CN109634187A - A kind of AGV remote monitoring system - Google Patents
A kind of AGV remote monitoring system Download PDFInfo
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- CN109634187A CN109634187A CN201811601131.XA CN201811601131A CN109634187A CN 109634187 A CN109634187 A CN 109634187A CN 201811601131 A CN201811601131 A CN 201811601131A CN 109634187 A CN109634187 A CN 109634187A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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- Automation & Control Theory (AREA)
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Abstract
The present invention is suitable for automatic control technology field, provide a kind of AGV remote monitoring system, it include: AGV, dispatching device and Cloud Server equipped with serial server, Cloud Server includes: database and web server, each plant area is equipped with several AGV and dispatching device, AGV is connect with the dispatching device of same on-site, and the dispatching device of different on-sites is connect with database；Location information and status information are sent to dispatching device by AGV, execute the control instruction that task scheduling apparatus issues；Task scheduling apparatus carries out the distribution of task, the planning and the traffic control in driving process of task travel route, and each AGV information is sent to database and is stored；Web server is based on inquiry instruction and transfers corresponding inquiry data from database, and is back to terminal device and is shown.The AGV information that each on-site can be monitored by terminal device logs WEB server does not need downloading client, greatly convenient for users to use.
Description
Technical field
The invention belongs to automatic control technology fields, provide a kind of AGV remote monitoring system.
Background technique
AGV (Automated Guided Vehicle) be one kind using rechargeable battery as power, guide automatically nobody drive
Automated vehicle is sailed, it can be under the monitoring of computer, and planning and job requirements, precision are walked and rested in specified by path
A series of job task such as picking, delivery, charging etc. is completed in place.In manufacturing industry, logistics transportation system is improving production
It is played an important role in terms of rate, the freedom degree of system can be increased by AGV, and shorten total haulage time, thus greatly
Improve production efficiency, therefore AGV has incomparable advantage in current logistics manufacturing industry.
It is found in the research and practice to the prior art, because the monitoring system of AGV is most of using C/S (client
End/server) framework, this, which needs user to install client, can just monitor the state for checking each AGV, and AGV monitoring system
It can only be shown in single workshop, can not show the information of more plant areas, to limit the use of monitoring system, and be difficult to do
Concentration analysis to data is handled.
Summary of the invention
The embodiment of the present invention provides a kind of AGV remote monitoring system, it is intended to solve existing AGV monitoring system and only pacify
The operating status of AGV can be just checked after dress client,
To achieve the goals above, the present invention provides a kind of AGV remote monitoring system, which includes:
AGV trolley, dispatching device and Cloud Server equipped with serial server, Cloud Server include: database and web clothes
Business device is equipped with several AGV trolleies and a dispatching device, the dispatching device of AGV trolley and same on-site in each plant area
Connection, the dispatching device of different on-sites are connect with database, and database is connect with web server and terminal device；
Location information and status information are sent to dispatching device by AGV trolley, execute the control that task scheduling apparatus issues
Instruction；
The distribution of task scheduling apparatus progress task, the planning and the traffic control in driving process of task travel route,
And the current location of each AGV, task path and status information are sent to database and stored；
Terminal device issues inquiry instruction to web server, and web server transfers corresponding inquiry number from database
According to, and be back to terminal device and shown.
Further, the AGV trolley includes: signal transmitting and receiving module one, by the location information and status information of AGV trolley
Be sent to dispatching device, receive the control instruction that dispatching device is sent and issuing for task, status information include: parking, it is busy,
Or failure, control instruction include: including cutoff command and enabled instruction；
Vehicle-mounted control module controls sailing towards next rows of nodes for AGV trolley based on control instruction；
Dispatching device includes: signal receiving module two, receives location information and status information that AGV trolley is sent, and will
Location information and status information are sent to database；
Task management module receives the mission bit stream of typing, comprising: task starting point, task terminal and task priority, base
The task in task list is ranked up in priority, first task in task list distributed to away from task starting point
Nearest idle AGV trolley, and corresponding driving path is sent to the free time AGV trolley, while by the mark of idle AGV trolley
Know and the driving path of task is sent to database and is stored；
Path planning module cooks up the most short driving path from task starting point to task terminal based on topological map, i.e.,
The node sequencing for generating driving path, the correspondence task that driving path is added in task list is expert at；
Management map module, storage and modification topological map, comprising: put position, the weight in section between two nodes, two is adjacent
The weight on side and the control zone of node, and modified topological map is updated in database；
The priority of traffic control module, task based access control passes through control zone to control AGV, preferential high task priority
The control zone that AGV trolley passes through next node；
State recording module, for the state record table of each AGV trolley of real-time update, while in real-time update database
The state record table, state record table, for recording and updating the state of each AGV trolley, the state of AGV trolley includes: sky
Not busy, parking, busy and failure.
Further, when task management module issues task, the small car state of the AGV for the task of distributing is changed to hurry by the free time
It is commonplace；
It is then the free time by the status modifier of AGV trolley when the current location of AGV trolley is in free area；
During route, if traffic control module sends halt instruction to AGV trolley, by corresponding A GV trolley
Status modifier be pause, if traffic control module to AGV trolley send enabled instruction, by the status maintenance of corresponding A GV trolley
It is changed to busy；
When AGV trolley breaks down, by the status modifier failure of corresponding A GV trolley, and fault message is recorded.
Further, the web server of Cloud Server includes: user log-in block, user registration module and information publication
Module, wherein information issuing module includes:
Monitoring unit, for monitoring the current location of each plant area AGV trolley in real time；
Failure rate statistical module counts the number of stoppages of each AGV trolley of on-site based on state record table, and record is often
Secondary fault message, including the position of fault and fault type；
Task execution statistical module, the task based on state record table statistics each AGV trolley of on-site in the setting period are held
Row amount.
Further, the vehicle-mounted control module includes:
Nodal test unit, detection AGV trolley currently whether on the intermediate node, if testing result be it is yes, control
Time window computing unit calculates the time window of next node, and sends best friend's siphunculus molding block,
Traffic control module detects the time window of next node with the presence or absence of coincidence, and if it exists, then to path planning module
Send quadratic programming instruction；
It is instructed based on quadratic programming, the section weight of lower a road section of low priority AGV is set as nothing by path planning module
It is poor big, the most short driving path of planning present node to terminal node, and driving path is issued to corresponding AGV trolley, simultaneously
By AGV mark and the corresponding quadratic programming routing update of the AGV to database；
The AGV of the low priority refers to the current AGV for executing task priority and being lower than highest priority.
AGV remote monitoring system provided by the invention has the following beneficial effects:
1. the AGV information of each on-site can be monitored by terminal device logs WEB server, downloading client is not needed
End, it is greatly convenient for users to use.
2. can the AGV of each on-site of real-time display according to demand location information, mission bit stream and fault message, can
The convenient change in location for accurately understanding each AGV, the specific time for generating failure, consequently facilitating subsequent examination and tracking；
3. in the process of moving, avoiding rushing section, planning current location again if next node time of occurrence window conflicts
To the most short driving path of task terminal, in the case where avoiding conflict, the operation for improving system is efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of AGV Dispatching Control System provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is that the structural schematic diagram of AGV remote monitoring system provided in an embodiment of the present invention only shows for ease of description
For the relevant part of the embodiment of the present invention.
The AGV remote monitoring system includes:
AGV trolley, dispatching device and Cloud Server equipped with serial server, Cloud Server include: database and web clothes
Business device is equipped with several AGV trolleies and a dispatching device, the dispatching device of AGV trolley and same on-site in each plant area
Connection, the dispatching device of different on-sites are connect with database, and database is connect with web server and terminal device；
Location information and status information are sent to dispatching device by AGV trolley, execute the control that task scheduling apparatus issues
Instruction；
The distribution of task scheduling apparatus progress task, the planning and the traffic control in driving process of task travel route,
And the current task of each AGV, task path and status information are sent to database and stored；
Terminal device issues inquiry instruction to web server, and web server transfers corresponding inquiry number from database
According to, and be back to terminal device and shown.
The AGV trolley information of each dispatching device only acquisition control same on-site operation, and dispatching device and AGV it
Between be required to be connected in same local area network, wherein more AGV and dispatching device transmit mutual letter by udp protocol
Breath needs the server where dispatching device the connection office in the form of network interface if locating local area network can not connect outer net
Domain net connects 4G/3G industry router in the form of wireless network, by 4G/3G network module by the information in scheduling system
It is transmitted in the database of cloud server, database is to establish mutually independent tables of data, terminal device for respective plant area
Computer, mobile phone and plate are contained, WEB server uses B/S (browser/server) framework, and user can by mobile terminal
The AGV trolley of each on-site is monitored whenever and wherever possible.
In embodiments of the present invention, AGV trolley includes:
The location information of AGV trolley and status information are sent to dispatching device by signal transmitting and receiving module one, receive scheduling dress
Setting the control instruction of transmission and issuing for task, status information include: parking, busy or failure, control instruction include: including
Cutoff command and enabled instruction；
Vehicle-mounted control module controls sailing towards next rows of nodes for AGV trolley based on control instruction；
Dispatching device includes:
Signal receiving module two receives location information and status information that AGV trolley is sent, and by location information and state
Information is sent to database；
Task management module receives the mission bit stream of typing, comprising: task starting point, task terminal and task priority, base
The task in task list is ranked up in priority, first task in task list distributed to away from task starting point
Nearest idle AGV trolley, and corresponding driving path is sent to free time AGV trolley, while by the mark of idle AGV trolley
And the driving path of task is sent to database and is stored；
Path planning module cooks up the most short driving path from task starting point to task terminal based on topological map, i.e.,
The node sequencing for generating driving path, the correspondence task that driving path is added in task list is expert at；
Management map module, storage and modification topological map information, comprising: position is put, the weight in section between two nodes, two
The weight of adjacent edge and the control zone of node, and by modified topological map information update into database；
The priority of traffic control module, task based access control passes through control zone to control AGV, preferential high task priority
The control zone that AGV trolley passes through next node；
State recording module, for the state record table of each AGV trolley of real-time update, while in real-time update database
The state record table；
State record table, for recording and updating the state of each AGV trolley,
When task management module issues task, the small car state of the AGV for the task of distributing was changed to by the free time busy；
It is then the free time by the status modifier of AGV trolley when the current location of AGV trolley is in free area；
During route, if traffic control module sends halt instruction to AGV trolley, by corresponding A GV trolley
Status modifier be pause, if traffic control module to AGV trolley send enabled instruction, by the status maintenance of corresponding A GV trolley
It is changed to busy；
When AGV trolley breaks down, by the status modifier failure of corresponding A GV trolley, and fault message is recorded, failure letter
Breath includes fault type and abort situation.
In embodiments of the present invention, vehicle-mounted control module further include:
Nodal test unit, detection AGV trolley currently whether on the intermediate node, if testing result be it is yes, control
Time window computing unit calculates the time window of next node, and sends best friend's siphunculus molding block,
Traffic control module detects the time window of next node with the presence or absence of coincidence, and if it exists, then to path planning module
Send quadratic programming instruction；
It is instructed based on quadratic programming, the section weight of lower a road section of low priority AGV is set as nothing by path planning module
It is poor big, the most short driving path of planning present node to terminal node, the sequence node in extraction path, and be issued to corresponding
AGV trolley, while by AGV mark and the corresponding quadratic programming routing update of the AGV to database, the low priority
AGV refers to the current AGV for executing task priority and being lower than highest priority.
In embodiments of the present invention, the web server of Cloud Server includes: user log-in block, user registration module and
In use, user sends registration request to web server, registration request letter is carried in request for the first time for information issuing module
Breath, registration information include user name and password, if web server assert that registration information complies with standard, return to note
Volume success, user login module input log-on message, if input log-on message it is consistent with registration information, login at
Function establishes the communication of mobile terminal and web server, and in embodiments of the present invention, information issuing module includes:
Monitoring unit, for monitoring the current location of each plant area AGV trolley in real time；
Failure rate statistical module counts the number of stoppages of each AGV trolley of on-site based on state record table, and record is often
Secondary fault message, including the position of fault and fault type；
Task execution statistical module, the task based on state record table statistics each AGV trolley of on-site in the setting period are held
Row amount.
AGV remote monitoring system provided by the invention has the following beneficial effects:
1. the AGV information of each on-site can be monitored by logging in WEB server by mobile terminal, downloading client is not needed
End, it is greatly convenient for users to use.
2. can the AGV of each on-site of real-time display according to demand location information, mission bit stream and fault message, can
The convenient change in location for accurately understanding each AGV, the specific time for generating failure, consequently facilitating subsequent examination and tracking；
3. in the process of moving, avoiding rushing section, planning current location again if next node time of occurrence window conflicts
To the most short driving path of task terminal, in the case where avoiding conflict, the operation for improving system is efficiency.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (5)
1. a kind of AGV remote monitoring system, which is characterized in that the remote monitoring system includes:
AGV trolley, dispatching device and Cloud Server equipped with serial server, Cloud Server include: database and web services
Device, each plant area is equipped with several AGV trolleies and a dispatching device, AGV trolley are connect with the dispatching device of same on-site, no
Dispatching device with on-site is connect with database, and database is connect with web server and terminal device；
Location information and status information are sent to dispatching device by AGV trolley, execute the control instruction that task scheduling apparatus issues；
The distribution of task scheduling apparatus progress task, the planning and the traffic control in driving process of task travel route, and will
Current location, task path and the status information of each AGV is sent to database and is stored；
Terminal device issues inquiry instruction to web server, and web server transfers corresponding inquiry data from database, and
Terminal device is back to be shown.
2. AGV remote monitoring system as described in claim 1, which is characterized in that the AGV trolley includes: signal transmitting and receiving module
One, the location information of AGV trolley and status information are sent to dispatching device, receive control instruction that dispatching device is sent and under
The task of hair, status information include: parking, busy or failure, and control instruction includes: including cutoff command and enabled instruction；
Vehicle-mounted control module controls sailing towards next rows of nodes for AGV trolley based on control instruction；
Dispatching device includes: signal receiving module two, receives location information and status information that AGV trolley is sent, and by position
Information and status information are sent to database；
Task management module receives the mission bit stream of typing, comprising: task starting point, task terminal and task priority, based on excellent
First grade is ranked up the task in task list, first task in task list is distributed to nearest away from task starting point
Idle AGV trolley, and corresponding driving path is sent to the free time AGV trolley, at the same by the mark of idle AGV trolley and
The driving path of task is sent to database and is stored；
Path planning module is cooked up the most short driving path from task starting point to task terminal based on topological map, that is, is generated
The correspondence task that driving path is added in task list is expert at by the node sequencing of driving path；
Management map module, storage and modification topological map, comprising: position is put, the weight in section between two nodes, two adjacent edges
The control zone of weight and node, and modified topological map is updated in database；
The priority of traffic control module, task based access control passes through control zone, the AGV of preferential high task priority to control AGV
The control zone that trolley passes through next node；
State recording module, for the state record table of each AGV trolley of real-time update, and meanwhile it is described in real-time update database
State record table, state record table, for recording and updating the state of each AGV trolley, the state of AGV trolley includes: the free time, stops
Vehicle, busy and failure.
3. AGV remote monitoring system as claimed in claim 2, which is characterized in that when task management module issues task, will distribute
The small car state of the AGV of task is changed to busy by the free time；
It is then the free time by the status modifier of AGV trolley when the current location of AGV trolley is in free area；
During route, if traffic control module sends halt instruction to AGV trolley, by the shape of corresponding A GV trolley
State is revised as suspending, if traffic control module sends enabled instruction to AGV trolley, the status modifier by corresponding A GV trolley is
It is busy；
When AGV trolley breaks down, by the status modifier failure of corresponding A GV trolley, and fault message is recorded.
4. the AGV remote monitoring system as described in claims 1 to 3 any claim, which is characterized in that the web of Cloud Server
Server includes: user log-in block, user registration module and information issuing module, wherein information issuing module includes:
Monitoring unit, for monitoring the current location of each plant area AGV trolley in real time；
Failure rate statistical module is counted the number of stoppages of each AGV trolley of on-site based on state record table, and recorded every time
Fault message, including the position of fault and fault type；
Task execution statistical module, based on state record table statistics each AGV trolley of on-site in the task execution amount for setting the period.
5. AGV remote monitoring system as claimed in claim 2, which is characterized in that the vehicle-mounted control module includes:
Nodal test unit, detection AGV trolley currently whether on the intermediate node, if testing result be it is yes, control the time
Window computing unit calculates the time window of next node, and sends best friend's siphunculus molding block,
Traffic control module detects the time window of next node with the presence or absence of coincidence, and if it exists, then sends to path planning module
Quadratic programming instruction；
It being instructed based on quadratic programming, the section weight of lower a road section of low priority AGV is set as infinitely great by path planning module,
Present node is planned to the most short driving path of terminal node, and driving path is issued to corresponding AGV trolley, while by AGV
Mark and the corresponding quadratic programming routing update of the AGV are to database；
The AGV of the low priority refers to the current AGV for executing task priority and being lower than highest priority.
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| CN110264120A (en) * | 2019-05-06 | 2019-09-20 | 盐城品迅智能科技服务有限公司 | A kind of intelligent storage route planning system and method based on more AGV |
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| CN114281048A (en) * | 2021-12-28 | 2022-04-05 | 哈尔滨工业大学芜湖机器人产业技术研究院 | AGV intelligent management system based on industry internet |
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