AGV centralized display method and system

Abstract

The invention discloses an AGV centralized display method and system. The method comprises the steps that an industrial personal computer where an upper computer is located and an AGV dispatching system are configured to be located in the same subnet; the AGV scheduling system obtains information of each current AGV; configuring an AGV scheduling system to send a set message to the upper computer; the set message information comprises information of each AGV (Automatic Guided Vehicle); the upper computer analyzes the received set message to obtain the current information of each AGV; and performing spatial modeling and visual display on the analyzed current information of each AGV by using a graphical programming platform. According to the invention, the sensing time of the maintenance personnel to the AGV at each position of the production line can be shortened, the abnormal response speed is enhanced, and the inspection efficiency of the AGV is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of AGV automatic control, and in particular relates to an AGV centralized display method and system. Background Art

[0002] The engine assembly production line is a complex production line that includes processes such as feeding, pressing, tightening, gluing, and testing. In order to meet the needs of the production line and the actual site conditions of the production line, some external parts need to be centrally distributed from the warehouse to the production line. The distribution tool is an automatic navigation vehicle (AGV). Multiple AGVs are evenly distributed in the space, and maintenance personnel cannot perceive the position and operating status of all AGVs in real time. The existing technology to solve this problem is an AGV system and positioning device, which can locate the AGV system in multiple directions and handle workspaces with lanes. However, in actual use, it is impossible to grasp the real-time information of the entire AGV cluster (multiple AGVs running at the same time); when an individual AGV fails during operation, it cannot be sensed and processed in the first time, and route conflicts and signal interference are prone to occur when the AGV cluster is running. Summary of the invention

[0003] In order to solve the problems described in the background technology, the present invention provides an AGV centralized display method and system.

[0004] An AGV centralized display method for achieving one of the purposes of the present invention comprises:

[0005] Configure the industrial computer where the host computer is located and the AGV dispatching system to be in the same subnet;

[0006] The AGV dispatching system obtains the current information of each AGV, including the current location, status, and power;

[0007] The AGV dispatching system is configured to send a setting message to the host computer; the setting message information includes information of each AGV;

[0008] The host computer parses the received setting message to obtain the current information of each AGV;

[0009] The current information of each AGV parsed is spatially modeled and visualized using a graphical programming platform.

[0010] Furthermore, the format of the setting message includes: a message header, the number of AGVs, the serial number of each AGV, the current state, the power level, the current X coordinate and the Y coordinate.

[0011] Furthermore, the message header includes a protocol version, and the protocol version is used to define a storage format of the AGV information in the message.

[0012] Furthermore, the method of obtaining the current information of each AGV includes:

[0013] Get the protocol version of each message information;

[0014] Match the message parsing rule of the current message according to the protocol version;

[0015] The message is parsed according to the message parsing rule to obtain information of each AGV.

[0016] Furthermore, when there is a missing AGV in the AGV information parsed from two consecutive message cycles, the AGV number with missing data is obtained; when there is no information about the AGV in subsequent multiple message cycles, the last power reported by the AGV is obtained, and when the power is not lower than the set low power threshold, the AGV fault is reported, otherwise the AGV is reported to be shut down due to low power.

[0017] An AGV centralized display system for achieving the second purpose of the present invention comprises:

[0018] Network configuration module: used to configure the industrial computer where the host computer is located and the AGV dispatching system to be in the same subnet;

[0019] AGV information acquisition module: used by the AGV dispatching system to obtain the current information of each AGV, including the current position, status, and power;

[0020] Message sending module: used to configure the AGV dispatching system to send a setting message to the host computer; the setting message information includes the information of each AGV;

[0021] Message parsing module: used by the host computer to parse the received setting message and obtain the current information of each AGV;

[0022] Visualization display module: used to use the graphical programming platform to perform spatial modeling and visualization of the current information of each AGV analyzed.

[0023] Furthermore, the message parsing module includes:

[0024] Protocol version acquisition module: used to obtain the protocol version of each message information;

[0025] Rule parsing module: used to match the message parsing rule of the current message according to the protocol version;

[0026] AGV information parsing module: used to parse the message according to the message parsing rules to obtain the information of each AGV.

[0027] Furthermore, it also includes a fault judgment module, which is used to obtain the AGV number with missing data when there is a missing AGV in the AGV information parsed out of two consecutive message cycles; when there is no information about the AGV in subsequent multiple message cycles, the last reported power of the AGV is obtained, and when the power is not lower than the set low power threshold, the AGV fault is reported, otherwise the AGV is reported to be shut down due to low power.

[0028] The beneficial effects of the present invention include:

[0029] 1. The AGV dispatching system of the present invention continuously uploads AGV information to the host computer and displays it on a visual interface, which can reduce the time it takes for maintenance personnel to perceive AGVs at various positions on the production line and enhance the speed of abnormal response;

[0030] 2. Compared with the manual time of about 2 hours per day for AGV status verification and confirmation in the prior art, the present invention can greatly improve the inspection efficiency of AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the framework of the system of the present invention;

[0032] Figure 2 It is a real-time billboard diagram of the AGV of the present invention. DETAILED DESCRIPTION

[0033] The following specific implementations are used to explain the technical solutions of the claims of the present invention so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions of the claims of the present invention made by those skilled in the art but different from the following specific implementations are also within the protection scope of the present invention.

[0034] The present invention develops a set of upper computer software based on LABVIEW to parse the AGV dispatching system message and build a virtual real-time AGV operation status display interface.

[0035] The AGV dispatching system is located on-site. As the core of on-site intelligent management, it not only communicates with various AGVs throughout the workshop in real time, accurately controls their movement trajectory, speed, and collects and processes multi-dimensional information including power status and precise position coordinates; the system is seamlessly integrated into the workshop's industrial network, ensuring that the industrial computer where the dispatching system is located and the industrial computers of all AGV bodies can achieve IP communication through a unified network architecture. This communication mechanism not only realizes the accurate capture of the real-time position and encoder feedback of each AGV, but also relies on advanced algorithms to quickly calculate its optimal movement trajectory, direction of travel and precise position, thereby optimizing overall logistics efficiency and path planning.

[0036] The host computer software, as the hub of remote monitoring and management, is usually deployed in the maintenance / process office and closely connected with the AGV dispatch system through a dedicated interface. The software has powerful data processing capabilities, can quickly parse the complex messages transmitted by the dispatch system, and use slice integration technology to convert massive data into intuitive and easy-to-understand information flows.

[0037] The collaborative working process between the host computer software and the AGV dispatching system is as follows:

[0038] During the collaborative work process, the host computer first ensures that its own industrial computer network configuration is in the same subnet as the AGV dispatching system, and uses the HTTP protocol or other communication protocols as a bridge for data exchange to stably receive the setting messages from the AGV dispatching system.

[0039] The format of the setting message is shown in Table 1 below:

[0040] Table 1

[0041]

[0042]

[0043] The protocol version is used to determine the format of the message. The upper machine obtains the message format according to the protocol version, and then matches the current message parsing rules, so as to correctly parse the current AGV information; when the number of AGVs is a negative number, it means that the AGV-related information cannot be obtained at present; the protocol version in the above Table 1 is 2 bits, which can represent 4 versions. The bytes can be defined according to actual needs, and the bytes can be expanded if necessary, which is not limited by the present invention.

[0044] The protocol version is also used to indicate other abnormal states of the AGV. When no information of any AGV is received, the protocol version is set to the first characteristic value, such as 0b11.

[0045] Therefore, when the host computer receives a message whose protocol version is the first characteristic value, the corresponding AGV offline fault can be reported to improve the message transmission and processing efficiency between the AGV scheduling system and the host computer.

[0046] In the above Table 1, the protocol version and the message length share one byte. It can be understood that the message format may not include the message length. The protocol version is expressed by one byte or by multiple bits in one byte, which is not limited here. The message check code can be a CRC check or other check codes, which is not limited by the present invention and can be agreed upon between the host computer software and the AGV scheduling system.

[0047] The AGV dispatching system periodically (e.g., every 5 seconds) encapsulates the message according to the set message format and sends it to the host computer;

[0048] After the host computer receives the message sent by the AGV scheduling system, the built-in parsing engine of the software will disassemble each field in the message according to the matched message parsing rules, accurately identify and extract the specific information of each AGV, including: the location, status, and power information of the AGV; in this embodiment, the location of the AGV occupies 2 bytes, representing the X coordinate and Y coordinate respectively; the AGV status and number are represented by 4 bits respectively, the upper 4 bits represent the AGV number, and the lower 4 bits represent the AGV status.

[0049] The status, position, power and other information of each AGV are entered into the global variables. The status information includes: normal operation and abnormal alarm. The position information is the X and Y coordinates of the AGV in space. The power information includes: the current remaining power of the vehicle. When it is lower than a certain threshold (such as 5%), the alarm mechanism will be automatically triggered to remind the operator to intervene in time to avoid production interruption.

[0050] Furthermore, the host computer software updates these parsed data to global variables in real time, and performs spatial modeling and visualization on a graphical programming platform (such as LABVIEW). Through the graphical interface designed by the front end, users can intuitively see the actual map of the production site, the location of each AGV is clear at a glance, and dynamic changes are reflected in real time. Once any abnormal situation is detected, the system can not only highlight it immediately on the interface, but also automatically activate the computer buzzer for sound alarm, ensuring that the problem receives immediate attention and processing, greatly improving the intelligence level and response speed of production management.

[0051] The embodiment of the present invention also provides an AGV centralized display method, including:

[0052] Configure the industrial computer where the host computer is located and the AGV dispatching system to be in the same subnet;

[0053] The AGV dispatching system obtains the current information of each AGV, including the current location, status, and power;

[0054] The AGV dispatching system is configured to send a setting message to the host computer; the setting message information includes information of each AGV;

[0055] The host computer parses the received setting message to obtain the current information of each AGV;

[0056] The current information of each AGV analyzed is spatially modeled and visualized using a graphical programming platform, such as Figure 2 As shown in the figure, there are information boards for 9 AGVs. The left side of the board shows the current position of each AGV, and the right side of the board shows the current power and status of each AGV.

[0057] In some embodiments, the format of the setting message includes: a message header, the number of AGVs, the serial number of each AGV, the current state of each AGV, the power of each AGV, and the current X coordinate and Y coordinate of each AGV.

[0058] In some embodiments, the message header includes a protocol version, and the protocol version is used to define the storage format of the AGV information in the message.

[0059] In some embodiments, the protocol version is also used to indicate other abnormal states of the AGV; when no information about the AGV is received, the protocol version is set to the first characteristic value; when the host computer receives a message with the protocol version as the first characteristic value, it can report the corresponding AGV offline fault.

[0060] In some embodiments, the method of obtaining the current information of each AGV includes:

[0061] Get the protocol version of each message information;

[0062] Match the message parsing rule of the current message according to the protocol version;

[0063] The message is parsed according to the message parsing rule to obtain information of each AGV.

[0064] In some embodiments, when there is a missing AGV in the AGV information parsed from two consecutive message cycles, the AGV number with missing data is obtained; when there is no information about the AGV in subsequent multiple message cycles, the last power reported by the AGV is obtained, and when the power is not lower than the set low power threshold (such as 2%), the AGV fault is reported, otherwise the AGV is reported to be shut down due to low power.

[0065] The embodiment of the present invention also provides an AGV centralized display system, such as Figure 1 As shown, including:

[0066] Network configuration module: used to configure the industrial computer where the host computer is located and the AGV dispatching system to be in the same subnet;

[0067] AGV information acquisition module: used by the AGV dispatching system to obtain the current information of each AGV, including the current position, status, and power;

[0068] Message sending module: used to configure the AGV dispatching system to send a setting message to the host computer; the setting message information includes the information of each AGV;

[0069] Message parsing module: used by the host computer to parse the received setting message and obtain the current information of each AGV;

[0070] Visualization display module: used to use the graphical programming platform to perform spatial modeling and visualization of the current information of each AGV analyzed.

[0071] In some embodiments, the message parsing module includes:

[0072] Protocol version acquisition module: used to obtain the protocol version of each message information;

[0073] Rule parsing module: used to match the message parsing rule of the current message according to the protocol version;

[0074] AGV information parsing module: used to parse the message according to the message parsing rules to obtain the information of each AGV.

[0075] In some embodiments, a fault judgment module is also included, which is used to obtain the AGV number with missing data when there is a missing AGV in the AGV information parsed out of two consecutive message cycles; when there is no information about the AGV in subsequent multiple message cycles, the last power reported by the AGV is obtained, and when the power is not lower than the set low power threshold, the AGV fault is reported, otherwise the AGV is reported to be shut down due to low power.

[0076] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the steps of the method described in the present invention are implemented, which will not be repeated here.

[0077] The computer-readable storage medium may be the data transmission device provided in any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc., provided on the computer device.

[0078] Furthermore, the computer-readable storage medium may include both an internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data to be output or has been output.

[0079] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, 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.

[0080] 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.

[0081] 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.

[0082] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0083] An embodiment of the present invention further provides a computer program product, including a computer program / instruction, which implements any step of the AGV centralized display method described in the claims when executed by a processor.

[0084] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. An AGV centralized display method, characterized in that: include: Configure the industrial computer where the host computer is located and the AGV dispatching system to be in the same subnet; The AGV dispatching system obtains the current information of each AGV, including the current location, status, and power; Configure the AGV dispatching system to send a setting message to the host computer; the setting message information includes information of each AGV; The host computer parses the received setting message to obtain the current information of each AGV; The current information of each AGV parsed is spatially modeled and visualized using a graphical programming platform.

2. The AGV centralized display method according to claim 1, characterized in that: The format of the setting message includes: a message header, the number of AGVs, the serial number of each AGV, the current state, the power, the current X coordinate and the Y coordinate.

3. The AGV centralized display method according to claim 2, characterized in that: The message header includes a protocol version, and the protocol version is used to define the storage format of the AGV information in the message.

4. The AGV centralized display method according to claim 3, characterized in that: Methods for obtaining current information of each AGV include: Get the protocol version of each message information; Match the message parsing rule of the current message according to the protocol version; The message is parsed according to the message parsing rule to obtain information of each AGV.

5. The AGV centralized display method according to claim 1, characterized in that: When there is a missing AGV in the AGV information parsed out of two consecutive message cycles, the AGV number with missing data is obtained; when there is no information about the AGV in subsequent message cycles, the last power reported by the AGV is obtained, and when the power is not lower than the set low power threshold, the AGV fault is reported, otherwise the AGV is reported to be shut down due to low power.

6. An AGV centralized display system, characterized in that: include: Network configuration module: used to configure the industrial computer where the host computer is located and the AGV dispatching system to be in the same subnet; AGV information acquisition module: used by the AGV dispatching system to obtain the current information of each AGV, including the current position, status, and power; Message sending module: used to configure the AGV dispatching system to send a setting message to the host computer; the setting message information includes the information of each AGV; Message parsing module: used by the host computer to parse the received setting message and obtain the current information of each AGV; Visualization display module: used to use the graphical programming platform to perform spatial modeling and visualization of the current information of each AGV analyzed.

7. The AGV centralized display system according to claim 6, characterized in that: The message parsing module comprises: Protocol version acquisition module: used to obtain the protocol version of each message information; Rule parsing module: used to match the message parsing rule of the current message according to the protocol version; AGV information parsing module: used to parse the message according to the message parsing rules to obtain the information of each AGV.

8. The AGV centralized display system according to claim 6, characterized in that: It also includes a fault judgment module, which is used to obtain the AGV number with missing data when there is a missing AGV in the AGV information parsed out of two consecutive message cycles; when there is no information about the AGV in subsequent multiple message cycles, the last reported power of the AGV is obtained, and when the power is not lower than the set low power threshold, the AGV fault is reported, otherwise the AGV is reported to be shut down due to low power.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the AGV centralized display method according to any one of claims 1 to 5 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the AGV centralized display method described in claims 1 to 5 are implemented.

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