CN114281048A - AGV intelligent management system based on industry internet - Google Patents
AGV intelligent management system based on industry internet Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses an AGV intelligent management system based on an industrial internet, which comprises a cloud platform, an AGV trolley data acquisition module, user side equipment and maintainer equipment, wherein the AGV trolley data acquisition module is used for monitoring and acquiring state data of an AGV trolley, and the output end of the AGV trolley data acquisition module is connected with the cloud platform through an industrial internet of things and used for uploading the data to the cloud platform; the cloud platform is respectively connected with the user side equipment and the maintenance personnel equipment; and the user end equipment and the maintenance personnel equipment are used for receiving and acquiring state data of the AGV in the cloud platform. The invention has the advantages that: the method can be used for monitoring the key data of the AGV in real time on line, provides bidirectional service for a client and the AGV engineering, is beneficial to fault diagnosis and analysis of the AGV, and has a promoting significance for improving the life cycle of the AGV; through the remote interactive control function, the AGV can be remotely monitored and data can be checked.
Description
Technical Field
The invention relates to the field of AGV monitoring management, in particular to an AGV intelligent management system based on an industrial internet.
Background
The AGV as a core device for industrial automatic transportation is a pioneer for automatic upgrading of manufacturing equipment, and with the continuous advance of 2025 strategy, higher requirements on the coverage rate of the AGV are inevitably made. The AGV is a core device that is replaced by ordinary labor such as logistics and transportation, and has been promoted to a greater extent in recent years, and its market scale is also continuously expanding, and its application field is also continuously expanding. The heavy industry fields of domestic aerospace, high-speed rail construction, ports, airports, heavy machinery plants, heavy automobile manufacturers and the like show strong demands for automated handling.
The existing management and maintenance of the AGV are realized in the manners of on-site investigation, on-site maintenance and manual input management, the position and related information of the vehicle after sale cannot be obtained basically, the on-site maintenance manner needs to be reserved for a large number of professional service engineers to respond to the customer requirements needing on-site maintenance, meanwhile, as the AGV is sold or leased to each place, customer groups are scattered, traveling expenses are high, the response speed is slow, the manufacturer cannot obtain the accurate condition of the vehicle, and the traditional AGV management mode causes a great deal of inconvenience for the manufacturer and the customer. Therefore, it is necessary to provide an AGV intelligent management system based on the industrial internet to solve the above technical problems.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an AGV intelligent management system based on the industrial internet, which is used for realizing remote management and remote data acquisition on an AGV so as to realize remote diagnosis and control.
In order to achieve the purpose, the invention adopts the technical scheme that: an AGV intelligent management system based on an industrial internet comprises a cloud platform, an AGV trolley data acquisition module, user side equipment and maintenance personnel equipment, wherein the AGV trolley data acquisition module is used for monitoring and acquiring state data of an AGV trolley, and the output end of the AGV trolley data acquisition module is connected with the cloud platform through an industrial internet of things and used for uploading the data to the cloud platform; the cloud platform is respectively connected with the user side equipment and the maintenance personnel equipment; and the user end equipment and the maintenance personnel equipment are used for receiving and acquiring state data of the AGV in the cloud platform.
The AGV trolley data acquisition module reads the state information of the trolley from the AGV control module in a CAN bus mode, and the position and attitude information of the trolley and the upper computer obtained by the positioning navigation module; the AGV control module and the positioning navigation module upload the acquired trolley state data and trolley pose information to the upper computer through the wireless network bridge.
The AGV trolley data acquisition module also comprises an AGV trolley dispatching system, and the upper computer is connected with the AGV trolley dispatching system and is used for acquiring dispatching information of the AGV trolley and task information of a vehicle; the upper computer is used for uploading the scheduling information of the AGV trolley, the task information of the vehicle, the collected trolley state data and the trolley pose information to the cloud platform through the industrial Internet of things gateway.
The state information of the trolley comprises information such as electric quantity, speed, load, working state, alarm and the like.
And the positioning navigation module positions the position of the AGV through the laser SLAM to obtain the pose information of the trolley.
The AGV dispatching information and the task information of the vehicle acquired by the AGV dispatching system comprise information such as task names, starting points, starting actions, end points, end point actions, task states, dispatching time, timed execution tasks, running paths, avoidance paths and the like.
The AGV trolley data acquisition module further comprises a vehicle fault alarm signal acquired through the AGV control module, and the vehicle fault alarm signal is uploaded to the cloud platform and sent out through user side equipment and maintenance personnel equipment.
And the cloud platform is internally provided with a remote fault diagnosis module for carrying out fault diagnosis and analysis on the uploaded AGV trolley information and issuing an automatic analysis result to user end equipment or maintenance personnel equipment.
The system comprises a user side device and a maintenance worker, wherein the user side device or the maintenance worker is provided with an industrial APP, the industrial APP comprises a remote operation human-computer interface, a remote state monitoring and display function module and a remote fault alarm monitoring module, and the remote operation human-computer interface is used for realizing remote operation control of AGV information; the remote state monitoring and displaying functional module is used for realizing remote monitoring of various operating parameters of the AGV and recording of historical tasks; the fault alarm monitoring module is used for monitoring and alarming remote faults of the AGV in real time and automatically sending alarm details to a user for fault reminding.
The invention has the advantages that: the method can be used for monitoring the key data of the AGV in real time on line, provides bidirectional service for a client and the AGV engineering, is beneficial to fault diagnosis and analysis of the AGV, and has a promoting significance for improving the life cycle of the AGV; the AGV can be remotely monitored and checked through a remote interactive control function, can automatically alarm and automatically diagnose faults, and can inform users and maintenance personnel; the automatically monitored AGV data can provide analysis opinions for the maintenance personnel to remotely analyze and maintain faults, so that remote monitoring is realized, the cost of field maintenance is reduced, and the aim of remote maintenance is fulfilled.
Drawings
The contents of the expressions in the various figures of the present specification and the labels in the figures are briefly described as follows:
FIG. 1 is a control schematic diagram of an AGV intelligent management system based on an industrial Internet according to the present invention;
FIG. 2 is a schematic diagram of tracking an AGV movement trajectory drawn by a cloud platform.
Detailed Description
The following description of preferred embodiments of the invention will be made in further detail with reference to the accompanying drawings.
An AGV intelligent management system based on an industrial internet reads state information of a trolley, such as information of electric quantity, speed, load, working state, alarm and the like, from an AGV control module in a CAN bus mode. And the laser SLAM in the positioning navigation module is used for positioning the position of the AGV to obtain the position and posture information of the trolley. And then the trolley state information, the trolley position and pose information and the trolley position and pose information are transmitted to an upper computer through a wireless network bridge, finally the data are uploaded to a cloud platform together with the acquired scheduling information of the upper computer and the task information of the vehicle, including information such as task name, starting point, starting action, ending point action, task state, dispatching time and the like, and the processed data are received through a computer end or a mobile phone end, and simultaneously an instruction can be issued to a controller through an industrial APP (application program) or an industrial Web, so that operations such as vehicle shutdown, startup, task re-dispatching and the like can be carried out.
The navigation positioning module adopts a laser SLAM positioning method, the laser SLAM directly obtains point cloud data in the environment, and the position of an object and the distance of the object are measured and calculated according to the generated point cloud data, so that the navigation positioning module can be directly used for positioning and navigation, and the usability is high. And the map accuracy can reach about 2cm by adopting a laser SLAM positioning method, the positioning accuracy is higher, but the cost is relatively higher. For scenes with general positioning accuracy requirements, a visual SLAM positioning algorithm can be adopted for replacement, and the cost of positioning and navigation can be greatly reduced.
The system can inquire all tasks executed by the AGV in real time, the tasks being executed and the execution condition of the tasks. And the conditions of the vehicle, including the AGV battery power, pose, speed, path information, working state and the like, can be monitored. And monitoring scheduling information of the AGVs, including information such as executing (acquiring/sending) tasks at regular time, running paths, avoiding paths, and the like. The problem of, among the prior art, can't learn AGV specific position and real-time status is solved.
According to the invention, besides system working condition information, the scheduling information of the upper computer and the task information of the vehicle are acquired through the scheduling module, and data can be rewritten through an API (application programming interface) data interface of the industrial APP, so that the purpose of managing and remotely controlling the AGV is achieved.
The invention provides an AGV intelligent management system based on an industrial internet, which can be used for monitoring key data of an AGV in real time on line, providing bidirectional service for a client and an AGV project, facilitating diagnosis and analysis of AGV faults and having a promoting significance for improving the life cycle of the AGV. The industrial APP software comprises a remote operation human-computer interface, a remote state monitoring and display function module and a remote fault alarm monitoring module. The user can see the state information, task information and scheduling information of the AGV from the remote operation human-computer interface, on one hand, the fault and alarm detailed information of the AGV can be known in time, and in addition, the related service functions of data acquisition, alarm pushing, remote control, remote connection, equipment management and display can be realized through industrial APP or industrial Web software, so that the customer is helped to realize the intelligent management of the AGV.
The invention can realize the interaction function between the user and the AGV, and the remote state monitoring and displaying functional module can realize the remote monitoring of various running parameters of the AGV and the recording of historical tasks; the remote fault alarm monitoring module is used for monitoring remote alarm, automatically sending alarm details to local technicians and assisting the local technicians in removing and maintaining faults of the system.
As shown in fig. 1, an AGV intelligent management system based on an industrial internet includes a cloud platform, an AGV car data acquisition module, a user end device, and a maintainer device, where the AGV car data acquisition module is used to monitor and acquire state data of an AGV car, and an output end of the AGV car data acquisition module is connected with the cloud platform through an industrial internet of things gateway and is used to upload the data to the cloud platform; the cloud platform is respectively connected with the user side equipment and the maintenance personnel equipment; and the user end equipment and the maintenance personnel equipment are used for receiving and acquiring the state data of the AGV in the cloud platform. The AGV trolley data acquisition module is used for acquiring key data of the AGV trolley, the key data of the AGV trolley are transmitted to the cloud platform through the industrial Internet of things gateway, remote data monitoring and acquisition are achieved, the cloud platform transmits the data to the user end equipment and the maintenance personnel equipment, a user and the maintenance personnel can check the key data of the AGV trolley and can check the key data through the user end equipment and the maintenance personnel equipment and remotely send a control signal of the AGV trolley to control the operation and scheduling of the AGV trolley, remote diagnosis and data analysis can be achieved through the remote acquisition signal, and data wings are provided for remote fault diagnosis.
The AGV trolley data acquisition module reads the state information of the trolley from the AGV control module in a CAN bus mode, the position and attitude information of the trolley obtained by the positioning navigation module, the AGV trolley scheduling system and the upper computer; the AGV control module and the positioning navigation module upload the acquired trolley state data and trolley pose information to the upper computer through the wireless network bridge. The state information of the trolley comprises information such as electric quantity, speed, load, working state, alarm and the like. And the positioning navigation module positions the position of the AGV through the laser SLAM to obtain the pose information of the trolley. The AGV dispatching information and the task information of the vehicle acquired by the AGV dispatching system comprise information such as task names, starting points, starting actions, end points, end point actions, task states, dispatching time, timed execution tasks, running paths, avoidance paths and the like.
The upper computer is connected with the AGV trolley dispatching system and is used for acquiring dispatching information of the AGV trolley and task information of a vehicle; the dispatching system is a dispatching server of the AGV and is used for realizing automatic planning and dispatching the operation of the AGV, and the upper computer is used as one of data support of fault diagnosis by acquiring dispatching information of the AGV.
The AGV trolley data acquisition module further comprises vehicle fault alarm signals acquired through the AGV control module and uploads the vehicle fault alarm signals to the cloud platform, the user end equipment and the maintenance personnel equipment send out the fault alarm signals, the vehicle fault alarm signals are vehicle fault signals acquired through self diagnosis and fault diagnosis of the AGV trolley control module, the signals are sent to the cloud platform to enable the cloud platform to conveniently remotely check and acquire the fault signals, and the fault signals can be processed in time.
The upper computer is used for uploading the scheduling information of the AGV trolley, the task information of the vehicle, the acquired trolley state data and the trolley pose information to the cloud platform through the industrial Internet of things gateway. The cloud platform is used as a cloud transfer station of data, and can transfer, store and process the uploaded data. And a remote fault diagnosis module is arranged in the cloud platform and used for carrying out fault diagnosis and analysis on the uploaded AGV trolley information and issuing an automatic analysis result to user end equipment or maintenance personnel equipment. The fault diagnosis system is convenient for users and maintenance personnel to acquire fault diagnosis information and trolley information in time, so that remote fault acquisition and fault analysis are completed.
An AGV movement track tracking system is arranged in a cloud platform to draw a trolley traveling path, and the path drawing method of the AGV movement track tracking system comprises the following steps: a1, drawing a factory area where the trolley is located by a positioning navigation module through laser SLAM navigation, and obtaining coordinate values of each cargo point, each cargo taking point, each cargo placing point, each path point, each avoidance point and each charging point in the factory area to obtain a scene map; a2 traversing and judging the network connection state of all trolleys in the current factory area, if a trolley is in an online state, executing a step a3, if not, stopping drawing a3 to traverse the working state of all trolleys in the online state, if a trolley is executing a task, sending polling information to a cloud server, reading the current task information of all trolleys in a task execution state, wherein the current task information comprises the starting point information and the end point information of the task; if not, stopping drawing; a3 representing the corresponding start and end points in the scene map by colors and the end points by arrows; a4, sending polling information to a cloud server every 0.5s to acquire real-time position information of the trolley; a5, sending the position information to the mobile phone end through an API interface to draw a real-time trolley running track; a6, traversing and judging whether all trolleys in the factory area are in a standby state, if so, stopping drawing the track map; if not, go to step a 7; a7, judging whether the name of the task being executed is the same as the name of the last task, if yes, returning to the step a4 to continue drawing the path of the trolley running track; if not, the method returns to a3 to redraw the new running track of the trolley. The drawing path information in the cloud platform can provide visual data and monitoring for the viewing of the mobile phone app end.
The method comprises the following steps that user equipment or maintenance personnel are provided with an industrial APP, the industrial APP comprises a remote operation human-computer interface, a remote state monitoring and displaying function module and a remote fault alarm monitoring module, and the remote operation human-computer interface is used for realizing remote operation control of AGV information; the remote state monitoring and displaying functional module is used for realizing remote monitoring of various operating parameters of the AGV and recording of historical tasks; the fault alarm monitoring module is used for monitoring and alarming remote faults of the AGV in real time and automatically sending alarm details to a user for fault reminding. The cloud platform can send fault signals of the trolley or fault information obtained through analysis to a user terminal or maintenance personnel equipment, so that the corresponding fault information can be conveniently and timely checked, and faults can be conveniently and timely processed; meanwhile, fault information is sent to maintenance personnel, the maintenance personnel can give maintenance suggestions in time and send the maintenance suggestions to the user side through the cloud platform, and the user side can maintain faults in time conveniently; meanwhile, the user side can check the AGV data of the trolley in real time and remotely control the AGV by adopting the industrial app, so that remote control and remote timely acquisition of fault information and fault information corresponding to the fault are realized; the maintenance personnel and the user side can acquire real-time information and fault information in the cloud platform through mobile phones, computers and the like in an app or webpage mode, so that remote control and acquisition of remote fault alarm signals are achieved, and the management system capable of conducting remote fault diagnosis on the AGV is achieved.
It is clear that the specific implementation of the invention is not restricted to the above-described embodiments, but that various insubstantial modifications of the inventive process concept and technical solutions are within the scope of protection of the invention.
Claims (9)
1. The utility model provides a AGV intelligent management system based on industry internet which characterized in that: the system comprises a cloud platform, an AGV trolley data acquisition module, user side equipment and maintenance personnel equipment, wherein the AGV trolley data acquisition module is used for monitoring and acquiring state data of the AGV trolley, and the output end of the AGV trolley data acquisition module is connected with the cloud platform through an industrial internet of things gateway and is used for uploading the data to the cloud platform; the cloud platform is respectively connected with the user side equipment and the maintenance personnel equipment; and the user end equipment and the maintenance personnel equipment are used for receiving and acquiring state data of the AGV in the cloud platform.
2. The AGV intelligent management system based on industrial internet according to claim 1, wherein: the AGV trolley data acquisition module reads the state information of the trolley from the AGV control module in a CAN bus mode, and the position and attitude information of the trolley and the upper computer obtained by the positioning navigation module; the AGV control module and the positioning navigation module upload the acquired trolley state data and trolley pose information to the upper computer through the wireless network bridge.
3. An industrial internet-based AGV intelligent management system according to claim 1 or 2, wherein: the AGV trolley data acquisition module also comprises an AGV trolley dispatching system, and the upper computer is connected with the AGV trolley dispatching system and is used for acquiring dispatching information of the AGV trolley and task information of a vehicle; the upper computer is used for uploading the scheduling information of the AGV trolley, the task information of the vehicle, the collected trolley state data and the trolley pose information to the cloud platform through the industrial Internet of things gateway.
4. An industrial internet-based AGV intelligent management system according to claim 1 or 2, wherein: the state information of the trolley comprises information such as electric quantity, speed, load, working state, alarm and the like.
5. An industrial internet-based AGV intelligent management system according to claim 1 or 2, wherein: and the positioning navigation module positions the position of the AGV through the laser SLAM to obtain the pose information of the trolley.
6. An industrial internet-based AGV intelligent management system according to claim 3, wherein: the AGV dispatching information and the task information of the vehicle acquired by the AGV dispatching system comprise information such as task names, starting points, starting actions, end points, end point actions, task states, dispatching time, timed execution tasks, running paths, avoidance paths and the like.
7. An industrial internet-based AGV intelligent management system according to claim 2, wherein: the AGV trolley data acquisition module further comprises a vehicle fault alarm signal acquired through the AGV control module, and the vehicle fault alarm signal is uploaded to the cloud platform and sent out through user side equipment and maintenance personnel equipment.
8. An industrial internet-based AGV intelligent management system according to any one of claims 1 to 7, wherein: and the cloud platform is internally provided with a remote fault diagnosis module for carrying out fault diagnosis and analysis on the uploaded AGV trolley information and issuing an automatic analysis result to user end equipment or maintenance personnel equipment.
9. An industrial internet-based AGV intelligent management system according to claim 1 or 2, wherein: the system comprises a user side device and a maintenance worker, wherein the user side device or the maintenance worker is provided with an industrial APP, the industrial APP comprises a remote operation human-computer interface, a remote state monitoring and display function module and a remote fault alarm monitoring module, and the remote operation human-computer interface is used for realizing remote operation control of AGV information; the remote state monitoring and displaying functional module is used for realizing remote monitoring of various operating parameters of the AGV and recording of historical tasks; the fault alarm monitoring module is used for monitoring and alarming remote faults of the AGV in real time and automatically sending alarm details to a user for fault reminding.
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