A simulation management method, device, system, equipment and medium for factory AGV

Abstract

The present invention provides a simulation management method, device, system, equipment and medium of factory AGV, and the method includes: S1, establishing a 3D simulation factory and a 3D simulation AGV in proportion according to the size of the actual factory and the AGV real vehicle, and establishing a one-to-one correspondence between the 3D simulation AGV and the AGV real vehicle; S2, receiving standard format data collated by the MES system in real time according to the running status data of the AGV real vehicle and the coordinate data in the actual factory; S3, simulating the motion trajectory of the 3D simulation AGV in real time according to the running status data in the standard format data and the coordinate data in the actual factory; S4, presenting the AVG motion trajectory of all 3D simulation AGVs in the entire 3D simulation factory through a global perspective mode, or following any selected 3D simulation AVG movement through a first perspective mode. The present invention monitors and manages the running status of the AGV real vehicle running in the actual factory by means of 3D simulation, and can also timely understand obstacles and improve management efficiency.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a real-time model factory AGV motion management method, device, equipment and medium. Background Art

[0002] AGV is the abbreviation of Automated Guided Vehicle. AGV is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, which can travel along a specified guidance path and has safety protection and various transfer functions. Traditional industries have big problems in the use of AGVs. How to know the current working status of AGVs, the specific location of AGVs in the factory, and how to manage these AGVs have also become headaches.

[0003] With the development of graphics, a realistic virtual environment with multiple senses such as sight, hearing, touch, and taste generated by computer technology is used. Users can use various sensor devices to interact with entities in the virtual environment through their natural skills. In the industrial field, the application of 3D technology is becoming more and more extensive, and it has become a very important choice to manage AGV in the industrial field. At present, it is more widely used in the market to collect AGV data, and simulation is more used in configuration shapes. It is impossible to follow the AGV movement path from a real first-person perspective, and it is impossible to visually display the current AGV status and the real-time location of the factory where the AGV is located. Moreover, it is impossible to know what environment causes the AGV obstacles to affect, so it is necessary to manually discover AGV problems on site. It is impossible to quickly track and locate the AGV through a large screen when an alarm occurs, and it is impossible to present it to the administrator in a specific visual way.

[0004] The Chinese invention patent application CN105005206A, which was published on 20151028, discloses an AGV motion control semi-physical simulation system, including an AGV motion simulation module, a communication module, an AGV human-machine interface module, an AGV controller module and a system monitoring computer module, wherein the AGV motion simulation module and the communication module are arranged in an embedded controller, the AGV human-machine interface module and the system monitoring computer module are arranged in a computer, the AGV motion simulation module is connected to the AGV controller module through the communication module and communicates with it, the system monitoring computer module is connected to the embedded controller through a network port and communicates with it, and the internal data of the embedded controller is monitored by computer software, and the AGV human-machine interface module is connected to the embedded controller through a network port and communicates with it. The purpose of the invention is to address a series of problems caused by the debugging and performance testing of AGV controllers in the prior art on real AGV vehicles and storage yards with buried transponders, and to provide an AGV motion control semi-physical simulation system based on an embedded controller, which can simulate the movement of real AGV vehicles, set external environmental parameters, calculate the movement state of AGV vehicles, and return sensor data to the controller, dynamically displaying the movement of the vehicle in the storage yard, thereby replacing the method of on-site testing of controller performance with real AGV vehicles, thereby achieving the effect of saving energy, ensuring safety, avoiding unexpected economic losses and facilitating various working condition tests.

[0005] The Chinese invention with publication number CN109062080A, which was published on 20181221, discloses a simulation control method based on AGV, including establishing a topological map-based AGV simulation test trajectory planning path, and calculating and obtaining the coordinates of all points on the planned path and storing them; establishing a motion model of the AGV chassis, obtaining the mobile state data of the AGV in real time through the motion model, and obtaining the corresponding AGV control reference point state data according to the mobile state data; calculating and obtaining the angle adjustment amount and speed adjustment amount of the reference point on the planned path according to the length of the preview point; inputting the angle adjustment amount and speed adjustment amount into the motion model to adjust the mobile state of the AGV simulation vehicle. This invention is to simulate the trajectory of the virtual vehicle, so that the trajectory control parameter debugging of the AGV is completely based on simulation, without being restricted by the real vehicle or embedded controller, and the debugging is convenient and fast, overcoming the interference of the real vehicle hardware failure during the parameter setting process.

[0006] The Chinese invention with publication number CN110132613A, which was published on 20190816, discloses a simulation vehicle monitoring system. The simulation vehicle monitoring system includes: one or more simulation vehicles; a first monitoring device, which uses wireless communication local area network communication to monitor the motion data reported by the simulation vehicle and display the motion data; a server, which wirelessly communicates with the simulation vehicle and the first monitoring device respectively, and is used to send motion parameters to the simulation vehicle to control the movement of the simulation vehicle. This embodiment monitors the data of the simulation vehicle through the first monitoring device with monitoring and display functions, and reports it to the server in real time, so that the data monitoring and transmission process is very timely and accurate, which solves the problem of inaccurate monitoring of existing simulation vehicles and achieves the technical effect of timely and accurate monitoring of simulation vehicles.

[0007] The aforementioned inventions all use simulated vehicles instead of real AGV vehicles to conduct research on correlation optimization of the control system, but do not monitor and manage the operating conditions of the real AGV vehicles running in the actual factory. As a result, it is impossible to understand the operating status and location coordinates of the real AGV vehicle in real time without entering the factory, and it is impossible to know what environment causes obstacles to the AGV, resulting in low management efficiency. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a simulation management method, device, system, equipment and medium for factory AGV. Through 3D simulation, the operating status of the actual AGV vehicle running in the actual factory is monitored and managed, thereby realizing real-time understanding of the operating status and location coordinates of the actual AGV vehicle without entering the factory, and timely understanding of obstacles to improve management efficiency.

[0009] In a first aspect, the present invention provides a simulation management method for a factory AGV, characterized in that it is applied to a 3D simulation system and comprises the following steps:

[0010] S1. A 3D simulated factory and a 3D simulated AGV are built in proportion to the sizes of the actual factory and the AGV. The 3D simulated AGV is given a unique ID and a one-to-one correspondence is established with the AGV.

[0011] S2, receiving standard format data compiled by the MES system in real time based on the running status data of the AGV real vehicle and the coordinate data in the actual factory;

[0012] S3, simulating the motion trajectory of the 3D simulation AGV in real time according to the operating status data in the standard format data and the coordinate data in the actual factory;

[0013] S4. Present the AVG motion trajectories of all 3D simulated AGVs in the entire 3D simulated factory through the global perspective mode, or follow the motion of any selected 3D simulated AVG through the first perspective mode.

[0014] In a second aspect, the present invention provides a simulation management method for a factory AGV, which is applied to a 3D simulation system and includes the following steps:

[0015] S10, using the WIS3D development tool to build a 3D simulated factory and a 3D simulated AGV in proportion to the size of the actual factory and the AGV real vehicle, to form a 3D simulation system, and in the 3D simulation system, the 3D simulated AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle;

[0016] S20, collecting the running status data of the AGV real vehicle and the coordinate data in the actual factory through the collection system, and storing the collected data in the MES system;

[0017] S30, the MES system organizes the collected data into standard format data and pushes it to the 3D simulation system via websocket;

[0018] S40, the 3D simulation system receives the standard format data pushed back by the MES system, and simulates the motion trajectory of the vehicle in real time according to the running status data and coordinate data in the standard format data;

[0019] S50, presenting the AVG motion trajectories of all 3D simulated AGVs in the entire 3D simulated factory through the global perspective mode, or following the motion of any selected 3D simulated AGV through the first perspective mode.

[0020] In a third aspect, the present invention provides a simulation management device for a factory AGV, which is a 3D simulation system and includes:

[0021] The corresponding association module is used to establish a 3D simulated factory and a 3D simulated AGV in proportion to the size of the actual factory and the AGV real vehicle. The 3D simulated AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle;

[0022] A data transceiver module is used to receive standard format data compiled by the MES system in real time based on the running status data of the AGV real vehicle and the coordinate data in the actual factory;

[0023] The simulation trajectory module is used to simulate the motion trajectory of the 3D simulation AGV in real time according to the running status data and coordinate data in the standard format data;

[0024] The viewing angle module is used to present the AVG motion trajectory of all 3D simulated AGVs in the entire 3D simulated factory through the global viewing angle mode, or to follow the movement of any selected 3D simulated AVG through the first viewing angle mode.

[0025] In a fourth aspect, the present invention provides a 3D simulation system, including a WIS3D development tool that establishes a 3D simulated factory and a 3D simulated AGV in proportion to the sizes of the actual factory and the AGV real vehicle, and in the 3D simulation system, the 3D simulated AGV is assigned a unique ID and establishes a one-to-one correspondence with the AGV real vehicle; it also receives standard format data pushed back by the MES system, and simulates the movement trajectory of the vehicle in real time according to the operating status data and coordinate data in the standard format data; it also presents the AVG movement trajectory of all 3D simulated AGVs in the entire 3D simulation factory through the global perspective mode, or follows the movement of any selected 3D simulated AGV through the first perspective mode.

[0026] The acquisition system is used to collect the operating status data of the AGV and the coordinate data in the actual factory in real time, and store the collected data in the MES system;

[0027] The MES system is used to organize the collected data into standard format data and push it to the 3D simulation system through websocket.

[0028] In a fifth aspect, the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the program.

[0029] In a sixth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0030] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages: through 3D simulation means, a 3D simulated factory and a 3D simulated AGV are established in proportion according to the sizes of the actual factory and the AGV real vehicle to form a 3D simulation system, and in the 3D simulation system, the 3D simulated AGV is assigned a unique ID and establishes a one-to-one correspondence with the AGV real vehicle; by collecting the operating status data of the AGV real vehicle and the coordinate data in the actual factory, the MES system organizes the collected data into standard format data and pushes it to the 3D simulation system through websocket to simulate the movement trajectory of the vehicle; the manager can present the AVG movement trajectory of all 3D simulated AGVs in the entire 3D simulation factory through the global perspective mode, or follow the movement of any selected 3D simulated AVG through the first perspective mode. This enables the monitoring and management of the operating status of the actual AGV vehicles running in the actual factory. Managers can understand the operating status and location coordinates of the AGV vehicles in real time through the PC browser or through tablets, mobile phones, etc. without entering the factory. When the AGV vehicle encounters an obstacle, it can also notify the manager by taking images, so as to facilitate timely understanding of the obstacle and improve management efficiency.

[0031] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0033] Figure 1 It is a schematic diagram of the framework of the system of the present invention;

[0034] Figure 2 is a flow chart of the method in Embodiment 1 of the present invention;

[0035] Figure 3 This is a flowchart of the method in Embodiment 2 of the present invention.

[0036] Figure 4 It is a schematic diagram of the structure of the device in the third embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of an electronic device in Embodiment 3 of the present invention;

[0038] Figure 6 Schematic diagram of the structure of the medium in the fourth embodiment of the present invention;

[0039] Figure 7This is a schematic diagram of the observation state in the global viewing angle mode in each embodiment of the present invention, in which the dotted circle is a 3D simulated AGV;

[0040] Figure 8 Schematic diagram of the observation state in the first viewing angle mode in various embodiments of the present invention. DETAILED DESCRIPTION

[0041] The embodiments of the present application provide a simulation management method, device, system, equipment and medium for factory AGVs, which monitor and manage the operating status of actual AGV vehicles running in actual factories through 3D simulation. This allows real-time understanding of the operating status and location coordinates of the actual AGV vehicles without entering the factory, and timely understanding of obstacles to improve management efficiency.

[0042] The technical solution in the embodiment of the present application has the following general idea: by means of 3D simulation, a 3D simulation factory and a 3D simulation AGV are established in proportion according to the size of the actual factory and the AGV real car, and the AGV real car and its environment are restored to the greatest extent, forming a realistic 3D simulation effect; by collecting the running status data of the AGV real car and the coordinate data in the actual factory, the MES system of the factory organizes the data collected by the collection system into standard format data and pushes it to the 3D simulation system through websocket to simulate the movement trajectory of the car; the manager can present the AVG movement trajectory of all 3D simulation AGVs in the entire 3D simulation factory through the global perspective mode, or follow any selected 3D simulation AVG movement through the first perspective mode. When the AGV real car encounters an obstacle, it can also notify the manager by shooting an image, so as to facilitate timely understanding of the obstacle, thereby realizing the monitoring and management of the running status of the AGV real car running in the actual factory. The manager can understand the running status and the position coordinates of the AGV real car in real time through the browser of the PC or through a tablet, mobile phone, etc. without entering the factory, thereby improving management efficiency.

[0043] Before introducing the specific embodiments, the system framework corresponding to the method of the embodiment of the present application is first introduced. Figure 1 As shown, the system is roughly divided into three parts:

[0044] The 3D simulation system includes the WIS3D development tool that builds a 3D simulation factory and a 3D simulation AGV in proportion to the size of the actual factory and the AGV vehicle. When simulating the factory, all objects fixed in the factory building in the actual factory must be simulated, such as machinery and equipment, cabinets, fixed material boxes, etc., but not limited to temporarily stored items, and the shape, size and position of the objects must be simulated; in addition, if the fixed objects in the actual factory (including the objects themselves, shapes, sizes and positions) change, the model of the 3D simulation factory must be updated in time. In the 3D simulation system, the 3D simulation AGV is assigned a unique ID and establishes a one-to-one correspondence with the AGV vehicle; it also receives standard format data pushed back by the MES system, and simulates the movement trajectory of the car in real time according to the operating status data and coordinate data in the standard format data; it also presents the AVG movement trajectory of all 3D simulation AGVs in the entire 3D simulation factory through the global perspective mode, or follows the movement of any selected 3D simulation AVG through the first perspective mode;

[0045] The acquisition system is used to collect the running status data of the AGV real vehicle and the coordinate data in the actual factory in real time, and store the collected data in the MES system; since the collected data is relatively messy and the 3D simulation system cannot process it directly, the collected data is first sorted into standard data;

[0046] The MES system is used to organize the collected data into standard format data and push it to the 3D simulation system through WebSocket. The MES system and the 3D simulation system need to establish a WebSocket relationship in advance, so that information can be actively sent to the 3D simulation system through the WebSocket protocol.

[0047] Among them, the MES system (Manufacturing Execution System) is a manufacturing enterprise production process execution system, which is a set of production information management system for the execution layer of the workshop of the manufacturing enterprise. MES can provide enterprises with management modules including manufacturing data management, planning and scheduling management, production scheduling management, inventory management, quality management, human resource management, work center / equipment management, tool and tooling management, procurement management, cost management, project kanban management, production process control, bottom data integration analysis, upper data integration decomposition, etc., to create a solid, reliable, comprehensive and feasible manufacturing collaborative management platform for enterprises. It is currently widely used in production-oriented enterprises, so the present invention uses its more powerful data processing function to organize the data collected by the acquisition system to form standard format data, which is convenient for 3D simulation system processing.

[0048] Embodiment 1

[0049] like Figure 2As shown, this embodiment provides a simulation management method for factory AGV, which is applied to the 3D simulation system and includes the following steps:

[0050] S1. A 3D simulated factory and a 3D simulated AGV are established in proportion to the sizes of the actual factory and the actual AGV vehicle (preferably in a 1:1 ratio). The 3D simulated AGV is given a unique ID and establishes a one-to-one correspondence with the actual AGV vehicle. Since the 3D simulated factory and the 3D simulated AGV are established in proportion to the sizes of the actual factory and the actual AGV vehicle, rather than simply represented by geometric bodies, the actual AGV vehicle and its operating environment are restored to the greatest extent, making the observation effect more realistic.

[0051] S2, receiving standard format data compiled by the MES system in real time based on the running status data of the AGV real vehicle and the coordinate data in the actual factory;

[0052] S3, simulating the motion trajectory of the 3D simulation AGV in real time according to the operating status data in the standard format data and the coordinate data in the actual factory;

[0053] S4, such as Figure 7 As shown in the figure, the AVG motion trajectory of all 3D simulated AGVs in the entire 3D simulated factory is presented through the global perspective mode, or as Figure 8 As shown, through the first-person perspective mode, that is, turning on the camera in front of the AVG to record the video, follow the movement of any selected 3D simulated AVG.

[0054] Among them, as a better implementation method or a more specific implementation method of this embodiment, the standard format data uses a status field and a coordinate field to respectively represent the real-time operation status and real-time coordinates of the 3D simulated AGV; the status field is a status field, when the value of the status field is 0, it indicates that the AGV real vehicle is moving normally, when the value of the status field is 1, it indicates that the AGV real vehicle is in a stopped state, when the value of the status field is 2, it indicates that the AGV real vehicle has a fault; when the value of the status field is 3, 3 indicates that an obstacle has occurred. For example:

[0055] {"status":1,"x":1,"y":100,"z":100,"id":"sn102121"} means that the AGV with ID sn102121 is at the coordinate (1,100,100) of the actual factory and is in a stopped state.

[0056] Then the body of step S3 is: calculating the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment, and according to the difference and the time period between the two moments, the motion trajectory of the 3D simulation AGV can be simulated in real time.

[0057] Among them, when the value of the status field is 3, the 3D simulation system notifies the AGV real car through the MES system to start the camera to shoot the obstacle, and sends the captured image to the management personnel through SMS, WeChat, email, etc. as a warning. At the same time, it is convenient for the management personnel to understand what the obstacle is and direct the relevant on-site personnel to clear the obstacle. It can also automatically start the first-person perspective mode of the 3D simulation AGV when the management personnel opens the 3D simulation system, such as Figure 8 As shown, the corresponding AGV real vehicle camera can be used for observation, so that the management personnel can understand the obstacle clearance situation in a targeted and real-time manner.

[0058] Based on the same inventive concept, the present application also provides a device corresponding to the method in Example 1, see Example 2 for details.

[0059] Embodiment 2

[0060] like Figure 3 As shown, in this embodiment, a simulation management method for factory AGV is provided, which is applied to Figure 1 The system shown comprises the following steps:

[0061] S10, using the WIS3D development tool to establish a 3D simulated factory and a 3D simulated AGV in proportion to the sizes of the actual factory and the AGV real vehicle (preferably a 1:1 ratio) to form a 3D simulation system, and in the 3D simulation system, the 3D simulated AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle;

[0062] S20, collecting the running status data of the AGV real vehicle and the coordinate data in the actual factory through the collection system, and storing the collected data in the MES system;

[0063] S30, the MES system organizes the collected data into standard format data and pushes it to the 3D simulation system via websocket;

[0064] S40, the 3D simulation system receives the standard format data pushed back by the MES system, and simulates the motion trajectory of the vehicle in real time according to the running status data and coordinate data in the standard format data;

[0065] S50, presenting the AVG motion trajectory of all 3D simulated AGVs in the entire 3D simulated factory through the global perspective mode, or following the motion of any selected 3D simulated AVG through the first perspective mode. The first perspective mode is to turn on the camera of the AGV real vehicle and switch to the camera's perspective for observation.

[0066] Among them, as a better implementation method or a more specific implementation method of this embodiment, the standard format data uses a status field and a coordinate field to respectively represent the real-time operation status and real-time coordinates of the 3D simulated AGV; the status field is a status field, when the value of the status field is 0, it indicates that the AGV real vehicle is moving normally, when the value of the status field is 1, it indicates that the AGV real vehicle is in a stopped state, and when the value of the status field is 2, it indicates that the AGV real vehicle has a fault.

[0067] Then step S40 specifically includes: calculating the time difference between the current moment and the previous moment, calculating the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment, and simulating the motion trajectory of the 3D simulation AGV in real time according to the two differences.

[0068] Among them, when the value of the status field is 3, the 3D simulation system notifies the AGV real vehicle through the MES system to start the camera to shoot the obstacle, and sends the captured image to the management personnel through SMS, WeChat, email, etc. as a warning, and at the same time it is convenient for the management personnel to understand what the obstacle is and direct the relevant on-site personnel to clear the obstacle; the first-person perspective mode of the 3D simulation AGV can also be automatically started when the management personnel turns on the 3D simulation system, so that the corresponding AGV real vehicle camera can be used for observation, so that the management personnel can understand the obstacle clearance situation in a targeted and real-time manner.

[0069] Based on the same inventive concept, the present application also provides a device corresponding to the method in Example 1, see Example 3 for details.

[0070] Embodiment 3

[0071] like Figure 4 As shown, in this embodiment, a simulation management device for a factory AGV is provided, which is a 3D simulation system and includes:

[0072] The corresponding association module is used to establish a 3D simulated factory and a 3D simulated AGV in proportion to the size of the actual factory and the AGV real vehicle (preferably a 1:1 ratio). The 3D simulated AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle;

[0073] A data transceiver module is used to receive standard format data compiled by the MES system in real time based on the running status data of the AGV real vehicle and the coordinate data in the actual factory;

[0074] The simulation trajectory module is used to simulate the motion trajectory of the 3D simulation AGV in real time according to the running status data and coordinate data in the standard format data;

[0075] The viewing angle module is used to present the AVG motion trajectory of all 3D simulated AGVs in the entire 3D simulated factory through the global viewing angle mode, or to follow the movement of any selected 3D simulated AVG through the first viewing angle mode.

[0076] Among them, as a better implementation method or a more specific implementation method of this embodiment, the standard format data uses a status field and a coordinate field to respectively represent the real-time operation status and real-time coordinates of the 3D simulated AGV; the status field is a status field, when the value of the status field is 0, it indicates that the AGV real vehicle is moving normally, when the value of the status field is 1, it indicates that the AGV real vehicle is in a stopped state, and when the value of the status field is 2, it indicates that the AGV real vehicle has a fault.

[0077] The simulation trajectory module specifically calculates the time difference between the current moment and the previous moment, calculates the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment, and simulates the motion trajectory of the 3D simulation AGV in real time based on the two differences.

[0078] Among them, when the value of the status field is 3, the 3D simulation system notifies the AGV real vehicle through the MES system to start the camera to shoot the obstacle, and sends the captured image to the management personnel through SMS, WeChat, email, etc. as a warning, and at the same time it is convenient for the management personnel to understand what the obstacle is and direct the relevant on-site personnel to clear the obstacle; the first-person perspective mode of the 3D simulation AGV can also be automatically started when the management personnel turns on the 3D simulation system, so that the corresponding AGV real vehicle camera can be used for observation, so that the management personnel can understand the obstacle clearance situation in a targeted and real-time manner.

[0079] Since the device introduced in the second embodiment of the present invention is a device used to implement the method of the first embodiment of the present invention, those skilled in the art can understand the specific structure and deformation of the device based on the method introduced in the first embodiment of the present invention, so it is not described here in detail. All devices used in the method of the first embodiment of the present invention belong to the scope of protection of the present invention.

[0080] Based on the same inventive concept, the present application also provides a device corresponding to the method in Example 1, see Example 4 for details.

[0081] Embodiment 4

[0082] like Figure 1 As shown, in this embodiment, a simulation management system for a factory AGV is provided, including:

[0083] 3D simulation system, including using WIS3D development tool to establish 3D simulation factory and 3D simulation AGV in proportion (preferably 1:1 ratio) according to the size of the actual factory and the AGV real vehicle, and in the 3D simulation system, the 3D simulation AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle;

[0084] The acquisition system is used to collect the operating status data of the AGV and the coordinate data in the actual factory in real time, and store the collected data in the MES system;

[0085] The MES system is used to organize the collected data into standard format data and push it to the 3D simulation system through websocket.

[0086] When the system is running, the collection system first collects the running status data of the AGV and the coordinate data in the actual factory in real time, and stores the collected data in the MES system; the MES system is used to organize the collected data into standard format data and push it to the 3D simulation system through websocket. The 3D simulation system receives the standard format data pushed back by the MES system, and simulates the movement trajectory of the car in real time according to the running status data and coordinate data in the standard format data; it also presents the AVG movement trajectory of all 3D simulated AGVs in the entire 3D simulation factory through the global perspective mode, or follows the movement of any selected 3D simulated AVG through the first perspective mode.

[0087] Among them, as a better implementation method or a more specific implementation method of this embodiment, the standard format data uses a status field and a coordinate field to respectively represent the real-time operation status and real-time coordinates of the 3D simulated AGV; the status field is a status field, when the value of the status field is 0, it indicates that the AGV real vehicle is moving normally, when the value of the status field is 1, it indicates that the AGV real vehicle is in a stopped state, and when the value of the status field is 2, it indicates that the AGV real vehicle has a fault.

[0088] Among them, when the value of the status field is 3, the 3D simulation system notifies the AGV real vehicle through the MES system to start the camera to shoot the obstacle, and sends the captured image to the management personnel through SMS, WeChat, email, etc. as a warning, and at the same time it is convenient for the management personnel to understand what the obstacle is and direct the relevant on-site personnel to clear the obstacle; the first-person perspective mode of the 3D simulation AGV can also be automatically started when the management personnel turns on the 3D simulation system, so that the corresponding AGV real vehicle camera can be used for observation, so that the management personnel can understand the obstacle clearance situation in a targeted and real-time manner.

[0089] The 3D simulation system simulates the motion trajectory of the car specifically by calculating the time difference between the current moment and the previous moment, calculating the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment, and simulating the motion trajectory of the 3D simulation AGV in real time according to the two differences.

[0090] Since the system introduced in the fourth embodiment of the present invention is a system used to implement the method of the second embodiment of the present invention, those skilled in the art can understand the specific structure and deformation of the device based on the method introduced in the second embodiment of the present invention, so it is not described here in detail. All devices used in the method of the first embodiment of the present invention belong to the scope of protection of the present invention.

[0091] Based on the same inventive concept, the present application provides an electronic device embodiment corresponding to the first embodiment, see the fifth embodiment for details.

[0092] Embodiment 5

[0093] This embodiment provides an electronic device, such as Figure 5 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any implementation method in the first embodiment can be implemented.

[0094] Since the electronic device introduced in this embodiment is a device used to implement the method in the first embodiment of the present application, based on the method introduced in the first embodiment of the present application, a person skilled in the art can understand the specific implementation of the electronic device of the present embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present application is not described in detail here. As long as a person skilled in the art implements the device used by the method in the embodiment of the present application, it belongs to the scope of protection of the present application.

[0095] Based on the same inventive concept, the present application provides a storage medium corresponding to Example 1, see Example 6 for details.

[0096] Embodiment 6

[0097] This embodiment provides a computer-readable storage medium, such as Figure 6 As shown, a computer program is stored thereon, and when the computer program is executed by a processor, any implementation method in Example 1 can be implemented.

[0098] The methods, devices, systems, equipment and media provided in the embodiments of the present application have at least the following technical effects or advantages: through 3D simulation means, a 3D simulated factory and a 3D simulated AGV are established in proportion to the sizes of the actual factory and the AGV real vehicle to form a 3D simulation system, and in the 3D simulation system, the 3D simulated AGV is assigned a unique ID and establishes a one-to-one correspondence with the AGV real vehicle; by collecting the operating status data of the AGV real vehicle and the coordinate data in the actual factory, the MES system organizes the collected data into standard format data and pushes it to the 3D simulation system through websocket to simulate the movement trajectory of the vehicle; the manager can present the AVG movement trajectory of all 3D simulated AGVs in the entire 3D simulation factory through the global perspective mode, or follow the movement of any selected 3D simulated AVG through the first perspective mode. This enables the monitoring and management of the operating status of the actual AGV vehicles running in the actual factory. Managers can understand the operating status and location coordinates of the AGV vehicles in real time through the PC browser or through tablets, mobile phones, etc. without entering the factory. When the AGV vehicle encounters an obstacle, it can also notify the manager by taking images, so as to facilitate timely understanding of the obstacle and improve management efficiency.

[0099] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices or systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0103] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A simulation management method for factory AGV, characterized in that: Applied to 3D simulation system, including the following steps: S1. A 3D simulated factory and a 3D simulated AGV are built in proportion to the sizes of the actual factory and the AGV. The 3D simulated AGV is given a unique ID and a one-to-one correspondence is established with the AGV. S2, receiving standard format data compiled by the MES system in real time based on the running status data of the AGV and the coordinate data in the actual factory; S3, simulating the motion trajectory of the 3D simulation AGV in real time according to the operating status data in the standard format data and the coordinate data in the actual factory; Specifically, the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment is calculated, and the motion trajectory of the 3D simulation AGV is simulated in real time according to the difference and the time period between the two moments; S4, presenting the AVG motion trajectory of all 3D simulated AGVs in the entire 3D simulated factory through the global perspective mode, or following the motion of any selected 3D simulated AVG through the first perspective mode; The standard format data uses the status field and the coordinate field to represent the real-time running status and real-time coordinates of the 3D simulation AGV respectively; the standard format data is: {"status":value,"x":value,"y":value,"z":value,"id":"value"}; Among them, "status": value is the status field; "x": value, "y": value, "z": value is the coordinate field; "id": "value" is the ID number of the 3D simulation AGV; The status field is the status field. When the value of the status field is 0, it indicates that the AGV vehicle is moving normally. When the value of the status field is 1, it indicates that the AGV vehicle is in a stopped state. When the value of the status field is 2, it indicates that the AGV vehicle has a fault. When the value of the status field is 3, 3 indicates that an obstacle has occurred. When the value of the status field is 3, the AGV vehicle is notified to start the camera to shoot the obstacle, and send the shot image to the management personnel, and / or automatically start the first-person perspective mode.

2. The simulation management method of a factory AGV according to claim 1, characterized in that: The ratio is 1:

1.

3. A simulation management method for factory AGV, characterized in that: The steps include: S10, using the WIS3D development tool to build a 3D simulated factory and a 3D simulated AGV in proportion to the size of the actual factory and the AGV real vehicle, to form a 3D simulation system, and in the 3D simulation system, the 3D simulated AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle; S20, collecting the running status data of the AGV real vehicle and the coordinate data in the actual factory through the collection system, and storing the collected data in the MES system; S30, the MES system organizes the collected data into standard format data and pushes it to the 3D simulation system via websocket; S40, the 3D simulation system receives the standard format data pushed back by the MES system, and simulates the motion trajectory of the vehicle in real time according to the running status data and coordinate data in the standard format data; specifically, the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment is calculated, and the motion trajectory of the 3D simulation AGV is simulated in real time according to the difference and the time period between the two moments; S50, presenting the AVG motion trajectories of all 3D simulated AGVs in the entire 3D simulated factory through the global perspective mode, or following the motion of any selected 3D simulated AGV through the first perspective mode; The standard format data uses the status field and the coordinate field to represent the real-time running status and real-time coordinates of the 3D simulation AGV respectively; the standard format data is: {"status":value,"x":value,"y":value,"z":value,"id":"value"}; Among them, "status": value is the status field; "x": value, "y": value, "z": value is the coordinate field; "id": "value" is the ID number of the 3D simulation AGV; The status field is the status field. When the value of the status field is 0, it indicates that the AGV real vehicle is moving normally. When the value of the status field is 1, it indicates that the AGV real vehicle is in a stopped state. When the value of the status field is 2, it indicates that the AGV real vehicle has a fault. When the value of the status field is 3, 3 indicates that an obstacle has occurred. When the value of the status field is 3, the 3D simulation system notifies the AGV real vehicle to start the camera to shoot the obstacle, and send the captured image to the management personnel, and / or automatically start the first-person perspective mode.

4. The simulation management method of a factory AGV according to claim 3 is characterized in that: The ratio is 1:

1.

5. A simulation management device for factory AGV, characterized in that: The device is a 3D simulation system and includes: The corresponding association module is used to establish a 3D simulated factory and a 3D simulated AGV in proportion to the size of the actual factory and the AGV real vehicle. The 3D simulated AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle; The data transceiver module is used to receive standard format data compiled by the MES system in real time based on the operating status data of the AGV vehicle and the coordinate data in the actual factory; The simulation trajectory module is used to simulate the motion trajectory of the 3D simulation AGV in real time according to the running status data and coordinate data in the standard format data; specifically, the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment is calculated, and the motion trajectory of the 3D simulation AGV is simulated in real time according to the difference and the time period between the two moments; The perspective module is used to present the AVG motion trajectory of all 3D simulated AGVs in the entire 3D simulated factory through the global perspective mode, or to follow the motion of any selected 3D simulated AVG through the first perspective mode; The standard format data uses the status field and the coordinate field to represent the real-time running status and real-time coordinates of the 3D simulation AGV respectively; the standard format data is: {"status":value,"x":value,"y":value,"z":value,"id":"value"}; Among them, "status": value is the status field; "x": value, "y": value, "z": value is the coordinate field; "id": "value" is the ID number of the 3D simulation AGV; The status field is the status field. When the value of the status field is 0, it indicates that the AGV vehicle is moving normally. When the value of the status field is 1, it indicates that the AGV vehicle is in a stopped state. When the value of the status field is 2, it indicates that the AGV vehicle has a fault. When the value of the status field is 3, 3 indicates that an obstacle has occurred. When the value of the status field is 3, the data transceiver module notifies the AGV vehicle to start the camera to shoot the obstacle, and sends the captured image to the management personnel, and / or automatically starts the first-person perspective mode.

6. A simulation management device for factory AGV according to claim 5, characterized in that: The ratio is 1:

1.

7. A simulation management system for factory AGV, characterized by: include: The 3D simulation system includes a 3D simulation factory and a 3D simulation AGV established in proportion to the sizes of the actual factory and the AGV real vehicle by the WIS3D development tool. In the 3D simulation system, the 3D simulation AGV is given a unique ID and establishes a one-to-one correspondence with the AGV real vehicle; it also receives standard format data pushed back by the MES system, and simulates the movement trajectory of the vehicle in real time according to the operating status data and coordinate data in the standard format data, specifically: calculating the difference between the coordinate field value at the current moment and the coordinate field value at the previous moment, and simulating the movement trajectory of the 3D simulation AGV in real time according to the difference and the time period between the two moments; and presenting the AVG movement trajectory of all 3D simulation AGVs in the entire 3D simulation factory through the global perspective mode, or following the movement of any selected 3D simulation AVG through the first perspective mode. The acquisition system is used to collect the operating status data of the AGV and the coordinate data in the actual factory in real time, and store the collected data in the MES system; The MES system is used to organize the collected data into standard format data and push it to the 3D simulation system through websocket; The standard format data uses the status field and the coordinate field to represent the real-time running status and real-time coordinates of the 3D simulation AGV respectively; the standard format data is: {"status":value,"x":value,"y":value,"z":value,"id":"value"}; Among them, "status": value is the status field; "x": value, "y": value, "z": value is the coordinate field; "id": "value" is the ID number of the 3D simulation AGV; The status field is the status field. When the value of the status field is 0, it indicates that the AGV real vehicle is moving normally. When the value of the status field is 1, it indicates that the AGV real vehicle is in a stopped state. When the value of the status field is 2, it indicates that the AGV real vehicle has a fault. When the value of the status field is 3, 3 indicates that an obstacle has occurred. When the value of the status field is 3, the 3D simulation system notifies the AGV real vehicle to start the camera to shoot the obstacle, and send the captured image to the management personnel, and / or automatically start the first-person perspective mode.

8. The simulation management system of a factory AGV according to claim 7, characterized in that: The ratio is 1:

1.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to claim 1 or 2 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to claim 1 or 2 is implemented.

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