AGV execution system based on task template

Abstract

The invention discloses an AGV execution system based on a task template, and particularly relates to the technical field of AGV control, the AGV execution system comprises a front UI, a business layer, a hardware layer and a database, the front UI is set as a VUE user interface construction framework, and a set of declarative and modularized programming model is constructed and provided based on standard HTML, CSS and JavaScript for efficiently developing the user interface; the business layer comprises control business and management business, and the control business comprises AGV control, UR arm control and other hardware control. According to the method, through flexible task template configuration, proper actions can be selected at any time according to factory use scenes, so that software can adapt to field use requirements; compared with the general situation, the modification process needs business to put forward requirements, software is redeveloped, modified, tested and deployed, and the consumed time is long; and the development cost of software can be effectively reduced, so that the use cost of a factory is reduced.

Description

Technical Field

[0001] The present invention relates to the field of AGV control technology, and more specifically, to an AGV execution system based on task templates. Background Art

[0002] AGV, or automatic guided vehicle, is an unmanned industrial vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified guide path and has safety protection and various transfer functions. The navigation technology of AGV is the key to its autonomous movement. At present, the main navigation technologies used by AGV include electromagnetic navigation, laser navigation, and visual navigation. The AGV control system calculates the optimal driving path based on the received task instructions and the feedback information from the navigation system, and controls the speed, direction, and stop position of the vehicle. It usually includes multiple subsystems such as a central controller, a motor driver, and a battery management system.

[0003] Semiconductor factory material handling generally uses AGV for automatic pick-and-place handling. In the process of automated handling tasks, there are many process steps, such as movement, loading and unloading information confirmation, arm movement, E84 communication, storage location lock switch, etc.

[0004] However, the execution process of each scenario is different. If a new usage scenario is encountered, new or reduced steps need to be added, and the software needs to be modified again through the business, development, testing, and deployment process. This is inefficient and increases the cost of software use.

[0005] Therefore, there is a need for an execution system that can improve the flexibility of AGV task execution. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an AGV execution system based on a task template. The technical problem to be solved by the present invention is: how to improve the execution system of the AGV so as to improve the utilization efficiency.

[0007] To achieve the above object, the present invention provides the following technical solution: an AGV execution system based on task templates, including a front-end UI, a business layer, a hardware layer and a database, wherein:

[0008] The front-end UI is set as the VUE user interface building framework, which is built based on standard HTML, CSS and JavaScript and provides a set of declarative and componentized programming models for efficient development of user interfaces;

[0009] The business layer includes control business and management business, wherein the control business includes AGV control, UR arm control and other hardware control; the management business includes but is not limited to AGV management, task action management, hardware information management, task template management, system settings and authority management;

[0010] The hardware layer includes AGV trolley, UR arm and other hardware.

[0011] In a preferred embodiment, the front-end UI is used as the development front-end, which uses the VUE3 microservice platform architecture, and the system framework is developed using .net core 6.0.

[0012] In a preferred embodiment, the database is set to a MySql database management system, wherein the database also includes a text log, and the MySql and the text log together constitute a persistence layer of the database.

[0013] In a preferred embodiment, the front-end UI is set as a network layer, the network layer is connected to the hardware layer device for communication, the network layer is connected to the persistence layer for communication, the network layer communicates with the factory LAN, and the communication uses socket, serial port and http.

[0014] In a preferred embodiment, the AGV execution system based on the task template comprises the following specific steps:

[0015] S1, first communicate with all AGVs, obtain AGV information and control;

[0016] S2. The system configures the information of each AGV action step, including AGV movement, information confirmation before loading and unloading, E84 communication confirmation, storage lock switch, arm UR action, signal light control, cargo information verification and other AGV equipment actions;

[0017] S3. Create task templates according to usage scenarios. Each task template adds the above-configured action steps according to needs. The task template can be adjusted at any time.

[0018] S4. System control of all AGVs After creating a task template, all AGVs can use it;

[0019] S5. The system selects different task templates according to different handling scenarios and assigns AGV to perform tasks.

[0020] Technical effects and advantages of the present invention:

[0021] Through flexible task template configuration, the present invention can select appropriate actions at any time according to the factory usage scenario, so that the software can adapt to the on-site usage needs. Compared with the usual situation, modifying the process requires the business to put forward requirements, and the software needs to be redeveloped, modified, tested, and deployed, which takes a long time. The software development cost can be effectively reduced, thereby reducing the factory's usage cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is the overall system module diagram of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] The present invention provides Figure 1 The AGV execution system based on the task template shown includes a front-end UI, a business layer, a hardware layer and a database, wherein:

[0025] The front-end UI is set as the VUE user interface building framework, which is built based on standard HTML, CSS and JavaScript and provides a set of declarative and componentized programming models for efficient development of user interfaces. As the front-end development, the front-end UI uses the VUE3 microservice platform architecture, and the system framework is developed using .net core6.0; the front-end UI is set as the network layer, which communicates with the hardware layer devices and the persistence layer. The network layer communicates with the factory LAN, and the communication uses socket, serial port and http.

[0026] The business layer includes control business and management business, among which control business includes AGV control, UR arm control and other hardware control; management business includes but is not limited to AGV management, task action management, hardware information management, task template management, system settings and authority management;

[0027] The hardware layer includes AGV trolleys, UR arms and other hardware;

[0028] The database is set to a MySQL database management system, wherein the database also includes text logs, and MySQL and text logs together constitute the persistence layer of the database;

[0029] The specific steps of the AGV execution system based on the task template are as follows:

[0030] S1, first communicate with all AGVs, obtain AGV information and control;

[0031] S2. The system configures the information of each AGV action step, including AGV movement, information confirmation before loading and unloading, E84 communication confirmation, storage lock switch, arm UR action, signal light control, cargo information verification and other AGV equipment actions;

[0032] S3. Create task templates according to usage scenarios. Each task template adds the above-configured action steps according to needs. The task template can be adjusted at any time.

[0033] S4. System control of all AGVs After creating a task template, all AGVs can use it;

[0034] S5. The system selects different task templates according to different handling scenarios and assigns AGV to perform tasks.

[0035] The implementation method is as follows: the AGV execution system includes system modules, hardware devices, and a persistence layer; the system modules include AGV management, hardware information management, task template management, task action management, UR arm management, and authority management; the hardware devices include AGV trolleys and UR arms; the persistence layer includes MySq l and text logs; the communication uses socket, serial port, and http;

[0036] The system framework is developed using .net core 6.0, and the front end is developed using VUE3; the database uses MySq l; the system function modules are interconnected with the network layer, the network layer is connected to the hardware devices, and the network layer is connected to the persistence layer; the network layer communicates with the factory LAN, controls the movement of the AGV through the socket, controls other hardware actions of the AGV through the serial port or socket, and the persistent data is submitted to the backend database through http;

[0037] The AGV execution system based on the task template has the following execution steps:

[0038] 1. Create a task template and configure the task type, pick, drop, swap, other, etc. The pick type template must contain the pick action, the drop type action must contain the drop action, and the swap type action must contain both the pick and drop actions.

[0039] 2. Create task actions, including AGV movement, pick, drop, swap, loading and unloading information confirmation, arm action, E84 communication, storage lock switch, and other equipment hardware actions;

[0040] 3. Add task actions to the created task template according to the usage scenario;

[0041] 4. After receiving the handling task, the system selects the corresponding AGV task template and AGV according to the task template number and AGV car number in the parameters, and sends it to the AGV via http. The AGV performs the corresponding action according to the configured task template action;

[0042] Take scenario a as an example.

[0043] Create task template M1 and set the task type to pick;

[0044] Create task action D1: AGV movement, moving target point as parameter

[0045] Create task action D2: E84 confirm action

[0046] Create task action D3: UR arm starts picking up goods

[0047] Create task action D4: Cargo number reading and verification

[0048] Create task action D5: Storage lock closed

[0049] Add task actions D1, D2, D3, D4 to task template M1

[0050] The upper-level system sends the task instruction including parameters (moving target point C, task template number M1, cargo number Carri er ID, AGV number MR01) to this execution system via http. The execution system sends the task to the AGV with the corresponding number MR01 according to the task template number and AGV number, and notifies the AGV to perform the action according to the task template number M1. After receiving the task, the AGV starts to move to the target point C, and then performs E84 confirmation through serial communication, and then controls the UR arm through the socket to start picking up the goods. After picking up the goods, the serial communication RFID reader reads the cargo number to check whether it is consistent with the task. After confirming that it is consistent, the storage lock is closed; at this point, the task template is executed and the task is completed.

[0051] The present invention provides an AGV task execution system based on task templates, thereby achieving flexible adaptation to handling scenarios and improving deployment efficiency. Through this task template-based AGV execution system, it can be more flexibly, conveniently and quickly deployed for different scenarios, reducing software development time and thus reducing usage costs.

[0052] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0053] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0054] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV execution system based on task templates, characterized by: It includes the front-end UI, business layer, hardware layer and database, including: The front-end UI is set as the VUE user interface building framework, which is built based on standard HTML, CSS and JavaScript and provides a declarative and componentized programming model for efficient user interface development; The business layer includes control business and management business, wherein the control business includes AGV control, UR arm control and other hardware control; the management business includes but is not limited to AGV management, task action management, hardware information management, task template management, system settings and authority management; The hardware layer includes AGV trolley, UR arm and other hardware.

2. The AGV execution system based on task template according to claim 1, characterized in that: The front-end UI is used as the development front-end, which uses the VUE3 microservice platform architecture, and the system framework is developed using .net core 6.

0.

3. The AGV execution system based on task template according to claim 1, characterized in that: The database is set as a MySql database management system, wherein the database also includes a text log, and MySql and the text log together constitute a persistence layer of the database.

4. The AGV execution system based on task template according to claim 3 is characterized in that: The front-end UI is set as a network layer, the network layer is connected to the hardware layer device communication, the network layer is connected to the persistence layer communication, the network layer communication uses the factory LAN, the communication uses socket, serial port and http.

5. An AGV execution system based on task templates according to any one of claims 1 to 4, characterized in that: The specific steps of the AGV execution system based on the task template are as follows: S1, first communicate with all AGVs, obtain AGV information and control; S2. The system configures the information of each AGV action step, including AGV movement, information confirmation before loading and unloading, E84 communication confirmation, storage lock switch, arm UR action, signal light control, cargo information verification and other AGV equipment actions; S3. Create task templates according to usage scenarios. Each task template adds the above-configured action steps according to needs. The task template can be adjusted at any time. S4. System control of all AGVs After creating a task template, all AGVs can use it; S5. The system selects different task templates according to different handling scenarios and assigns AGV to perform tasks.

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