CN116112576A - Connection method, adapter, control method and device for single system and AGV - Google Patents
Connection method, adapter, control method and device for single system and AGV Download PDFInfo
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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Abstract
The invention relates to a connection method, an adapter, a control method and a device for a single system and an AGV, and relates to the field of production logistics. The AGVs of different brands and models are scheduled and controlled through a scheduling system, different control protocol instructions and different communication technology modes of the AGVs of different brands and models are analyzed and converted through the protocol adapter, the control protocol instructions are converted into standard unified protocol instructions for the scheduling system to use, vehicle-related state information uploaded by the AGVs of different brands and models is converted into standard state content through the protocol converter to be sent to the scheduling system, and therefore the AGVs of different brands and models are scheduled and controlled uniformly through the scheduling system.
Description
Technical Field
The invention relates to the field of production logistics, in particular to a connection method, an adapter, a control method and a device of a single system and an AGV.
Background
In the field of product flow, the application of AGVs (automatic guided vehicles) is very common, and along with the development of technology, the AGVs also have a plurality of navigation modes such as magnetic navigation, two-dimensional code navigation, laser SLAM (simultaneous localization andmapping) navigation and the like, and the AGVs of different manufacturers are on the market of different models.
Along with the deep application of AGVs, the brands and models of AGVs used by end customers are more and more, and the AGVs with different navigation modes of different brands are required to be used in a working place frequently, but a problem exists at present, namely that scheduling systems among different manufacturers are not uniform and compatible, and the scheduling system of manufacturer A cannot be compatible to control and schedule the AGVs of manufacturer B, so that great trouble is caused to the use of end users.
Therefore, there is a need in the art for an AGV that utilizes a system to schedule various navigation modes.
Disclosure of Invention
The invention aims to provide a connection method, an adapter, a control method and a device for a single system and an AGV. The scheduling system solves the problem that scheduling systems among different manufacturers are not uniform and compatible at present.
In order to achieve the above object, the present invention provides the following solutions:
a method of interfacing a single system with an AGV, the method comprising:
acquiring communication protocol information of an AGV to be connected;
matching a connection mode according to the communication protocol information of the AGV to be connected; specifically, setting IP addresses and ports of AGVs corresponding to AGVs connected in different navigation modes;
establishing a connection channel between a single system and the AGV to be connected according to the connection mode;
after the connection channel is established, the conversion process of the information format is carried out in the process of information transmission.
Optionally, after the connection channel is established, in the process of information transmission, a conversion process of an information format is performed, which specifically includes:
acquiring information sent by the AGV, and analyzing and converting the information into a set format to obtain set format information; the set format information is sent to the single system through the connecting channel; the information sent by the AGV comprises vehicle state information of the AGV;
acquiring a control instruction sent by the single system, and converting the control instruction into a format required by the AGV to obtain an AGV format instruction; the AGV format instruction is sent to the AGV through the connecting channel; the control instruction is issued in combination with the vehicle state information and service requirements.
A protocol adapter for a single system to interface with an AGV, comprising:
a memory module for storing a communication protocol;
the processor module is used for setting IP addresses and ports corresponding to AGV connection of different navigation modes;
the format conversion module is used for converting formats of information sent by the AGV and the scheduling system;
the protocol adapter is used for:
acquiring communication protocol information of an AGV to be connected;
matching a connection mode according to the communication protocol information of the AGV to be connected;
establishing a connection channel between a single system and the AGV to be connected according to the connection mode;
acquiring information sent by the AGV, and analyzing and converting the information into a set format to obtain set format information; the set format information is sent to the single system through the connecting channel; the information sent by the AGV comprises vehicle state information of the AGV;
acquiring a control instruction sent by the single system, and converting the control instruction into a format required by the AGV to obtain an AGV format instruction; the AGV format instruction is sent to the AGV through the connecting channel; the control instruction is issued in combination with the vehicle state information and service requirements. .
A method of single system control of an AGV, the method comprising:
the protocol adapter is used for connecting with various AGVs, and specifically comprises:
the protocol adapter is firstly set with technical modes which are communicated with different brands and models through setting;
the protocol adapter initiates connection to the AGV according to the corresponding technical mode;
the method for receiving the vehicle state information of the AGV by using the protocol adapter specifically comprises the following steps:
acquiring vehicle state information of the AGV by using the protocol adapter;
analyzing the format of the vehicle state information by using the protocol adapter, and converting the format into a set format to obtain set format information;
issuing a control instruction to the AGV to the protocol adapter by combining the vehicle state information and service requirements;
the control instruction is sent to the AGV by using a protocol adapter, and the method specifically comprises the following steps:
converting the control instruction into a format required by the AGV by using the protocol adapter to obtain an AGV format instruction;
and sending the AGV format instruction to the AGV by using the protocol adapter.
Optionally, the vehicle state information includes: one or more of vehicle location, whether the vehicle is running, vehicle power, and fault information.
Optionally, the control instruction includes: dispatching vehicles, performing transportation tasks, and performing one or more lifting actions.
A single system control device for an AGV, the device comprising:
a protocol adapter, comprising:
a memory module for storing a communication protocol;
the processor module is used for setting IP addresses and ports corresponding to AGV connection of different navigation modes;
the format conversion module is used for converting formats of information sent by the AGV and the scheduling system;
the protocol adapter is used for converting a communication protocol, receiving, transmitting and converting information in different formats;
the single system is connected with the protocol adapter and is used for connecting with various AGVs by utilizing the protocol adapter; receiving vehicle state information of the AGV by using a protocol adapter; and sending a control instruction to the AGV to the protocol adapter by combining the vehicle state information and the service requirement, and sending the control instruction to the AGV by using the protocol adapter.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the embodiment of the invention, the AGVs with different brands and models are scheduled and controlled by one scheduling system, and the AGVs with different brands and models are firstly analyzed and converted by the protocol adapter in different control protocol instructions and different communication technology modes, and are converted into standard and unified protocol instructions for the scheduling system, so that the AGVs with different brands and models are scheduled and controlled by one scheduling system in a unified way.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for connecting a single system to an AGV according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a single system AGV control method according to a second embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Along with deep application of AGVs, the brands and models of AGVs used by end customers are more and more, and the AGVs with different navigation modes of different brands are required to be used in a working place frequently, but at present, a problem exists that scheduling systems among different manufacturers are not uniform and compatible, and a scheduling system of manufacturer A cannot be compatible to control and schedule the AGVs of manufacturer B, so that great trouble is caused to use of end users:
1: if AGVs of multiple brands and models are used, AGVs of different brands cannot be used in the same venue, otherwise, traffic jam is caused by the fact that the routes occupy each other because of collisions between vehicles caused by incompatibility of scheduling.
2: the AGVs cannot be used in the same place, the use efficiency of the AGVs is reduced, the situation that one logistics area is not enough for the AGVs, and the other area is idle at the same time often occurs.
3: different brands and models of AGVs use different schedules, different servers are needed, and the number of work increases for management and maintenance personnel of the system. If there is a higher-level system (such as MES, WMS, etc.) that needs to interface with the dispatch system, development and maintenance work of the higher-level system is increased.
Therefore, the invention aims to provide a connection method, an adapter, a control method and a device for a single system and an AGV. The scheduling system solves the problem that scheduling systems among different manufacturers are not uniform and compatible at present.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Embodiment one:
as shown in fig. 1, an embodiment of the present invention provides a method for connecting a single system to an AGV, where the method includes:
a1, acquiring communication protocol information of the AGV to be connected.
Different brands and models of AGVs use different communication protocols, such as Socket technology using TCP/udp, technology using http api, technology using Modbus TCP, technology using PLC through OPC, etc., because of different control systems, it is necessary to obtain the communication protocol information of the AGVs to be connected first, so as to prepare for connection.
A2, matching the connection mode according to the communication protocol information of the AGV to be connected.
After the communication protocol information of the AGVs to be connected is obtained, the technical modes, such as TCP, of communication with different brands and models are set through setting, and the IP addresses and ports of the corresponding AGVs are set.
And A3, establishing a connection channel between the single system and the AGV to be connected according to the connection mode.
After the connection mode is determined, according to the corresponding connection mode, connection to the AGV is initiated, for example, socket connection of the corresponding port of the AGV corresponding to IP is opened through TCP Client, and a communication channel with the AGV is established.
The embodiment of the invention is connected with AGVs with various brands and various navigation modes through the method.
A4, after the connection channel is established, in the process of information transmission, carrying out the conversion process of the information format, wherein the specific steps are as follows:
acquiring information sent by the AGV, and analyzing and converting the information into a set format to obtain set format information; and the set format information is sent to the single system through the connecting channel. The information sent by the AGV comprises vehicle state information of the AGV.
Acquiring a control instruction sent by the single system, and converting the control instruction into a format required by the AGV to obtain an AGV format instruction; and the AGV format instruction is sent to the AGV through the connection channel. The control instruction is issued in combination with the vehicle state information and service requirements.
In order to implement the method, the embodiment of the invention provides a protocol adapter for connecting a single system with an AGV, wherein the protocol adapter mainly comprises the following three modules:
and the memory module is used for storing the communication protocol.
And the processor module is used for setting IP addresses and ports corresponding to AGV connection of different navigation modes.
And the format conversion module is used for converting the formats of the information sent by the AGV and the dispatching system.
The protocol adapter is used for:
and acquiring communication protocol information of the AGV to be connected.
And matching the connection mode according to the communication protocol information of the AGV to be connected.
And establishing a connection channel between the single system and the AGV to be connected according to the connection mode.
The protocol adapter is also used to:
acquiring information sent by the AGV, and analyzing and converting the information into a set format to obtain set format information; and the set format information is sent to the single system through the connecting channel. The information sent by the AGV comprises vehicle state information of the AGV.
Acquiring a control instruction sent by the single system, and converting the control instruction into a format required by the AGV to obtain an AGV format instruction; the AGV format instruction is sent to the AGV through the connecting channel; the control instruction is issued in combination with the vehicle state information and service requirements.
The embodiment of the invention mainly records a connection method of a single system and a plurality of AGVs, and utilizes a protocol adapter to analyze and convert different control protocol instructions and different communication technical modes of AGVs of different brands and models through the protocol adapter, and converts the different control protocol instructions and the different communication technical modes into standard unified protocol instructions for a dispatching system to use, so that the AGVs of different brands and models are dispatched and controlled in a unified way through the dispatching system.
Embodiment two:
as shown in fig. 2, this embodiment provides a method for controlling an AGV by a single system, where the method applies the protocol adapter provided in the first embodiment, and the main steps include:
s1, connecting with various AGVs by utilizing a protocol adapter.
The protocol adapter is a processing module for communicating with and communicating with different brands and models of AGVs using different communication technology modes. Different brands and models of AGVs may employ different communication technologies, such as Socket technology using TCP/udp, or technology using http api, or technology using Modbus TCP, or technology using PLC through OPC, etc., and the protocol adapter module may need to communicate with the AGV through these different communication technologies.
The specific steps of S1 are as follows:
firstly, the protocol adapter sets the technical modes, such as TCP, of communication with different brands and models through setting, and sets the IP address and port of the corresponding AGV.
Then, the protocol adapter initiates connection to the AGV according to the corresponding technical mode, for example, through TCP Client, opens Socket connection of the corresponding port of the AGV corresponding to IP, and accordingly establishes a communication channel with the AGV.
S2, receiving the vehicle state information of the AGV by using a protocol adapter.
After the protocol adapter is connected with the AGV, the AGV can transmit vehicle state information to the dispatching system, but the formats and codes of the state information of the AGVs with different brands and models are different, and the protocol adapter is required to perform response analysis and conversion, and the specific steps comprise:
acquiring vehicle state information of the AGV by using the protocol adapter; and analyzing the format of the vehicle state information by using the protocol adapter, and converting the format into a set format to obtain set format information. The vehicle state information includes: one or more of vehicle location, whether the vehicle is running, vehicle power, and fault information.
Specifically, first, the AGV transmits status information to the protocol adapter, for example, a string of 16-ary character strings (667 a 0137eda) containing the current status of the AGV (vehicle position, whether the vehicle is running, vehicle power, fault information, etc.) is transmitted through TCP, and the protocol adapter needs to parse the character strings according to a specified parsing manner of the brand model, for example, the first 1 and 2 bits of the character string indicate the position X coordinate, the 3 and 4 bits indicate the position Y coordinate, the 4 and 5 bits indicate the status of whether the vehicle is running, the 7 and 8 bits indicate the vehicle power information, the 9-12 bits indicate the current fault information, etc.
Then, the protocol adapter converts formats and names of information uploaded by different vehicles, and uniformly processes the information into a JSON format for marking state information:
such as:
the protocol adapter converts state information of different formats and contents uploaded by AGVs of different brands and models into contents of standard formats required by a dispatching system and then sends the contents to the dispatching system.
S3, issuing a control instruction for the AGV to the protocol adapter by combining the vehicle state information and service requirements; the control instruction includes: dispatching vehicles, performing transportation tasks, and performing one or more lifting actions.
After receiving the format setting information sent by the protocol adapter, the dispatching system feeds back the dispatching vehicle according to the service scene requirement, executes the transportation task and carries out control instructions such as lifting action. For the dispatch system, since the protocol adapter has been converted, the status information of all different vehicles is consistent, and the feedback control instructions are consistent.
And S4, sending the control instruction to the AGV by using a protocol adapter.
The method comprises the following specific steps: converting the control instruction into a format required by the AGV by using the protocol adapter to obtain an AGV format instruction; and sending the AGV format instruction to the AGV by using the protocol adapter.
The instruction sent by the dispatching system is also an instruction in the standard JSON format of the system, such as sending a running path:
the protocol adapter module converts standard control instructions sent by the dispatching system into corresponding instruction formats and codes required by the AGVs, and if the AGVs need 16-system character strings, the standard control instructions are converted into (FC 783 AD) to complete conversion of the whole instructions.
And then the converted information is sent to the AGV through the communication channel established before.
Finally, the AGVs of different brands and models acquire control instructions of corresponding formats and contents through the protocol adapter to execute the responsive actions (running, suspending, lifting and the like) of the vehicle.
The embodiment of the invention also provides a single system AGV control device, which comprises the protocol adapter and the single system.
A protocol adapter, comprising:
a memory module for storing a communication protocol;
the processor module is used for setting IP addresses and ports corresponding to AGV connection of different navigation modes;
the format conversion module is used for converting formats of information sent by the AGV and the scheduling system;
the protocol adapter is used for converting a communication protocol, receiving, transmitting and converting information in different formats;
the single system is connected with the protocol adapter and is used for connecting with various AGVs by utilizing the protocol adapter; receiving vehicle state information of the AGV by using a protocol adapter; and sending a control instruction to the AGV to the protocol adapter by combining the vehicle state information and the service requirement, and sending the control instruction to the AGV by using the protocol adapter.
The single system in the embodiment of the invention is a single scheduling system, and the control of AGVs of different brands and types is completed by using one scheduling system.
The embodiment of the invention mainly carries out scheduling and control on AGVs with different brands and models through a scheduling system, and firstly analyzes and converts different control protocol instructions and different communication technology modes of AGVs with different brands and models through a protocol adapter to convert the control protocol instructions into standard and unified protocol instructions for the scheduling system. Vehicle-related status information uploaded by AGVs of different brands and models is also converted into standard status content by the protocol adapter and sent to the dispatch system.
Therefore, the AGVs of different brands and models can be uniformly scheduled and controlled through the scheduling system, protocol conversion of the different brands and models is performed through different protocol adapters, and the protocol adapters can be continuously added and adapted according to the protocols of new brands and new models.
The unified scheduling and control mode can enable AGVs of different brands and models to operate in the same working place, and route control is performed in a unified mode to prevent conflict and traffic management in operation of different vehicles. The transport capacity of AGVs of different brands and models can be fully utilized in the same job site for end users, and the maintenance and management of a set of systems is also much convenient. For future expansion, more brands and models of AGVs may also be selected.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. A method of interfacing a single system with an AGV, the method comprising:
acquiring communication protocol information of an AGV to be connected;
according to the communication protocol information of the AGVs to be connected, the connection modes are matched, specifically, through setting, IP addresses and ports of the AGVs corresponding to the AGVs connected in different navigation modes are set;
establishing a connection channel between a single system and the AGV to be connected according to the connection mode;
after the connection channel is established, the conversion process of the information format is carried out in the process of information transmission.
2. The method for connecting a single system to an AGV in a navigation manner according to claim 1, wherein after the connection channel is established, a conversion process of an information format is performed in the process of information transmission, and the method specifically comprises:
acquiring information sent by the AGV, and analyzing and converting the information into a set format to obtain set format information; the set format information is sent to the single system through the connecting channel; the information sent by the AGV comprises vehicle state information of the AGV;
acquiring a control instruction sent by the single system, and converting the control instruction into a format required by the AGV to obtain an AGV format instruction; the AGV format instruction is sent to the AGV through the connecting channel; the control instruction is issued in combination with the vehicle state information and service requirements.
3. A protocol adapter for interfacing a single system with an AGV, comprising:
a memory module for storing a communication protocol;
the processor module is used for setting IP addresses and ports corresponding to AGV connection of different navigation modes;
the format conversion module is used for converting formats of information sent by the AGV and the scheduling system;
the protocol adapter is used for:
acquiring communication protocol information of an AGV to be connected;
matching a connection mode according to the communication protocol information of the AGV to be connected;
establishing a connection channel between a single system and the AGV to be connected according to the connection mode;
acquiring information sent by the AGV, and analyzing and converting the information into a set format to obtain set format information; the set format information is sent to the single system through the connecting channel; the information sent by the AGV comprises vehicle state information of the AGV;
acquiring a control instruction sent by the single system, and converting the control instruction into a format required by the AGV to obtain an AGV format instruction; the AGV format instruction is sent to the AGV through the connecting channel; the control instruction is issued in combination with the vehicle state information and service requirements.
4. A method for controlling an AGV by a single system, the method comprising:
the protocol adapter is used for connecting with various AGVs, and specifically comprises:
the protocol adapter is firstly set with technical modes which are communicated with different brands and models through setting;
the protocol adapter initiates connection to the AGV according to the corresponding technical mode;
the method for receiving the vehicle state information of the AGV by using the protocol adapter specifically comprises the following steps:
acquiring vehicle state information of the AGV by using the protocol adapter;
analyzing the format of the vehicle state information by using the protocol adapter, and converting the format into a set format to obtain set format information;
issuing a control instruction to the AGV to the protocol adapter by combining the vehicle state information and service requirements;
the control instruction is sent to the AGV by using a protocol adapter, and the method specifically comprises the following steps:
converting the control instruction into a format required by the AGV by using the protocol adapter to obtain an AGV format instruction;
and sending the AGV format instruction to the AGV by using the protocol adapter.
5. The single system control method of multiple AGVs of claim 4 wherein the vehicle status information comprises: one or more of vehicle location, whether the vehicle is running, vehicle power, and fault information.
6. The method of single system control of multiple AGVs of claim 4 wherein the control instructions comprise: dispatching vehicles, performing transportation tasks, and performing one or more lifting actions.
7. A single system control device for an AGV, the device comprising:
a protocol adapter, comprising:
a memory module for storing a communication protocol;
the processor module is used for setting IP addresses and ports corresponding to AGV connection of different navigation modes;
the format conversion module is used for converting formats of information sent by the AGV and the scheduling system;
the protocol adapter is used for converting a communication protocol, receiving, transmitting and converting information in different formats;
the single system is connected with the protocol adapter and is used for connecting with various AGVs by utilizing the protocol adapter; receiving vehicle state information of the AGV by using a protocol adapter; and sending a control instruction to the AGV to the protocol adapter by combining the vehicle state information and the service requirement, and sending the control instruction to the AGV by using the protocol adapter.
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| CN117148808A (en) * | 2023-10-31 | 2023-12-01 | 南通羲和软件科技有限公司 | Multi-robot joint scheduling method and scheduling system |
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| CN113641179A (en) * | 2021-10-18 | 2021-11-12 | 深圳市信润富联数字科技有限公司 | AGV trolley monitoring method and device, terminal equipment and storage medium |
| CN114625079A (en) * | 2022-02-07 | 2022-06-14 | 浙江中烟工业有限责任公司 | IGV real-time task distribution system for wire-making looped network |
| CN114740809A (en) * | 2022-03-28 | 2022-07-12 | 阿里巴巴（中国）有限公司 | Communication method, communication apparatus, relay device, storage medium, and program product |
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| CN115580663A (en) * | 2022-10-20 | 2023-01-06 | 瑞熙(苏州)智能科技有限公司 | A method, system and computer equipment capable of dispatching multiple types of AGVs |
| CN115766844A (en) * | 2022-11-10 | 2023-03-07 | 中交智运有限公司 | Vehicle networking control method and system based on distributed micro-service |
| CN116095176A (en) * | 2022-12-29 | 2023-05-09 | 天翼物联科技有限公司 | Scheduling method, device, equipment, and storage medium for sending commands from Internet of Things terminals |
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| WO2017063153A1 (en) * | 2015-10-14 | 2017-04-20 | 海能达通信股份有限公司 | Protocol format conversion method and apparatus, and interface platform |
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| CN108650273A (en) * | 2018-05-18 | 2018-10-12 | 深圳市元体科技有限公司 | A kind of internet of things equipment communications protocol Adaptive Control Method and its control system |
| CN109100965A (en) * | 2018-07-10 | 2018-12-28 | 山东师范大学 | A kind of AGV vehicle control syetem that supporting various communications protocols and control network |
| CN213106858U (en) * | 2020-09-22 | 2021-05-04 | 江西省智能产业技术创新研究院 | Adapter for multiple AGVs |
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| CN117148808A (en) * | 2023-10-31 | 2023-12-01 | 南通羲和软件科技有限公司 | Multi-robot joint scheduling method and scheduling system |
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