Simulation display method and electronic device for simulating continuous motion of AGV

Abstract

The application discloses a simulation display method and electronic equipment for simulating continuous movement of AGV. The method relates to a dispatching system and display software. The simulation display method of the application obtains simulation movement parameters of a plurality of interpolation points by substituting actual movement parameters into an interpolation algorithm, so as to combine the actual movement parameters and the simulation movement parameters to generate a dynamic simulation scene of AGV movement. In addition, the electronic equipment of the application is used to implement the above method. Compared with the prior art, the simulation display method of the application is characterized by dense time intervals of the data used, and the generated simulation scene is more realistic and smooth. Users can see the continuous movement of the AGV through the simulation scene, thereby improving the simulation effect.

Description

Technical Field

[0001] This invention relates to the field of AGV technology, and in particular to a simulation display method and electronic device for simulating the continuous motion of AGVs. Background Technology

[0002] In the interface display of an AGV scheduling system, the graphical display of AGVs has always been a key focus. This part allows users to intuitively see the AGV's operating status, enabling on-site maintenance personnel to promptly identify and address problems. Existing AGV operation displays suffer from the following issues: When there are multiple AGVs, to ensure communication efficiency, the scheduling system typically can only send AGV data periodically. Often, the received data is not dense enough in terms of time intervals, resulting in the AGV simulation motion scene presented by the display software showing only discontinuous movement. This discontinuous movement differs from a realistic display effect. Therefore, enabling the display software to display continuous AGV movement is a problem that urgently needs to be solved. Summary of the Invention

[0003] The first objective of this invention is to solve the problem that existing display software cannot display the continuous movement of AGVs, and to provide a simulation display method for simulating the continuous movement of AGVs.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A simulation display method for simulating continuous AGV motion involves a scheduling system and display software. The scheduling system receives data from each AGV object and periodically transmits the data to the display software. The data of the AGV object includes at least the AGV's x-coordinate, y-coordinate, heading, and timestamp. The display software can cache the data sent by the scheduling system, obtain the AGV's time motion parameters sent by the scheduling system at several time nodes, substitute the actual motion parameters into an interpolation algorithm to obtain several interpolation points and the simulated motion parameters of each interpolation point, and generate a dynamic simulation scene of AGV motion by combining the actual motion parameters with the simulated motion parameters.

[0006] The simulation display method of this invention obtains simulated motion parameters for several interpolation points by substituting actual motion parameters into an interpolation algorithm, thereby combining the actual motion parameters and simulated motion parameters to generate a dynamic simulation scene of AGV motion. Compared with the prior art, the simulation display method of this invention generates a more realistic and smooth simulation scene due to the dense time intervals of the data used. Users can see the continuous movement of the AGV through the simulation scene, thus improving the simulation effect.

[0007] Furthermore, there are n interpolation points with equal time intervals between two adjacent time nodes, and the data at these interpolation points is obtained by substituting the data from the two adjacent time nodes into the interpolation algorithm. In this scheme, each time the scheduling system sends data, the display software can substitute the data sent this time and the data sent previously into the interpolation algorithm to obtain the data from n interpolation points. The AGV movement trajectory for this period is formed by using the data from the two time nodes and the interpolation points between them, and the AGV movement scene is updated in real time.

[0008] To ensure smooth and realistic display of the dynamic simulation scene, the time interval between the interpolation points is between 1 / 60s and 1 / 30s.

[0009] Furthermore, the display software determines whether to add an interpolation point between two adjacent time nodes based on interpolation conditions. If the interpolation conditions are met, the interpolation algorithm is executed. The interpolation conditions include: the interpolation duration deltaT is greater than 0 and less than the preset maximum duration maxT; the interpolation distance dis is less than the preset maximum distance maxDis; and the interpolation angle change attitudeErr is less than the preset maximum angle change maxAttitudeErr. This scheme helps improve the simulation effect of the display software and avoids scene distortion.

[0010] Furthermore, when the interpolation conditions are met, the display software determines whether the data of the AGV object contains the necessary parameters to simulate real-world operation. The necessary parameters include task start information (taskStart) and task end information (taskEnd). The motion state of the AGV is designed based on the necessary parameters.

[0011] Furthermore, the interpolation points include coarse interpolation points, and the interpolation algorithm includes a first interpolation algorithm. The first interpolation algorithm involves substituting the AGV's x-coordinates, y-coordinates, and heading (attitude) into a linear interpolation method to obtain a function expression, and then obtaining n coarse interpolation points through the function expression. This solution is suitable for use when the AGV is making linear motion.

[0012] Furthermore, the interpolation algorithm includes a second interpolation algorithm, and the data of the AGV object also includes the path type of the path where the AGV is located. The path type includes at least a straight path and a spline path. When the path type of the AGV is a spline path, the display software executes the second interpolation algorithm.

[0013] Furthermore, the display software stores a map of the AGV's work area, and the second interpolation algorithm includes: obtaining coarse interpolation points according to the first algorithm; finding the spline curve from the map according to the spline's ID; determining the perpendicular point from the coarse interpolation point to the spline curve according to the expression of the coarse interpolation point and the spline curve; assuming this perpendicular point is the fine interpolation point, determining the heading of the fine interpolation point according to the expression of the spline curve.

[0014] Furthermore, the scheduling system periodically calls the WebAPI provided by the display software to send data of each AGV object to the display software via POST requests.

[0015] Another objective of this invention is to provide an electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the simulation display method of the above-described scheme. Attached Figure Description

[0016] Figure 1 To simplify the process of this invention Figure 1 ;

[0017] Figure 2 This is a flowchart of the present invention;

[0018] Figure 3 This is a simplified flowchart of the present invention. Detailed Implementation

[0019] See Figure 1-3 As shown, this invention discloses a simulation display method for simulating the continuous motion of AGVs, involving a scheduling system and display software. The scheduling system receives data from each AGV object and periodically transmits the data to the display software. The data of the AGV object includes at least the AGV's x-coordinate, y-coordinate, heading (attitude), and timestamp (time). The display software can cache the data sent by the scheduling system, obtain the AGV's time motion parameters sent by the scheduling system at several time points, substitute the actual motion parameters into an interpolation algorithm to obtain several interpolation points and the simulated motion parameters of each interpolation point, and generate a dynamic simulation scene of AGV motion by combining the actual motion parameters with the simulated motion parameters. For example, if an AGV sends data to the scheduling system at three time points within a certain period, and the scheduling system forwards the data to the display software, the display software knows three points in the AGV's trajectory within that period. It uses an interpolation algorithm to calculate several points between these three points and then uses all these points to perform motion simulation. This results in a more continuous and smoother scene than simply using only three points for motion simulation.

[0020] In one embodiment, there are n interpolation points with equal time intervals between two adjacent time nodes, and the data at these interpolation points is obtained by substituting the data from the two adjacent time nodes into the interpolation algorithm. In this scheme, each time the scheduling system sends data, the display software can substitute the data sent this time and the data sent previously into the interpolation algorithm to obtain the data from n interpolation points. The AGV movement trajectory for this period is formed by using the data from the two time nodes and the interpolation points between them, and the AGV movement scene is updated in real time.

[0021] In one embodiment, the time interval range of the interpolation points is designed to be between 1 / 60 s and 1 / 30 s, which can make the dynamic picture display smoothly. Since the denser the interpolation points are, the smoother the display is, but at the same time, the higher the configuration requirements for the display software are. However, according to experiments, the time interval range of the interpolation points designed to be between 1 / 60 s and 1 / 30 s can display smoothly, and within this range, the configuration requirements for the MCU are not high, which can reduce costs.

[0022] In one embodiment, the above display software determines whether to add interpolation points between two adjacent time nodes through interpolation conditions. If the interpolation conditions are met, the interpolation algorithm is executed; the interpolation conditions include: the interpolation duration deltaT is greater than 0 and less than the preset maximum duration maxT, the interpolation distance dis is less than the preset maximum distance maxDis, and the interpolation angle change attitudeErr is less than the preset maximum angle change maxAttitudeErr. This is because deltaT = 0 means that the update time of the AGV in the data of two adjacent time nodes cached by the display software is the same. In other words, deltaT = 0 indicates that the data of the AGV has not been updated. Therefore, deltaT > 0 is a necessary condition for AGV interpolation. The reason for this situation may be errors in the data transmission and reception of the AGV, the scheduling system, and the display software, such as repeated sending or receiving. Then, for deltaT < maxT, it is because the interpolation must be restricted within a certain period of time. If the time is too long, the simulated interpolation movement will lag far behind the actual movement, and the authenticity will be greatly reduced. Similarly, too long a distance and too large an angle change will lead to distortion. In practical applications, the above preset data can be adjusted according to user requirements.

[0023] In one embodiment, when the interpolation conditions are met, the display software determines whether there are necessary parameters for simulating real operation in the data of the AGV object. The necessary parameters include the task start point information taskStart and the task end point information taskEnd, and the motion state of the AGV is designed according to the necessary parameters. In this embodiment, the motion state of the AGV includes acceleration motion, deceleration motion, and uniform motion. When the display software reads the task start point information taskStart, it determines that the AGV is in acceleration motion. When it reads the task end point information taskEnd, it determines that the AGV is in deceleration motion. When the above motion information is not detected, it determines that the AGV is in uniform motion, and thus designs a simulation motion scenario according to the motion state of the AGV.

[0024] In one embodiment, the interpolation points include coarse interpolation points, the interpolation algorithm includes a first interpolation algorithm, and the first interpolation algorithm includes substituting the coordinates x, coordinates y, and heading attitude of the AGV into the linear interpolation method to obtain a function expression, and then obtaining n coarse interpolation points through the function expression.

[0025] The previous embodiment is suitable for simulating AGV linear motion scenarios. However, when performing tasks, it will pass through spline curve paths. Since the AGV's travel direction changes in real time in the spline path, this embodiment is not suitable for simulating AGV curved motion scenarios. To solve this problem, this embodiment provides the following solution: the interpolation algorithm includes a second interpolation algorithm, and the data of the AGV object also includes the path type of the path where the AGV is located. The path type includes at least a linear path and a spline path. When the AGV's path type is a spline path, the display software executes the second interpolation algorithm.

[0026] The aforementioned display software includes a map of the AGV work area. The second interpolation algorithm includes: obtaining coarse interpolation points according to the first algorithm; finding the corresponding spline curve from the map according to the spline ID; determining the perpendicular point from the coarse interpolation point to the spline curve according to the expression of the coarse interpolation point and the spline curve; assuming this perpendicular point is the fine interpolation point, determining the heading of the fine interpolation point according to the expression of the spline curve.

[0027] In the interface display of an AGV scheduling system, the graphical display of AGVs has always been a key focus. This part allows users to intuitively see the operating status of the AGVs, enabling on-site maintenance personnel to promptly identify and resolve problems. However, currently available scheduling systems generally configure their own display modules, which undoubtedly requires developers to invest additional effort in AGV display in addition to handling the scheduling logic. To solve this problem, this embodiment modifies the IP address or port number of the display software. Specifically, the same display software is copied multiple times and configured with different IP addresses or port numbers, allowing different scheduling systems to quickly interface with the corresponding display software based on the IP address or port number.

[0028] The aforementioned scheduling system periodically calls the WebAPI provided by the display software to send data of each AGV object to the display software via POST requests.

[0029] The aforementioned display software has interactive functions and multiple display modes. Users can switch or select functions interactively on the display software according to their needs.

[0030] The simulation display method of this invention obtains simulated motion parameters for several interpolation points by substituting actual motion parameters into an interpolation algorithm, and then combines the actual motion parameters and simulated motion parameters to generate a dynamic simulation scene of AGV motion. Compared with the prior art, the simulation display method of this invention generates a more realistic and smooth simulation scene due to the dense time intervals of the data used. Users can see the continuous movement of the AGV through the simulation scene, thereby improving the simulation effect.

[0031] The present invention also discloses an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the simulation display method of the above scheme.

[0032] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A simulation display method for simulating the continuous motion of an AGV, characterized in that, Involves: The scheduling system receives data from each AGV object and periodically transmits the data to the display software. The data of the AGV object includes at least the AGV's coordinates (x, y), heading (attitude), and timestamp (time). The display software caches data sent by the scheduling system, obtains the actual motion parameters of the AGV sent by the scheduling system at several time nodes, substitutes the actual motion parameters into the interpolation algorithm to obtain several interpolation points and the simulated motion parameters of each interpolation point, and generates a dynamic simulation scene of AGV motion by combining the actual motion parameters and the simulated motion parameters. There are n interpolation points with equal time intervals between two adjacent time nodes, and the data of the interpolation points is obtained by substituting the data of the two adjacent time nodes into the interpolation algorithm. The interpolation points include coarse interpolation points, and the interpolation algorithm includes a first interpolation algorithm, which includes substituting the AGV's coordinates x, y, and heading attitude into a linear interpolation method to obtain... The function expression is used to obtain n coarse interpolation points; the interpolation algorithm includes a second interpolation algorithm, and the data of the AGV object also includes the path type of the path where the AGV is located. The path type includes at least a straight path and a spline path. When the path type of the AGV is a spline path, the display software executes the second interpolation algorithm; the display software stores a map of the AGV's work site, and the second interpolation algorithm includes: obtaining coarse interpolation points according to the first algorithm; finding the corresponding spline curve from the map according to the ID of the spline path; determining the perpendicular point from the coarse interpolation point to the spline curve according to the expression of the coarse interpolation point and the spline curve; assuming this perpendicular point is the fine interpolation point, determining the heading of the fine interpolation point according to the expression of the spline curve.

2. The simulation display method according to claim 1, characterized in that: The time interval between the interpolation points is between 1 / 60s and 1 / 30s.

3. The simulation display method according to claim 1, characterized in that: The display software determines whether to add an interpolation point between two adjacent time nodes based on the interpolation conditions. If the interpolation conditions are met, the interpolation algorithm is executed. The interpolation conditions include: the interpolation duration deltaT is greater than 0 and less than the preset maximum duration maxT, the interpolation distance dis is less than the preset maximum distance maxDis, and the interpolation angle change attitudeErr is less than the preset maximum angle change maxAttitudeErr.

4. The simulation display method according to claim 2, characterized in that: When the interpolation conditions are met, the display software determines whether the AGV object's data contains the necessary parameters to simulate real-world operation. These necessary parameters include task start information (taskStart) and task end information (taskEnd). The AGV's motion state is designed based on these necessary parameters.

5. The simulation display method according to claim 1, characterized in that: The scheduling system periodically calls the WebAPI provided by the display software to send data of each AGV object to the display software via POST requests.

6. An electronic device, characterized in that: The device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that the computer program, when executed by the processor, implements the simulation display method according to any one of claims 1-5.

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