CN111897317A - NDC platform-based AGV human-computer interface expansion application device and method - Google Patents

Abstract

The invention discloses an AGV human-computer interface expanding application device and method based on an NDC (non-portable computer) platform, belonging to an AGV platform system.

Description

NDC platform-based AGV human-computer interface expansion application device and method

Technical Field

The invention belongs to an AGV platform system, and particularly relates to an AGV human-computer interface expansion application device and method based on an NDC platform.

Background

Along with rapid development of automation and intellectualization in recent years, unmanned applications in all industries are increasing, and an intelligent vehicle (AGV) starts to enter an automation and intelligent factory under the urging of a huge market demand, so that the manufacturing and storage efficiency is greatly improved.

In the nineties of the last century, China has not mastered the relevant technologies of AGV, and foreign AGV technical solutions are introduced, wherein the NDC system of Kollmorgen in Sweden is applied more and has stable technology. The system provides a one-stop solution comprising software, hardware, control models, navigation, etc. The system is a universal, comprehensive and extensible system capable of meeting the requirements of various Automatic Guided Vehicles (AGVs), including both simple small vehicles and complex large vehicles, even special vehicles.

From the NDC7 system at the beginning of introduction to the NDC8 system, the system is gradually improved and stable after more than 20 years of application in the China market, and occupies a certain market share in China, so that more than 2 ten thousand AGVs use the NDC system in the world, and the value is continuously and rapidly increased. However, in the long-term application process in China, the human-computer display interface — OPT100 (OPT 10) contained in the hardware matched with the NDC system is developed from OPT10 of the NDC7 system to OPT100 of the NDC8 system, which is a pixel display screen with keys, cannot meet the requirements of a domestic liquid crystal touch screen, does not support Chinese display, and cannot be touched.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide an AGV human-computer interface expansion application method and device based on an NDC platform, which support Chinese characters, can be controlled by touch and has rich and colorful display contents.

In order to realize the purpose, the invention is realized by adopting the following technical scheme: AGV human-computer interface extend application apparatus including being used for reading states such as the walking of AGV, turning to, require to be supported by the NDC platform, programmable, the read write control ware that can communicate, touch display screen, the Modbus RTU communication module that the slave station used as, read write control ware as the main website, be connected with slave station touch display screen through the Modbus RTU communication module.

Preferably, the AGV human-computer interface expansion application method is applied to the device, and the method comprises the following steps: step 1, defining an address code, a function code, a data area and an error check code in display screen configuration software according to a standard RS232Modbus RTU communication protocol;

step 2, writing a message to indicate to write the message to a display screen;

and 3, writing the written message into a program in an ST language of IEC61131 in an OpenPCS programming software platform.

Preferably, in the device for the AGV human-computer interface expansion application method based on the NDC platform, the read-write controller is preferably a CVC600 controller, the touch display screen is preferably Kinco GL070, the communication mode is preferably an RS232Modbus RTU communication protocol, the programming software platform is preferably OpenPCS, and the programming language is preferably IEC61131-3 in international standard.

The CVC600 controller is used as a master station to write a communication read/write program, the Kinco GL070 is used as a slave station to receive messages sent by the master station, and a standard RS232Modbus RTU communication protocol is used between the Kinco GL070 and the slave station to achieve information interaction between the Kinco GL070 and the master station.

The invention has the beneficial effects that:

the liquid crystal touch screen can meet the requirements of domestic liquid crystal touch screens, can support Chinese display and touch, is more suitable for domestic application markets, and has rich and colorful human-computer interface display contents.

Drawings

FIG. 1 is a diagram showing the relationship between the components of the apparatus of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings and examples, which are not intended to limit the present invention.

AGV human-computer interface extend application apparatus including being used for reading states such as the walking of AGV, turning to, require to be supported by the NDC platform, programmable, the read write control ware that can communicate, touch display screen, the Modbus RTU communication module that the slave station used as, read write control ware as the main website, be connected with slave station touch display screen through the Modbus RTU communication module.

Preferably, the AGV human-computer interface expansion application method is applied to the device, and the method comprises the following steps: step 1, defining an address code, a function code, a data area and an error check code in display screen configuration software according to a standard RS232Modbus RTU communication protocol;

the display screen complies with the standard Modbus communication format

Address code: the device number of the liquid crystal display device.

Function code: the common function codes of the liquid crystal display device are as follows:

a data area: the contents of the data area may be a numerical value, a reference address, or a set value.

Error checking code: and checking the data, wherein the display screen checking mode adopts CRC (cyclic redundancy check).

Step 2, writing a message to indicate to write the message to a display screen;

and 3, writing the written message into a program in an ST language of IEC61131 in an OpenPCS programming software platform.

Preferably, in the device for the AGV human-computer interface expansion application method based on the NDC platform, the read-write controller is preferably a CVC600 controller, the touch display screen is preferably Kinco GL070, the communication mode is preferably an RS232Modbus RTU communication protocol, the programming software platform is preferably OpenPCS, and the programming language is preferably IEC61131-3 in international standard.

The CVC600 controller is used as a master station to write a communication read/write program, the Kinco GL070 is used as a slave station to receive messages sent by the master station, and a standard RS232Modbus RTU communication protocol is used between the Kinco GL070 and the slave station to achieve information interaction between the Kinco GL070 and the master station.

Example 2:

CVC600 writes messages to the display: 010600080001C 9C 8.

01: the equipment number represents the slave station, and can be defined in the display screen configuration software;

06: the function code is written into a single register of the display screen;

0008: an address of a register;

0001: data 0001 written into the register;

C9C 8: CRC data check bits, low order bits before and high order bits after.

The content of the whole message is: 0001 this data is written to the 0008 register of the 01 display. The message is written into a program in the ST language of IEC61131 in OpenPCS, and is sent to a display screen according to a triggering condition. The program content is as follows:

VAR

WriteCom :WriteSerial_FB;

ReadCom :ReadSerial_FB;

WriteComBuf : ARRAY[1..32]of BYTE;

Estop_i:Bool;

END_VAR

if Estop_i then

WriteComBuf[1]:= 16#01;

WriteComBuf[2]:= 16#06;

WriteComBuf[3]:= 16#00;

WriteComBuf[4]:= 16#08;

WriteComBuf[5]:= 16#00;

WriteComBuf[6]:= 16#01;

WriteComBuf[7]:= 16#C9;

WriteComBuf[8]:= 16#C8;

WriteCom(port:='COM1',writebuf:=WriteComBuf,writelength:=8);

end_if;

the program defines an array WriteComBuf, after an emergency stop is triggered, 010600080001C 9C 8 data are respectively assigned to WriteComBuf [1] -WriteComBuf [8], a WriteCom function is called to send the data to a display screen, and the CVC600 controller successfully sends a message to Kinco GL070 (wherein the WriteCom function is a communication function for sending data through a Modbus protocol). When the display screen receives the message, the Kinco DTool can edit the content required to be displayed on the display screen in the display screen configuration software, for example, a numerical value display element is added to the display interface, and the address of the element is set to be 0008, so that the received 0001 data can be displayed in the numerical value element. Therefore, communication between the CVC600 main controller and the Kinco GL070 display screen is realized.

The contents of other display screens can be increased according to the needs of the user, the displayed contents are defined in Kinco DTool configuration software, different register addresses are defined for different display elements, and programs are written in OpenPCS to the corresponding display element addresses.

The above embodiments are merely intended to illustrate the technical solution of the present invention and not to limit the same, and although the present invention has been described in detail by the above embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention defined by the appended claims.

Claims (3)

1. An AGV human-computer interface expansion application device and method based on an NDC platform are characterized in that: AGV human-computer interface extend application apparatus including walking, the state that turns to that is used for reading AGV, it is programmable, the read and write controller that can communicate, touch display screen, Modbus RTU communication module as the slave station use, read and write controller as the master station, be connected with slave station touch display screen through modbusRTU communication module.

2. The device and method for expanding the human-computer interface of the AGV based on the NDC platform according to claim 1, wherein: the AGV human-computer interface expansion application method is used for the device, and the method comprises the following steps: step 1, defining an address code, a function code, a data area and an error check code in display screen configuration software according to a standard RS232Modbus RTU communication protocol;

step 2, writing a message to indicate to write the message to a display screen;

and 3, writing the written message into a program in an ST language of IEC61131 in an OpenPCS programming software platform.

3. The device and the method for applying the AGV human-machine interface expansion based on the NDC platform as claimed in claim 1 or 2, wherein in the device for applying the AGV human-machine interface expansion based on the NDC platform, the read-write controller is preferably a CVC600 controller, the touch display screen is preferably Kinco GL070, and the communication mode is preferably RS232 ModbusRTU communication protocol;

the CVC600 controller is used as a master station to write a communication read/write program, the Kinco GL070 is used as a slave station to receive messages sent by the master station, and a standard RS232Modbus RTU communication protocol is used between the Kinco GL070 and the slave station to achieve information interaction between the Kinco GL070 and the master station.

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