CN112422623A - AGV (automatic guided vehicle) scheduling system and method based on 5G and hybrid APP (application) - Google Patents
AGV (automatic guided vehicle) scheduling system and method based on 5G and hybrid APP (application) Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/51—Discovery or management thereof, e.g. service location protocol [SLP] or web services
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Abstract
The invention provides an AGV dispatching system and method based on 5G and hybrid APP. The system comprises at least one combined terminal; the combined terminal packs the browser and the scheduling interface into the same APP or executable file and is in communication connection with the server through the 5G communication module, and the server is connected with the AGV through the 5G communication module. The system adopts a BS structure on the architecture, any terminal and any operating system can be accessed to a server as long as a browser is provided, the connection can be carried out everywhere, and meanwhile, the hybrid APP technology is used for packaging the browser and the client interface, so that almost all operating systems can be supported.
Description
Technical Field
The invention relates to the field of Automatic Guided Vehicles (AGV), in particular to an AGV dispatching system and method based on 5G and hybrid APP.
Background
An Automatic Guided Vehicle (AGV) 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.
AGVs have evolved into multi-stage systems as they are used in various industries. There must be a central scheduling system responsible for scheduling. The existing technical solution is generally based on a CS architecture, a WIFI network, and a private communication protocol, such as an OpenTCS system with an open source. Many systems at home and abroad are built based on OpenTCS, which is a typical CS architecture, a proprietary protocol. The prior art has the following problems:
1, a WIFI network is used, the network coverage is small, and a large number of APs and a complex network architecture are needed when the AGV running range is large. WIFI interference resistance is poor, and mutual interference among WIFI networks can cause a large amount of lost packets, so that the real-time performance of AGV control is influenced. Deployment is complex, requiring all AGVs to be configured.
2, using the CS architecture, the client needs to be installed and deployed. The client needs to be modified to support different operating systems and terminals. The operating system and hardware of the client have hard requirements and the operating system of a home-made client in the future may not be installed.
And 3, a private communication protocol cannot ensure the compatibility of a plurality of platforms during docking, and meanwhile, the private communication protocol also faces the safety risk.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an AGV scheduling system and method based on 5G and hybrid APP.
In order to achieve the above object, the present invention provides an AGV scheduling system based on 5G and hybrid APP, comprising at least one combination terminal;
the combined terminal packs the browser and the scheduling interface into the same APP or executable file and is in communication connection with the server through the 5G communication module, and the server is connected with the AGV through the 5G communication module.
The 5G communication technology can meet the requirements of real-time, low-delay and high-reliability data transmission from the AGV to the server in large-range coverage; meanwhile, the 5G network is not interfered by other frequency bands such as WIFI and the like under the environment, the deployment is simple, any configuration is not needed, and the network can be connected as long as the 5G terminal is provided. The BS structure is used on the architecture, any terminal and any operating system can access the server only by a browser, can be connected everywhere, and can support almost all operating systems.
The preferred scheme of the AGV dispatching system is as follows: the combination terminal also packages the server components and/or scheduling logic into the same APP or executable file. Under the condition of a server-free scene, the combined terminal is directly connected with the AGV through 5G communication through a server assembly packaged in the APP of the terminal, and the scene without the hardware server and the scene with the hardware server are supported. And the dispatching logic is packaged into the same APP or executable file, so that the dispatching efficiency of the AGV is improved.
The preferred scheme of the AGV dispatching system is as follows: the browser is in communication connection with the server based on an HTTP interface and/or a websocket interface, and supports a universal ssl encryption algorithm while guaranteeing generality.
The invention also provides a dispatching method based on the AGV dispatching system, which comprises the following steps: and at least one combined terminal is adopted to be in communication connection with the AGV.
The combined terminal packs the browser and the scheduling interface into the same APP or an executable file; and the terminal software is connected with the server by using 5G communication, and the server is connected with the AGV by using 5G communication. In a scene with a server, the terminal software is connected with the server by using 5G communication, and the server is connected with the AGV by using 5G communication.
Furthermore, the combination terminal also packs the server component and/or the scheduling logic into the same APP or the executable file, and under the condition of no server, the combination terminal packs the scheduling logic into the same APP or the executable file through the 5G communication connection between the server component and the AGV, so that the scheduling efficiency of the AGV is improved.
The BS structure is used on the architecture, any terminal and any operating system can be accessed to the server as long as a browser is provided, connection can be made anywhere, the method can meet the requirement that the AGV can be used in the environments with server hardware and without server hardware, and almost all operating systems can be supported. Compared with the existing hybrid APP mode and BS mode, the method can simultaneously support the scene without the hardware server and the scene with the hardware server, and is not connected to the hardware server to obtain the webpage, so that the interface display efficiency is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of an AGV dispatching system in a server-free scenario;
FIG. 2 is a schematic diagram of an AGV dispatching system in a server scenario;
FIG. 3 is a system block diagram of an AGV dispatching system.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and fig. 2, the present invention provides an AGV scheduling system based on 5G and hybrid APP, which includes at least one combined terminal, where the combined terminal packages a browser and a scheduling interface into the same APP or executable file on a common terminal, and is communicatively connected to a server through a 5G communication module, and the server is connected to AGVs through the 5G communication module. The common terminal comprises one or any combination of a mobile phone terminal, a PAD terminal and a PC terminal, and can be other terminals as long as a browser can be installed; the operation system which can be installed on the combined terminal comprises one or any combination of an IOS system, an android system, a Hongmon system, a windows system and a linux system, and can be other operation systems as long as a browser can be installed.
The combined terminal also packages the server components and/or scheduling logic into the same APP or executable file. Under the condition of no server, as shown in fig. 1, the combined terminal is directly in communication connection with the AGV through 5G through a server component packaged in the terminal APP; in the server scenario, as shown in fig. 2, the terminal software connects directly to the server using 5G communication. This satisfies the use of AGVs in both server hardware and non-server hardware environments. Compared with the existing hybrid APP mode, the method can acquire the webpage without being connected to the server, namely, server hardware is reduced, and interface display efficiency is improved.
Under the scene with a server, the AGV dispatching system is in communication connection with the server through a 5G communication technology, and specifically, a browser is in communication connection with the server based on an HTTP interface and/or a websocket interface; the server passes through 5G communication connection with the AGV, specifically, the AGV based on the Modbus interface with the server is connected. Under the condition without the server, the AGV dispatching system utilizes the server component of the AGV dispatching system to be in communication connection with the AGV through a 5G communication technology. The AGV sends the automobile body information of self for server or server subassembly, and is specific, is equipped with orientation module and control module in the AGV, and orientation module is like GPS module, big dipper orientation module etc. and control module sends this AGV's identity ID information, positional information etc. to server or server subassembly through 5G communication module. The server receives the AGV body information and then sends the AGV body information to the combined terminal, the AGV body information is displayed in a browser of the combined terminal, and a user can check the AGV body information in the browser of the combined terminal, or the AGV body information is received by the server assembly and then displayed in the browser of the combined terminal, and the user can check the AGV body information in the browser of the combined terminal. When mobile terminals such as a mobile phone terminal and a PAD terminal are adopted, the body information of the AGV can be checked in real time. The user sends an instruction to the AGV through the combined terminal, the instruction is sent to the server through the 5G communication module, the server receives the instruction and then sends the instruction to the AGV, the AGV receives the instruction and then executes the instruction and sends feedback information to the terminal, or the user sends the instruction to the AGV through a server assembly in the combined terminal, and the AGV receives the instruction and then executes the instruction and sends the feedback information to the combined terminal.
When no scheduling logic exists, a scheduling scheme is manually input at a terminal to control the scheduling of the AGV; when the dispatching logic exists, dispatching the AGV according to the dispatching logic; the scheduling scheme manually input from the terminal has a higher priority than the scheduling scheme in the scheduling logic, and when the same AGV receives the scheduling scheme manually input from the terminal and the scheduling scheme in the scheduling logic at the same time, the manually input scheduling scheme is executed.
The dispatching logic can realize automatic task dispatching, the shortest path and online AGV configuration, an algorithm supporting the occupation condition of the AGV and the shortest path is followed, the AGV which is closest to the transported object and is idle is selected to receive the transported task, the optimal path is calculated according to the starting point and the end point, the AGV is ensured to rapidly arrive at the destination, the carrying speed is set according to the volume and the weight of the transported object, and the speed of the AGV is controlled.
As shown in fig. 3, the combination terminal further includes a map editing unit, and the map editing unit performs map creation, map editing, map information storage, and map export. The map editing unit is used for quickly creating a map according to actual conditions, modifying and expanding sites according to needs, storing the map for a scheduling system to use, and being capable of exporting map pictures when demonstration is needed.
As shown in FIG. 3, the AGV dispatching system further includes a console and a calling unit communicatively coupled to the combination terminal. The control console comprises a map real-time display unit, a task real-time scheduling unit, a task history viewing unit and an AGV online configuration unit. The map real-time display unit updates the real-time information of the AGV, checks the position and displays the shortest path; the task real-time scheduling unit issues tasks, automatically schedules the tasks and detects collision; the task history view unit can be used for historical task query and message display; and the AGV online configuration unit performs online configuration on AGV parameters and online downloading of routes. The calling unit comprises a goods calling site terminal, a goods delivery site terminal, a goods management configuration unit and a goods delivery history checking unit. The goods calling station terminal is used for calling goods, checking the goods arrival history and sending back an empty goods shelf; the delivery station terminal is used for delivery control, delivery record checking, station control (station adding, modifying and deleting), call checking (checking the real-time position of the AGV terminal); the goods management configuration unit is used for goods setting (goods adding, modifying, deleting and goods list sequencing) and goods station binding (binding goods to stations to enable the goods and the stations to be in one-to-one correspondence, when a goods calling terminal calls goods, only goods names and quantity need to be sent to the AGV terminal, and the AGV terminal can automatically operate to the bound stations to take goods according to the binding relationship between the goods and the stations); the delivery history viewing unit is used for viewing delivery history and delivery statistics.
When the dispatching scheme is manually input, the AGV state can be checked in real time according to a map displayed in real time in the field environment, a proper AGV is selected, different routes and different carrying speeds are manually defined. The positions and the walking routes of all the AGVs can be checked on the map in real time, and the positions and the walking routes can be changed in real time according to the state change of the AGVs.
Selecting and arranging tasks on a terminal, selecting from an initial station to a target station, finding out idle AGV arranging tasks near the initial station in a map, not allowing to send a plurality of tasks to the AGVs at the same time, but saving a task list, and then sending the tasks according to the sequence of the list if the AGV does not have the tasks.
The invention also provides a dispatching method based on the AGV dispatching system, which comprises the following steps: and at least one combined terminal is adopted to be in communication connection with the AGV. The combined terminal packs the browser and the scheduling interface into the same APP or an executable file; and the terminal software is connected with the server by using 5G communication, and the server is connected with the AGV by using 5G communication. The combined terminal also packages the server components and/or scheduling logic into the same APP or executable file.
In a scenario with a server, as shown in fig. 2, the terminal software is connected to the server using 5G communication, and the server is connected to the AGV through 5G communication; in a serverless scenario, as shown in FIG. 1, the combination terminal is communicatively coupled to the AGV via the server component via 5G. The method has wide applicability, any terminal and operating system can be accessed to the server as long as a browser is provided, and connection can be carried out anywhere. Compared with the existing hybrid APP mode and BS mode, the method can simultaneously support the scene without the hardware server and the scene with the hardware server, and is not connected to the hardware server to obtain the webpage, so that the interface display efficiency is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An AGV dispatching system based on 5G and hybrid APP is characterized by comprising at least one combined terminal;
the combined terminal packs the browser and the scheduling interface into the same APP or executable file and is in communication connection with the server through the 5G communication module, and the server is connected with the AGV through the 5G communication module.
2. The AGV scheduling system according to claim 1, wherein the combination terminal further packages the server components and/or scheduling logic into the same APP or executable file.
3. The AGV scheduling system according to claim 1, wherein the browser is communicatively coupled to the server based on an HTTP interface and/or a websocket interface.
4. The AGV scheduling system of claim 1 wherein the operating system installed on the terminal includes one or any combination of an IOS system, an android system, a Hongmon system, a windows system, and a linux system.
5. The AGV scheduling system of claim 1 wherein the terminals comprise one or any combination of a cell phone terminal, a PAD terminal, and a PC terminal.
6. The AGV dispatching system according to claim 1, further comprising a console communicatively connected to the combination terminal, wherein the console comprises a map real-time display unit, a task real-time dispatching unit, a task history viewing unit, and an AGV online configuration unit.
7. The AGV dispatching system according to claim 1, further comprising a calling unit communicatively connected to the combination terminal, wherein the calling unit comprises a called site terminal, a delivery site terminal, a cargo management configuration unit and a delivery history viewing unit.
8. The AGV scheduling system according to claim 1, wherein the combination terminal further comprises a map editing unit, and the map editing unit performs map creation, map editing, map information storage and map export.
9. The dispatching method of AGV dispatching system according to any of claims 1 to 8, wherein at least one combined terminal is adopted to be connected with AGV communication;
the combined terminal packs the browser and the scheduling interface into the same APP or an executable file; and the terminal software is connected with the server by using 5G communication, and the server is connected with the AGV by using 5G communication.
10. The scheduling method of claim 9 wherein the combination terminal further packages server components and/or scheduling logic into the same APP or executable file, and in a server-less scenario, the combination terminal is communicatively connected to the AGV via the server components via 5G.
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| CN202011057763.1A CN112422623A (en) | 2020-09-30 | 2020-09-30 | AGV (automatic guided vehicle) scheduling system and method based on 5G and hybrid APP (application) |
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