CN111459171A - Path optimization regulation and control system of AGV dolly - Google Patents
Path optimization regulation and control system of AGV dolly Download PDFInfo
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- CN111459171A CN111459171A CN202010414232.7A CN202010414232A CN111459171A CN 111459171 A CN111459171 A CN 111459171A CN 202010414232 A CN202010414232 A CN 202010414232A CN 111459171 A CN111459171 A CN 111459171A
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- 238000005457 optimization Methods 0.000 title claims abstract description 7
- 238000001514 detection method Methods 0.000 claims abstract description 43
- 230000008054 signal transmission Effects 0.000 claims abstract description 10
- 230000005856 abnormality Effects 0.000 claims abstract description 9
- 230000002159 abnormal effect Effects 0.000 claims abstract description 4
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The invention discloses a path optimization regulation and control system of an AGV (automatic guided vehicle), belonging to the technical field of intelligent transportation, and comprising an upper computer control subsystem and a lower computer control subsystem; the upper computer control subsystem comprises a human-computer interaction terminal and an AGV management module and is used for realizing remote control and management of the AGV by user operation; the lower computer control subsystem is used for controlling the AGV dolly to execute tasks, and the lower computer control subsystem mainly comprises a middle decision module, a task and path storage module, a motor driving module, an adjacent vehicle matching module and an abnormality detection module, wherein the task and path storage module is connected with the central decision module, the task and path storage module receives and stores a task command of the upper computer control subsystem, the motor driving module is used for driving the AGV dolly to move and carry, the adjacent vehicle matching module is used for matching with the adjacent dolly and realizing signal transmission, and the abnormality detection module is used for detecting abnormal conditions of the dolly when executing the tasks.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a path optimization regulation and control system of an AGV.
Background
An AGV, i.e., an "automatic guided vehicle", is a vehicle equipped with an electromagnetic or optical automatic guide device capable of traveling along a predetermined guide path and having safety protection and various transfer functions, and is a vehicle that does not require a driver in industrial applications and uses a rechargeable battery as a power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the AGV moves and operates according to the information from the electromagnetic rail.
Generally can use a large amount of AGV dollies in a transport task, when dolly quantity is more, just lack the same management to the dolly, can't master the state information of dolly in real time, break down very easily, and also can't in time confirm the position of dolly after breaking down, influence the progress of trouble solution, and when the dolly on same route goes wrong, the hou mian can only wait for maintainer to solve the trouble, the dolly can't be according to its route of proruption situation intelligent control, lead to all the other dollies all can't work, the efficiency of influence work brings the loss for the enterprise easily.
Disclosure of Invention
The invention aims to provide a path optimization regulation and control system of an AGV, aiming at solving the problems that unified management cannot be carried out when the number of AGV trolleys is large, failure cannot be solved in time, and once one of the trolleys does not have the function of an intelligent regulation and control path, the operation of the trolleys under the whole path is influenced.
The invention achieves the aim through the following technical scheme, and the path optimization regulation and control system of the AGV comprises an upper computer control subsystem and a lower computer control subsystem, wherein data transmission is realized between the upper computer control subsystem and the lower computer control subsystem through a wireless network;
the upper computer control subsystem comprises a human-computer interaction terminal and an AGV management module and is used for realizing remote control and management of the AGV by user operation;
the lower computer control subsystem is used for controlling the AGV dolly to execute tasks, and the lower computer control subsystem mainly comprises a middle decision module, a task and path storage module, a motor driving module, an adjacent vehicle matching module and an abnormality detection module, wherein the task and path storage module is connected with the central decision module, the task and path storage module receives and stores a task command of the upper computer control subsystem, the motor driving module is used for driving the AGV dolly to move and carry, the adjacent vehicle matching module is used for matching with the adjacent dolly and realizing signal transmission, and the abnormality detection module is used for detecting abnormal conditions of the dolly when executing the tasks.
Preferably, the lower computer control subsystem further comprises a command receiving module, and the task and path storage module receives command information sent by the AGV management module through the command receiving module.
Preferably, the adjacent vehicle matching modules realize signal transmission of two adjacent AGV trolleys through the signal transceiver module, and the signal transceiver module adopts the Bluetooth module to perform signal transmission.
Preferably, the AGV management module comprises vehicle information monitoring, vehicle information storage, vehicle information inquiry and vehicle manual scheduling, wherein the vehicle information monitoring is used for monitoring the position, address, state and electric quantity information of an AGV; the vehicle information storage is used for storing the information data of the trolley in a database for convenient calling; the vehicle information inquiry is used for inquiring the information of the trolley through a login interface of an administrator; manual vehicle scheduling is used to manually specify the tasks that the cart needs to perform and assign paths.
Preferably, the abnormality detection module comprises obstacle detection, fault detection, magnetic stripe detection and landmark detection, wherein the obstacle detection is used for detecting whether an obstacle exists in front of the trolley when the trolley moves forwards; the fault detection is used for detecting whether the trolley breaks down or not; detecting whether a magnetic stripe track has a fault by magnetic stripe detection; the landmark detection is used for detecting whether the target end point has a fault or not.
Preferably, the central decision module comprises a task execution module, a path intelligent regulation and control module and an adjacent vehicle detection module.
Preferably, the task execution module comprises task execution and path execution for ensuring the specified route for installing the trolley and task operation; the intelligent path regulation and control module comprises optimal path calculation, a path change strategy and a replacement running path and is used for preventing the adjacent front trolley from moving along the original path to change the path and ensuring that a task is normally executed when the adjacent front trolley breaks down; the adjacent vehicle detection module comprises a vehicle matching module, a fault signal receiving module and an active detection vehicle and is used for detecting whether the front vehicle has a fault or not.
Compared with the prior art, the invention has the beneficial effects that:
1. the lower computer control subsystem integrated inside each AGV trolley controls the trolleys to execute tasks, and the upper computer control subsystem controls and manages the lower computer control subsystem, so that a process of executing the trolleys by sending task instructions is more convenient, the AGV management module inside the upper computer control subsystem can also manage and monitor the trolleys, the movement direction of the trolleys is mastered at any time, and the trolleys are convenient to maintain in time when faults occur.
2. The lower computer control subsystem can automatically change the moving path of the trolley through the path intelligent control module in the central decision module, if the adjacent trolley in front of the trolley breaks down, a fault signal and self path information are sent to the trolley, if the trolley finds that the paths are the same, the paths are changed, if the paths are found to be different, the paths before the trolley is continuously installed after maintenance is finished are waited to execute tasks, and therefore the problem that when a plurality of trolleys work together, a single trolley breaks down to influence the execution tasks of the trolleys behind is avoided, and the trolleys can stably run.
Drawings
Fig. 1 is a schematic view of the connection structure of the whole system of the present invention.
FIG. 2 is a functional diagram of an AGV management module according to the present invention.
FIG. 3 is a functional diagram of the central decision module according to the present invention.
FIG. 4 is a flow chart of intelligent regulation of a pathway according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, a system for optimizing and controlling a path of an AGV includes an upper computer control subsystem and a lower computer control subsystem, which implement data transmission via a wireless network; the upper computer control subsystem comprises a human-computer interaction terminal and an AGV management module, and is used for remote control and management of the AGV by user operation; the lower computer control subsystem is used for controlling the AGV dolly to execute tasks, and the lower computer control subsystem mainly comprises a middle decision module, a task and path storage module, a motor driving module, an adjacent vehicle matching module and an abnormality detection module, wherein the task and path storage module is connected with the central decision module, the task and path storage module receives and stores a task command of the upper computer control subsystem, the motor driving module is used for driving the AGV dolly to move and carry, the adjacent vehicle matching module is used for matching with the adjacent dolly and realizing signal transmission, and the abnormality detection module is used for detecting abnormal conditions of the dolly when executing the tasks.
The lower computer control subsystem also comprises a command receiving module, a task and path storage module receives command information sent by the AGV management module through the command receiving module, a general user can issue more tasks and complete paths required by the tasks at one time, more task instructions can be sent to the task and path storage module through a wireless network for storage, when a trolley completes one task, the next task can be continuously executed, the efficient proceeding of the tasks is ensured, the adjacent vehicle matching module realizes the signal transmission of two adjacent AGV trolleys through the signal receiving and sending module, the signal receiving and sending module adopts the Bluetooth module for signal transmission, when the two trolleys approach, the Bluetooth module can identify and match the two trolleys, even if the front trolley fails, a fault signal can be sent to the rear trolley, and the collision between the trolleys is avoided, the AGV management module comprises vehicle information monitoring, vehicle information storage, vehicle information inquiry and vehicle manual scheduling, wherein the vehicle information monitoring is used for monitoring the position, address, state and electric quantity information of an AGV; the vehicle information storage is used for storing the information data of the trolley in a database for convenient calling; the vehicle information inquiry is used for inquiring the information of the trolley through a login interface of an administrator; the vehicle manual scheduling is used for manually appointing tasks to be executed by the trolley and distributing paths, the abnormity detection module comprises obstacle detection, fault detection, magnetic stripe detection and landmark detection, and the obstacle detection is used for detecting whether obstacles exist in front when the trolley moves forwards; the fault detection is used for detecting whether the trolley breaks down or not; detecting whether a magnetic stripe track has a fault by magnetic stripe detection; the central decision module comprises a task execution module, a path intelligent regulation and control module and an adjacent vehicle detection module, wherein the task execution module comprises task execution and path execution and is used for ensuring that a trolley is installed on a specified route and a task runs; the intelligent path regulation and control module comprises optimal path calculation, a path change strategy and a replacement running path and is used for preventing the adjacent front trolley from moving along the original path to change the path and ensuring that a task is normally executed when the adjacent front trolley breaks down; the adjacent vehicle detection module comprises a vehicle matching module, a fault signal receiving module and an active detection vehicle and is used for detecting whether the front vehicle has a fault or not.
The intelligent path regulation and control module is shown in fig. 4 when regulating and controlling paths, when two AGVs are close to each other in the process of executing tasks, matching is carried out through the adjacent vehicle matching modules, when a rear vehicle detects that a front vehicle sends a fault or actively receives a fault signal sent by the front vehicle, whether the path of the front vehicle in the signal is the same as the path of the front vehicle is judged, if yes, the front vehicle can only be switched to another path to continuously execute the tasks, if not, after fault clearing is finished, the tasks are continuously executed along the original path, and therefore the situation that a large number of AGVs work simultaneously cannot be influenced by each other is guaranteed.
The working principle of the invention is as follows: the lower computer control subsystem integrated in each AGV controls the trolleys to execute tasks, the upper computer control subsystem controls and manages the lower computer control subsystem, so that a process that task instructions are sent to the trolleys to execute is more convenient, an AGV management module in the upper computer control subsystem can also manage and monitor the trolleys, the moving direction of the trolleys can be mastered at any time, and the trolleys are convenient to maintain in time when faults occur; the lower computer control subsystem can automatically change the moving path of the trolley through the path intelligent control module in the central decision module, if the adjacent trolley in front of the trolley breaks down, a fault signal and self path information are sent to the trolley, if the trolley finds that the paths are the same, the paths are changed, if the paths are found to be different, the paths before the trolley is continuously installed after maintenance is finished are waited to execute tasks, and therefore the problem that when a plurality of trolleys work together, a single trolley breaks down to influence the execution tasks of the trolleys behind is avoided, and the trolleys can stably run.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a path optimization regulation and control system of AGV dolly which characterized in that: the system comprises an upper computer control subsystem and a lower computer control subsystem, wherein data transmission between the upper computer control subsystem and the lower computer control subsystem is realized through a wireless network;
the upper computer control subsystem comprises a human-computer interaction terminal and an AGV management module and is used for realizing remote control and management of the AGV by user operation;
the lower computer control subsystem is used for controlling the AGV dolly to execute tasks, and the lower computer control subsystem mainly comprises a middle decision module, a task and path storage module, a motor driving module, an adjacent vehicle matching module and an abnormality detection module, wherein the task and path storage module is connected with the central decision module, the task and path storage module receives and stores a task command of the upper computer control subsystem, the motor driving module is used for driving the AGV dolly to move and carry, the adjacent vehicle matching module is used for matching with the adjacent dolly and realizing signal transmission, and the abnormality detection module is used for detecting abnormal conditions of the dolly when executing the tasks.
2. The system of claim 1, wherein said system further comprises: the lower computer control subsystem further comprises a command receiving module, and the task and path storage module receives command information sent by the AGV management module through the command receiving module.
3. The system of claim 1, wherein said system further comprises: the adjacent vehicle matching modules realize signal transmission of two adjacent AGV trolleys through the signal receiving and transmitting modules, and the signal receiving and transmitting modules adopt the Bluetooth modules to carry out signal transmission.
4. The system of claim 1, wherein said system further comprises: the AGV management module comprises vehicle information monitoring, vehicle information storage, vehicle information inquiry and vehicle manual scheduling, wherein the vehicle information monitoring is used for monitoring the position, address, state and electric quantity information of an AGV; the vehicle information storage is used for storing the information data of the trolley in a database for convenient calling; the vehicle information inquiry is used for inquiring the information of the trolley through a login interface of an administrator; manual vehicle scheduling is used to manually specify the tasks that the cart needs to perform and assign paths.
5. The system of claim 1, wherein said system further comprises: the abnormity detection module comprises obstacle detection, fault detection, magnetic stripe detection and landmark detection, wherein the obstacle detection is used for detecting whether an obstacle exists in the front when the trolley moves forwards; the fault detection is used for detecting whether the trolley breaks down or not; detecting whether a magnetic stripe track has a fault by magnetic stripe detection; the landmark detection is used for detecting whether the target end point has a fault or not.
6. The system of claim 1, wherein said system further comprises: the central decision-making module comprises a task execution module, a path intelligent regulation and control module and an adjacent vehicle detection module.
7. The system of claim 6, wherein said system further comprises: the task execution module comprises task execution and path execution and is used for ensuring the specified route for installing the trolley and task operation; the intelligent path regulation and control module comprises optimal path calculation, a path change strategy and a replacement running path and is used for preventing the adjacent front trolley from moving along the original path to change the path and ensuring that a task is normally executed when the adjacent front trolley breaks down; the adjacent vehicle detection module comprises a vehicle matching module, a fault signal receiving module and an active detection vehicle and is used for detecting whether the front vehicle has a fault or not.
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Cited By (1)
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Application publication date: 20200728 |