile phone, PC computers and tablet personal computer.
Preferably, SSL communication encryption agreements are used between the station end and cloud platform.
Preferably, the site server includes：1. electronic map planning and designing module, using based on user's visualization interface
The electronic map of pattern, electronic map are exported with XML file format, and path planning is carried out using AGV vehicle coordinates pattern；It is 2. real
When scheduler module, using the real-time planning technology of logistics optimal path based on depth binary tree search algorithm, more AGV vehicles are existed
Optimal path under multipath, multi-task state carries out rational management；3. order management module, the task order of setting is managed,
Including increasing, deleting, changing, looking into, so as to change the data on station client database backstage；4. vehicle management module, termination receptor site end AGV cars of standing
The information of vehicles sended over, is shown to console interface after corresponding with car number；5. conflict-solving module, end of standing exists
Sent when AGV vehicle running paths clash according to conflict type and stop rushing for wait, again path planning or slow-down
Prominent resolution policy.
Preferably, the AGV vehicles include AGV dollies and the AGV controllers and radio communication mold that are arranged on AGV dollies
Block, AGV controllers carry out information transfer by wireless communication module and station end AGV scheduler subsystems, while AGV controllers receive
Assignment instructions that the end AGV scheduler subsystems of standing are sent control the operation of AGV dollies.
Preferably, the Cloud Server also includes：Carry out integrated, storage and analysis the Hadoop modules of data；Carry out
The YARN modules of resource management；It is scheduled using Zookeeper；The data that client database of standing uploads are carried out using HDFS
Hadoop files store；Data are stored using HBase and Redis；Off-line calculation, Spark are carried out using MapReduce
Calculated in real time；Realize that data warehouse is built using Hive, MLlib carries out data analysis.
Preferably, the station end AGV scheduler subsystems are to AGV vehicle Real-Time Schedulings, and AGV vehicles are with Fixed Time Interval
Mode carries out information updating, and end AGV scheduler subsystems of standing carry out information updating in a manner of event driven.
Preferably, the task processing mode of the production logistics intelligent distribution AGV system based on cloud platform framework is taken
The mode of task queue, under priority same case, system task takes the principle of first in first out, i.e., first asking for task is first
Handled.In addition, open up new thread for task to handle task, make task processing not by other systems information
Renewal disturbed, ensure the smooth execution of transport task.
A kind of operation method of the production logistics intelligent distribution AGV system based on cloud platform framework, comprises the following steps：
End AGV scheduler subsystems of standing send assignment instructions to multiple AGV vehicles under respective corresponding plant area, on AGV vehicles
AGV controllers by wireless communication module receive site server send assignment instructions after, by AGV controllers control AGV
The operation of vehicle；AGV vehicles regularly send the operation information of AGV vehicles, end of standing during job run to site server
AGV scheduler subsystems utilize the data message that wireless communication technique is grasped to cloud platform real-time Transmission AGV scheduler subsystems, terminal
Platform can log in cloud platform at any time and carry out information inspection and send task modification information to station end by cloud platform, and the end AGV that stands is adjusted
Degree subsystem assigns new operating instruction according to task modification information to an end AGV vehicle.
The beneficial effects of the present invention are：
Present invention structure collects the AGV intelligent management platforms that integrated function is fed back in management, scheduling, monitoring and analysis, realizes
Purpose is concentrated to more AGV distributed management and control and data, reaches unified management, scheduling, monitoring and the analysis to more AGV, is solved
Traditional AGV system can not accomplish the problem concentrated to trans-regional standdle carrier span plant area AGV controls and data, be advantageous to and produce system
Unify and be uploaded to the Cooperative Analysis that cloud platform carries out grouping of the world economy big data.Using the system architecture model of " cloud-stand-point ", grind
Study carefully data resource fusion, data extraction and analysis and big data analysis and feedback push technology, structure high in the clouds intelligence AGV equipment
Management platform, provided for intelligent AGV equipment and register, manage, monitoring functional group as core.Meanwhile it is big to study efficiency beyond the clouds
Data analysis and fault pre-alarming analysis model, aid decision strategy is provided for the optimizing management of " station ", realized to the AGV controls of " station " end
The full monitoring of system processed, reaches the purpose prejudged in advance to unknown problem or failure, also solves more trans-regional more plant areas in area
The unified plan of producer goods delivery system and management problemses, it is truly realized the effective integration of data.
Brief description of the drawings
Fig. 1 is the general frame of cloud-a stand-production logistics intelligent distribution AGV system；
Fig. 2 is high in the clouds and station client information transfer mode；
Fig. 3 is a station end-end protocol function list figure；
Fig. 4 dispatches system for station end and includes function and module；
Fig. 5 is AGV vehicle trouble early warning analysis models；
Fig. 6 solves ideograph for point end AGV vehicle collisions；
Embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
As shown in Figures 1 to 6, the present embodiment provides a kind of production logistics intelligent distribution AGV systems based on cloud platform framework
System, including cloud platform, stand end and point end, carry out the transmission of data message using wireless communication technique between three, wherein：
- cloud platform, the cloud platform include looped network and the Cloud Server of Operational Data Analysis decision system；
- end of standing, the station end include multiple AGV scheduler subsystems, and each AGV scheduler subsystems correspond to a plant area, often
One AGV scheduler subsystems include at least one site server that corresponding plant area is responsible for AGV vehicle schedulings, multiple site server distributions
In multiple workshops, it is however generally that, a workshop is correspondingly arranged a site server；
- end, described end includes every AGV scheduler subsystems and corresponds to multiple AGV vehicles under plant area, in a workshop
Multiple AGV vehicles can be placed with；
Multiple AGV vehicles carry out live signal transmission by wireless aps, interchanger and station end, and AGV vehicles are logical with station end
Letter method can use technical scheme disclosed in the Chinese patent of Application No. 2017107955197, and end of standing passes through wireless telecommunications mould
Block is connected with cloud platform signal to carry out data transmission, and the communication protocol stood between end and cloud platform uses SSL communication encryption agreements,
Ensure the security in communication process.
Cloud Server includes：A is assigned and task to carry out task to multiple AGV scheduler subsystems under cloud platform framework
The product administration module of management；B manages to carry out the client of authentication and power checking to the client for accessing cloud platform interface
Manage module；C is collecting plan distribution time during multiple AGV vehicle deliveries, actual start distribution time, operation speed
Spend, run the last time, pause has avoided the last time, failure plays the last time, has waited last time, load quantity and weight data
The high in the clouds efficiency big data analysis module of information；D is to during multiple AGV vehicle deliveries, collection triggers AGV vehicle troubles
Factor, in the case of AGV vehicle trouble incidence height to station end AGV scheduler subsystems push probability of malfunction information, cause
The high in the clouds fault pre-alarming analysis module of AGV vehicle schedulings index change.
Cloud Server also includes：E to data by high in the clouds efficiency big data analysis module passing through big data analysis model
Result after analysis is pushed to the multi-platform push technology module in high in the clouds of each terminal platform.Terminal platform includes mobile phone, PC
Computer and tablet personal computer.
Site server includes：1. electronic map planning and designing module, using the electronics based on user's visualization interface pattern
Map, electronic map are exported with XML file format, and path planning is carried out using AGV vehicle coordinates pattern；2. Real-Time Scheduling mould
Block, using the real-time planning technology of logistics optimal path based on depth binary tree search algorithm, to more AGV vehicles multipath,
Optimal path under multi-task state carries out rational management；3. order management module, the task order of setting is managed, including increase,
Delete, change, look into, so as to change the data on station client database backstage；4. vehicle management module, termination receptor site end AGV vehicles of standing are sent
The information of vehicles to come over, console interface is shown to after corresponding with car number；5. conflict-solving module, end of standing is in AGV cars
When driving path clashes according to conflict type send stopping wait, path planning or the Conflict solving of slow-down again
Strategy.
AGV vehicles include AGV dollies and the AGV controllers and wireless communication module that are arranged on AGV dollies, AGV controls
Device carries out information transfer by wireless communication module and station end AGV scheduler subsystems, while AGV controllers receiving station end AGV is adjusted
The assignment instructions that degree subsystem is sent control the operation of AGV dollies.In a workshop, AGV vehicles and manipulator, vehicle-mounted shifting
When dynamic device is engaged operation, carried out by the way of task-driven, the task that AGV controllers are sent by receiving station end
Instruct to control the operation of AGV dollies.
End AGV scheduler subsystems of standing carry out letter to AGV vehicle Real-Time Schedulings, AGV vehicles in a manner of Fixed Time Interval
Breath renewal, end AGV scheduler subsystems of standing carry out information updating in a manner of event driven.Stand end site server and point end
AGV vehicles are communicated by the way of assignment instructions, command content as shown in figure 3, including：A1. the attribute of enquiring vehicle refers to
Order；A2. the real-time status instruction of enquiring vehicle；B1. the attribute instruction of query path；C1. the assignment instructions of order vehicle；D1.
Force the instruction of control vehicle；D2. mode, the instruction of point operation control vehicle；E1. vehicle feeds dog instruction.
The task processing mode of production logistics intelligent distribution AGV system based on cloud platform framework takes the side of task queue
Formula, under priority same case, system task takes the principle of first in first out, i.e., first asking for task is first handled.Remove
Outside this, open up new thread for task and task is handled, task processing is not done by the renewal of other systems information
Disturb, ensure the smooth execution of transport task.
Embodiment 2：
A kind of production logistics intelligent distribution AGV system based on cloud platform framework, system architecture as described in Example 1, its
Difference is：Cloud Server also includes：Carry out integrated, storage and analysis the Hadoop modules of data；Carry out resource pipe
The YARN modules of reason；It is scheduled using Zookeeper；The data that client database of standing uploads are subjected to Hadoop texts using HDFS
Part stores；Data are stored using HBase and Redis；Off-line calculation is carried out using MapReduce, Spark carries out real-time
Calculate；Realize that data warehouse is built using Hive, MLlib carries out data analysis.
Manager or user can access the Cloud Server for logging in cloud platform by terminal platform, monitor or check in real time
All data messages in AGV system or each station end and the running situation for putting end, also can by terminal platform come change or under
The assignment instructions of AGV vehicles are sent out, are realized with this to a control of end AGV vehicles.
Embodiment 3：
A kind of operation method of the production logistics intelligent distribution AGV system based on cloud platform framework as described in Example 2,
Its specific work process is as follows：
End AGV scheduler subsystems of standing send assignment instructions to multiple AGV vehicles under respective corresponding plant area, on AGV vehicles
AGV controllers by wireless communication module receive site server send assignment instructions after, by AGV controllers control AGV
The operation of vehicle；AGV vehicles regularly send the operation information of AGV vehicles, end of standing during job run to site server
AGV scheduler subsystems utilize the data message that wireless communication technique is grasped to cloud platform real-time Transmission AGV scheduler subsystems, management
Person can carry out information inspection and by cloud platform to station by the mobile phone of terminal platform, computer to log in the Cloud Server of cloud platform
Transmission task modification information is held, end AGV scheduler subsystems of standing assign new operation according to task modification information to an end AGV vehicle
Instruction.
Claims (10)
- A kind of 1. production logistics intelligent distribution AGV system based on cloud platform framework, it is characterised in that including：- cloud platform, the cloud platform include looped network and the Cloud Server of Operational Data Analysis decision system；- end of standing, the station end include multiple AGV scheduler subsystems, and every AGV scheduler subsystems include corresponding plant area and are responsible for AGV At least one site server of vehicle scheduling；- end, described end correspond to multiple AGV vehicles under plant area including every AGV scheduler subsystems；The multiple AGV vehicles carry out live signal transmission by wireless aps, interchanger and station end, and the station end passes through channel radio News module is connected with cloud platform signal to be carried out data transmission.
- 2. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 1, it is characterised in that institute Stating Cloud Server includes：A assigns the multiple AGV scheduler subsystems under cloud platform framework are carried out with task and task management Product administration module；B is to client's progress authentication to access cloud platform interface and the customer management module of power checking； C is collecting plan distribution time during multiple AGV vehicle deliveries, actual start distribution time, the speed of service, run Last time, pause have avoided the last time, failure plays the last time, has waited the cloud of last time, load quantity and weight data information Hold efficiency big data analysis module；For d to during multiple AGV vehicle deliveries, collection triggers the factor of AGV vehicle troubles, To station end AGV scheduler subsystems push probability of malfunction information in the case of AGV vehicle trouble incidence height, cause AGV vehicles The high in the clouds fault pre-alarming analysis module of regulation index change.
- 3. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 2, it is characterised in that institute Stating Cloud Server also includes：E by big data analysis model to data by high in the clouds efficiency big data analysis module analyzing it Result afterwards is pushed to the multi-platform push technology module in high in the clouds of each terminal platform；The terminal platform includes mobile phone, PC computers and tablet personal computer.
- 4. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 1, it is characterised in that institute State and use SSL communication encryption agreements between station end and cloud platform.
- 5. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 1, it is characterised in that institute Stating site server includes：1. electronic map planning and designing module, using the electronic map based on user's visualization interface pattern, electricity Sub- map is exported with XML file format, and path planning is carried out using AGV vehicle coordinates pattern；2. Real-Time Scheduling module, using base In the real-time planning technology of logistics optimal path of depth binary tree search algorithm, to more AGV vehicles in multipath, multi-task state Under optimal path carry out rational management；3. order management module, manages the task order of setting, including increases, deletes, changes, looks into, from And change the data on station client database backstage；4. vehicle management module, the vehicle letter that termination receptor site end AGV vehicles send over of standing Breath, is shown to console interface after corresponding with car number；5. conflict-solving module, end of standing is sent out in AGV vehicle running paths Stopping wait, again path planning or the conflict-solving strategy of slow-down are sent according to conflict type during raw conflict.
- 6. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 1, it is characterised in that institute Stating AGV vehicles includes AGV dollies and the AGV controllers and wireless communication module that are arranged on AGV dollies, AGV controllers by Wireless communication module carries out information transfer, while AGV controllers receiving station end AGV scheduling subsystems with station end AGV scheduler subsystems The assignment instructions sent of uniting control the operation of AGV dollies.
- 7. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 1, it is characterised in that institute Stating Cloud Server also includes：Carry out integrated, storage and analysis the Hadoop modules of data；Carry out the YARN moulds of resource management Block；It is scheduled using Zookeeper；The data that client database of standing uploads are subjected to Hadoop file storages using HDFS；Profit Data are stored with HBase and Redis；Off-line calculation is carried out using MapReduce, Spark is calculated in real time；Utilize Hive realizes that data warehouse is built, and MLlib carries out data analysis.
- 8. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 1, it is characterised in that institute State station end AGV scheduler subsystems and information updating carried out in a manner of Fixed Time Interval to AGV vehicle Real-Time Schedulings, AGV vehicles, End AGV scheduler subsystems of standing carry out information updating in a manner of event driven.
- 9. the production logistics intelligent distribution AGV system based on cloud platform framework as claimed in claim 1, it is characterised in that institute The task processing mode for stating the production logistics intelligent distribution AGV system based on cloud platform framework takes the mode of task queue, Under priority same case, system task takes the principle of first in first out, i.e., first asking for task is first handled.
- 10. a kind of production logistics intelligent distribution AGV system based on cloud platform framework as described in claim any one of 1-9 Operation method, comprise the following steps：End AGV scheduler subsystems of standing send assignment instructions to multiple AGV vehicles under respective corresponding plant area, the AGV on AGV vehicles After controller receives the assignment instructions that site server is sent by wireless communication module, AGV vehicles are controlled by AGV controllers Operation；AGV vehicles regularly send the operation information of AGV vehicles, the end AGV that stands scheduling during job run to site server Subsystem utilizes the data message that wireless communication technique is grasped to cloud platform real-time Transmission AGV scheduler subsystems, and terminal platform can Cloud platform is logged at any time to carry out information inspection and send task modification information, the end AGV that stands scheduling subsystems to station end by cloud platform System assigns new operating instruction according to task modification information to an end AGV vehicle.
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| CN108717595A (en) * | 2018-04-17 | 2018-10-30 | 姘磋储 | A kind of high in the clouds control hangar system based on technology of Internet of things |
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