AGV and equipment automatic docking method and system capable of compiling logic

Abstract

The invention relates to the technical field of docking systems, in particular to an AGV and device automatic docking method and system capable of compiling logic, and the method comprises the steps: 1, information configuration: configuring basic information of each device connected to the system; 2, configuring a data exchange address between the AGV and each device; 3, defining variables used in the interaction process of the AGV and each device; step 4, compiling a step sequence of a docking process; and step 5, executing signal docking between the AGV and each device based on the step sequence compiled in the step 4. The application solves the problems of complex compiling logic, incapability of quickly recompiling preset docking logic, incapability of autonomously docking by a common user, incapability of quickly responding to the change of a production environment and low docking efficiency in the docking process of the AGV and the automation device, so as to improve the flexibility of the system and improve the docking efficiency of the AGV and the automation device. The adaptability and the intelligent level are high.

Description

Technical Field

[0001] The present invention relates to the technical field of docking systems, and particularly to a method and system for automatic docking of programmable logic AGVs with devices. Background Art

[0002] Currently, the docking between AGVs and automation devices (such as station robots, rolling doors, tightening machines, elevators, etc.) usually relies on pre-programmed fixed programs. This mode appears to be insufficiently flexible when faced with a dynamically changing production environment. Although some improvement schemes focus on optimizing the docking mechanism (such as achieving physical connection through mechanical devices), such as an AGV docking system disclosed in CN113511037A, these improvements often neglect the optimization at the software level, resulting in insufficient flexibility of the overall system. In actual production, the status of devices may change at any time (such as faults, maintenance, adjustments, etc.), and the existing docking methods are difficult to perceive in real time and make corresponding adjustments. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: overcoming the deficiencies of the prior art, providing a method and system for automatic docking of programmable logic AGVs with devices to improve the flexibility and intelligent level of the system.

[0004] The technical solution adopted by the present application to solve its technical problem is: A method for automatic docking of programmable logic AGVs with devices, comprising the following steps:

[0005] Step 1: Information configuration, configuring the basic information of each device connected to the system;

[0006] Step 2: Configuring the data exchange addresses between the AGV and each device;

[0007] Step 3: Defining variables used in the interaction process between the AGV and each device;

[0008] Step 4: Compiling the sequence of steps for the docking process;

[0009] Step 5: Based on the sequence of steps compiled in Step 4, performing signal docking between the AGV and each device.

[0010] The variables used in Step 3 include system variables and custom variables. The values of the system variables obtain map and AGV information during system operation, and the values of the custom variables are obtained from tasks issued by the upper-level system.

[0011] In Step 4, a sequence group is set up to compile all the steps of the entire docking process. n steps (i.e., docking steps) are compiled under the sequence group, where n is a natural number;

[0012] The step sequence group guidance system executes sequentially according to the step sequences in the step sequence group. The result of step sequence compilation is how the guidance system obtains values and matches them with the values in the addresses corresponding to the PLC devices. Here, two values are clarified for subsequent understanding. The value obtained by the system according to the step sequence configuration is denoted as the "step sequence expected value" and is denoted as S_EV, and the value of the step sequence corresponding PLC address is denoted as the "step sequence actual value" and is denoted as S_AV. When S_EV = S_AV is satisfied, the step sequence is executed successfully, and the docking of the next step sequence continues.

[0013] The step sequence compilation in step 4 includes:

[0014] 4-1: Set the docking step sequence number as the sequence number for configuration execution; the setting of the step sequence number is consistent with the execution sequence and is a number from 1, 2, 3...., n. When docking, it will be executed sequentially according to the step sequence number.

[0015] 4-2: Configure the preconditions to check whether the execution conditions are met when executing the step sequence; the setting of the preconditions needs to meet the following conditions:

[0016] It should be a variable set for the previous step sequence;

[0017] There should be a clear comparison value;

[0018] There should be a clear arithmetic operator.

[0019] 4-3: Set the read / write type of the step sequence to identify the read / write status of the step sequence in the configured data address;

[0020] 4-4: Determine the expected value type of the step sequence. The expected value type includes using variable values (system variables or custom variables) and default values. Whether this step sequence sets to use variable values or default values is used to identify whether the expected value of this step sequence uses the default value or the value corresponding to the variable;

[0021] 4-5: Configure the reset step sequence number; after the currently executed step sequence is executed successfully, it is necessary to clear the actual values of one or more previous step sequences, and configure the step sequence number corresponding to the reset signal;

[0022] 4-6: Configure the timing of reading and writing data; during the docking process between the AGV and the device, there will be actions such as lifting and lowering the tray. This configuration is used to guide the system to perform data reading and writing operations before or after the action;

[0023] 4-7: Configure the emergency stop signal. During the docking process, it is inevitable that abnormalities will occur, causing the AGV or the device to stop working. This configuration is used to guide the system whether to perform an emergency stop on the AGV and write the corresponding signal when an abnormality occurs.

[0024] Through the above steps, a single step sequence can be configured. By repeating the above steps, the compilation of the entire step sequence group can be completed. After the AGV runs to the designated area, it will use the docking logic compiled in this step sequence group to communicate with the device. The system provides a user-friendly interface that allows operators to write or modify the logic for the AGV to dock with the device according to actual needs.

[0025] The precondition configuration process in 4-2 includes the following steps:

[0026] 4-2-1: Set the step number on the left side of the conditional equation to obtain the variable corresponding to the step number;

[0027] 4-2-2: Set the arithmetic operator;

[0028] 4-2-3: Set the step number on the right side of the conditional equation to obtain the variable corresponding to the step number;

[0029] 4-2-4: Set the matching default value. When the variable on the right side of the equation is not filled, the system uses the default value.

[0030] The final result of the configuration is:

[0031] X = y

[0032] Left variable Operator Right variable \ Default value

[0033] In 4-3, if the read / write status is "write", the system first reads out the step sequence expected value S_EV, then writes the expected value to the corresponding PLC address, and then reads out the value after writing to obtain the step sequence actual value S_AV for matching to verify whether the write is successful;

[0034] If the read / write status is "read", the system first retrieves the step sequence expected value S_EV, then reads the value of the corresponding PLC address to obtain the step sequence actual value S_AV, and compares the expected value and the actual value.

[0035] In 4-4, the expected value types include using variable values and default values.

[0036] Step five includes the following sub-steps:

[0037] 5-1: The AGV enters the docking area;

[0038] 5-2: Perform data reading and writing according to the data exchange protocol;

[0039] 5-3: Configure the combined arithmetic formula according to the preconditions. Judge whether the condition is satisfied according to the formula result. If the condition is not satisfied, jump out of the loop and wait to judge again when entering the loop next time; if the condition is satisfied, execute the signal processing of the step sequence.

[0040] 5-4: Signal processing to obtain the expected step value S_EV and the actual step value S_AV;

[0041] 5-5: Perform data signal matching. Compare the two values obtained from signal processing. If the two values are equal, reset the signal and then proceed to the next step. If the two values are not equal, jump out of the loop and wait for the next comparison until the comparison is successful. If the step is to hold the signal, the subsequent steps cannot clear the signal until the step group docking is completed. If the step is an emergency stop signal, when the comparison is successful, the AGV needs to be paused, and the docking is defined as successful only after the AGV is paused.

[0042] 5-6: Proceed to the docking of the next step;

[0043] 5-7: If all steps in the step group are successfully docked, the docking with the device is completed, and the AGV continues to run.

[0044] In 5-4, the expected step value S_EV and the actual step value S_AV are obtained according to the step configuration information, thus obtaining two values for comparison;

[0045] The expected step value S_EV: is the variable value configured by the system according to the step. When no variable is configured for the step, the configured default value is directly used;

[0046] The actual step value S_AV: is the actual step value read by the system from the PLC address configured by the data docking address configuration module.

[0047] The hold signal needs to remain unchanged throughout the docking process; after the emergency stop signal matching is successful, the AGV operation is stopped, and the read / write signal requires the system to read and write data to the device according to the data configuration and protocol.

[0048] An AGV and device automatic docking system with programmable logic, applying the above-mentioned AGV and device automatic docking method with programmable logic, includes

[0049] Device configuration module: Connects to various automation devices and is used to configure and manage the basic information of each device;

[0050] Data docking address configuration module: Used to configure the data exchange addresses between the AGV and each device to ensure the correctness and reliability of data transmission;

[0051] Variable configuration module: Used to define and manage the variables used in the interaction between the AGV and each device;

[0052] Docking logic compilation module: Used to establish the logic that allows writing or modifying the docking of the AGV with each device and supports dynamic adjustment;

[0053] Device docking execution module: Executes the docking logic and controls the interaction process between the AGV and the device.

[0054] Compared with the prior art, the present application has the following beneficial effects:

[0055] The present invention discloses a method and a system for automatically docking a programmable logic AGV with an automated device, which solve the problems of complex logic writing during the docking process between the AGV and the automated device, inability to quickly re-program the preset docking logic, inability of ordinary users to dock independently, inability to quickly respond to changes in the production environment, and low docking efficiency, so as to improve the flexibility, adaptability and intelligence level of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a flowchart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] Referring to Figure 1 , the method for automatically docking a programmable logic AGV with a device includes the following steps:

[0059] Step 1: Information configuration, configuring the basic information of each automated device connected to the system;

[0060] Step 2: Configure the data exchange addresses between the AGV and each device, and this address is usually the address of coils, registers, and data blocks;

[0061] Step 3: Define the variables used during the interaction between the AGV and each device; the variables used in Step 3 include system variables and custom variables. The values of the system variables obtain map and AGV information during system operation, and the values of the custom variables are obtained from the tasks issued by the upper-level system. The system variables in the present application are data already existing in the system, such as AGV number, map point number, floor where the AGV is located, and floor of the target point; the custom variables are variables whose names are configured by the user in the system according to business requirements, and the values of the custom variables are passed into the system through an interface when the AGV executes a task, and the variable values can be obtained when docking with the automated device.

[0062] Step 4: Write the sequence of steps for the docking process; in Step 4, a sequence group is set up to write all the steps of the entire docking process. n steps (i.e., docking steps) are compiled under the sequence group, and n is a natural number;

[0063] The step sequence group guidance system executes sequentially according to the step sequences in the step sequence group. The result of step sequence compilation is how the guidance system obtains values and matches the values with those in the addresses corresponding to the plc devices. Here, to facilitate subsequent understanding, two values are clarified. The value obtained by the system according to the step sequence configuration is denoted as the "step sequence expected value" and denoted as S_EV, and the value of the step sequence corresponding to the PLC address is denoted as the "step sequence actual value" and denoted as S_AV. When S_EV = S_AV is satisfied, the step sequence is successfully executed, and the docking of the next step sequence continues.

[0064] The step sequence compilation in step 4 includes:

[0065] 4-1: Set the docking step sequence number as the sequence number for configuration execution; the setting of the step sequence number is consistent with the execution sequence, which is a number from 1, 2, 3...., n. During docking, it will be executed sequentially according to the order of the step sequence numbers.

[0066] 4-2: Configure the preconditions to check whether the execution conditions are met when executing the step sequence; the setting of the preconditions needs to meet the following conditions:

[0067] It should be a variable set for the previous step sequence;

[0068] There should be a clear comparison value;

[0069] There should be a clear arithmetic operator, for example: x = y or x = 1; both x and y are variables;

[0070] The precondition configuration process in 4-2 includes the following steps:

[0071] 4-2-1: Set the step sequence number on the left side of the conditional equation to obtain the variable corresponding to the step sequence number;

[0072] 4-2-2: Set the arithmetic operator, and the operators include >, >=, =, <, <=,!=;

[0073] 4-2-3: Set the step sequence number on the right side of the conditional equation to obtain the variable corresponding to the step sequence number;

[0074] 4-2-4: Set the matching default value. When the variable on the right side of the equation is not filled, the system will use the default value.

[0075] The final result of the configuration is:

[0076] X = y

[0077] Left variable Operator Right variable \ Default value

[0078] For example: The current AGV is performing docking with the elevator. When entering the elevator, it is necessary to ensure that the current floor of the AGV is equal to the floor where the elevator is located, and the variable value has been written to the corresponding address in the PLC.

[0079] At this time, it is necessary to set preconditions, and the arithmetic equation should be: AGV floor number = elevator floor number.

[0080] 4-3: Set the read / write type of the step sequence, which is used to identify the read / write status of the step sequence in the configured data address; if the read / write status in 4-3 is "write", the system first reads the expected value S_EV of the step sequence, then writes the expected value to the corresponding address in the PLC, and then reads the value after writing to obtain the actual value S_AV of the step sequence for matching to verify whether the writing is successful;

[0081] If the read / write status is "read", the system first retrieves the expected value S_EV of the step sequence, then reads the value of the corresponding address in the PLC to obtain the actual value S_AV of the step sequence, and compares the expected value with the actual value.

[0082] 4-4: Determine the type of the expected value of the step sequence. The type of the expected value includes using variable values (system variables or custom variables) and default values. Whether this step sequence is set to use variable values or default values is used to identify whether the expected value of this step sequence is the default value or the value corresponding to the variable.

[0083] 4-5: Configure the reset step sequence number; after the currently executed step sequence is successfully executed, it is necessary to clear the actual values of one or more previous step sequences, and configure the step sequence numbers corresponding to the reset signals;

[0084] 4-6: Configure the execution timing of reading and writing data; during the docking process between the AGV and the device, there will be actions such as lifting and lowering the tray. This configuration is used to guide the system to perform data reading and writing operations before or after the action;

[0085] 4-7: Configure the emergency stop signal. During the docking process, it is inevitable that the system will encounter abnormalities, resulting in the AGV or the device stopping working. This configuration is used to guide the system whether to perform an emergency stop on the AGV and write the corresponding signal when an abnormality occurs.

[0086] Through the above steps, a single step sequence can be configured. By repeating the above steps, the compilation of the entire step sequence group can be completed. After the AGV runs to the specified area, it will use the docking logic compiled in this step sequence group to communicate with the device. The system provides a user-friendly interface that allows operators to write or modify the logic of the AGV's docking with the device according to actual needs.

[0087] Step Five: Based on the step sequence written in Step Four, execute the signal docking between the AGV and each device.

[0088] The system performs signal docking between the AGV and the device. By obtaining configuration information such as device information, data configuration information, variable information, data exchange protocol, and step sequence group information, the system sequentially performs signal docking until all docking logics are completed.

[0089] Step 5 includes the following sub-steps:

[0090] 5-1: The AGV enters the docking area;

[0091] 5-2: Read and write data according to the data exchange protocol;

[0092] 5-3: Configure a combined arithmetic expression based on preconditions. The system determines whether the conditions are met according to the result of the arithmetic expression. If the conditions are not met, the loop is exited and waiting for the next loop entry for rejudgment; if the conditions are met, the signal processing of the step sequence is executed;

[0093] 5-4: Signal processing to obtain the expected step sequence value S_EV and the actual step sequence value S_AV; in 5-4, the expected step sequence value S_EV and the actual step sequence value S_AV are retrieved according to the step sequence configuration information, thus obtaining two values for comparison;

[0094] The expected step sequence value S_EV: is the variable value configured by the system according to the step sequence. When no variable is configured for the step sequence, the configured default value is directly used;

[0095] The actual step sequence value S_AV: is the actual step sequence value read by the system according to the PLC address configured by the data docking address configuration module.

[0096] The hold signal needs to remain unchanged throughout the docking process; after the emergency stop signal matches successfully, the AGV operation is stopped, and the read / write signal requires the system to read and write data to the device according to the data configuration and protocol.

[0097] 5-5: Perform data signal matching, compare the two values obtained from signal processing. If the two values are equal, signal reset is performed, and then the next step sequence is entered. If the two values are not equal, the loop is exited and waiting for the next comparison until the comparison is successful; if the step sequence is a hold signal, the subsequent step sequences cannot clear this signal until the step sequence group docking is completed. If the step sequence is an emergency stop signal, when the comparison is successful, the AGV needs to be paused, and the AGV is defined as successfully docked only after it is paused.

[0098] 5-6: Enter the next step sequence docking;

[0099] 5-7: If all step sequences in the step sequence group are successfully docked, the docking with the device is completed, and the AGV continues to run.

[0100] A system for the method of automatic docking of an AGV with devices using the above-mentioned programmable logic, including a device configuration module: connected to various automation devices, used for configuring and managing the basic information of each automation device. The automation devices include various PLCs and various devices supporting the Modbus protocol, and the basic information includes device type, model, communication protocol, IP, port, etc.

[0101] A data docking address configuration module: used for configuring the data exchange addresses between the AGV and each automation device to ensure the correctness and reliability of data transmission;

[0102] A variable configuration module: used for defining and managing the variables used in the interaction process between the AGV and each automation device. The variables include position information, task status, fault codes, etc.;

[0103] A docking logic compilation module: used for establishing the logic that allows operators to write or modify the docking of the AGV with each automation device, supporting dynamic adjustment; This application realizes dynamic logic writing. By providing an interface for dynamically compiling docking logic, operators can adjust the docking logic between the AGV and devices at any time according to actual needs without reprogramming or restarting the system.

[0104] A device docking execution module: executes the docking logic and controls the interaction process between the AGV and the devices. Through the written docking logic, the automatic docking of the AGV and the devices is realized without manual intervention.

[0105] Since the docking logic is editable and supports multiple data exchange protocols, the system can quickly adapt to different production environments and task requirements, improving the flexibility and adaptability of the system.

[0106] This application also provides a graphical interface, through which ordinary operators can conveniently perform device configuration, data docking address configuration, variable configuration, and logic writing.

[0107] The above are only optional embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made using the content of the specification of the present invention under the concept of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An automatic docking method for programmable logic AGV and devices, characterized in that, It includes the following steps: Step 1: Information configuration, configuring the basic information of each device connected to the system; Step 2: Configuring the data exchange addresses between the AGV and each device; Step 3: Defining the variables used during the interaction between the AGV and each device; Step 4: Writing the sequence steps of the docking process; Step 5: Based on the sequence steps written in Step 4, performing the signal docking between the AGV and each device.

2. The method for automatic docking of programmable logic AGV and equipment according to claim 1, characterized in that The variables used in Step 3 include system variables and custom variables. The values of the system variables obtain the map and AGV information during system operation, and the values of the custom variables are obtained from the tasks issued by the upper-level system.

3. The method for automatic docking of programmable logic AGV and equipment according to claim 1, characterized in that, In Step 4, a sequence group is set up to write all the steps of the entire docking process. n sequence steps are compiled under the sequence group, where n is a natural number; The sequence group guides the system to execute sequentially according to the sequence steps in the sequence group.

4. The method for automatic docking of programmable logic AGV and equipment according to claim 3, characterized in that, The sequence steps compiled by the sequence group in Step 4 include: 4-1: Setting the docking sequence number as the sequence number for configuration execution; 4-2: Configuring the preconditions to check whether the execution conditions are met when executing the sequence step; 4-3: Setting the read / write type of the sequence step to identify the read / write status of the sequence step in the configured data address; 4-4: Determining the expected value type of the sequence step; 4-5: Configuring the reset sequence number; 4-6: Configuring the execution timing of reading and writing data; 4-7: Configuring the emergency stop signal.

5. The method for automatic docking of programmable logic AGV and equipment according to claim 4, characterized in that, The process of configuring the preconditions in 4-2 includes the following steps: 4-2-1: Setting the sequence number on the left side of the conditional equation to obtain the variable corresponding to the sequence number; 4-2-2: Setting the arithmetic operator; 4-2-3: Setting the sequence number on the right side of the conditional equation to obtain the variable corresponding to the sequence number; 4-2-4: Setting the matching default value, and when the variable on the right side of the equation is not filled, the system uses the default value.

6. The method for automatic docking of programmable logic AGV and equipment according to claim 4, characterized in that, In 4-3, if the read / write status is "write", the system first reads the expected value S_EV of the sequence step, then writes the expected value into the corresponding PLC address, and then reads the value after writing to obtain the actual value S_AV of the sequence step for matching to verify whether the writing is successful; If the read / write status is "read", the system first retrieves the expected value S_EV of the sequence step, then reads the value of the corresponding PLC address to obtain the actual value S_AV of the sequence step, and compares the expected value and the actual value.

7. The method for automatic docking of programmable logic AGV and equipment according to claim 4, characterized in that In 4-4, the expected value types include using variable values and default values.

8. The method for automatic docking of programmable logic AGV and equipment according to claim 1, characterized in that Step 5 includes the following sub-steps: 5-1: The AGV enters the docking area; 5-2: Performing data reading and writing according to the data exchange protocol; 5-3: Configuring a combined arithmetic expression according to the preconditions, and judging whether the conditions are met according to the result of the arithmetic expression. If the conditions are not met, jump out of the loop and wait to judge again when entering the loop next time; if the conditions are met, execute the signal processing of the sequence step; 5-4: Signal processing to obtain the expected value S_EV and the actual value S_AV of the sequence step; 5-5: Performing data signal matching, comparing the two values obtained by signal processing. If the two values are equal, perform signal reset, and then enter the next sequence step. If the two values are not equal, jump out of the loop and wait to enter the next comparison until the comparison is successful; 5-6: Entering the docking of the next sequence step 5 - 7: If all the steps in the step sequence group are successfully docked, then the docking with the device is completed, and the AGV continues to run.

9. The method for automatic docking of programmable logic AGV and equipment according to claim 8, characterized in that, In 5 - 4, the expected step value S_EV and the actual step value S_AV are retrieved according to the step sequence configuration information, thus obtaining two values for comparison. The expected step value S_EV: is the variable value configured by the system for the step. When no variable is configured for the step, the configured default value is directly used. The actual step value S_AV: is the actual step value read by the system from the PLC address configured by the data docking address configuration module.

10. An AGV with programmable logic and an automatic docking system for equipment, characterized in that, Applying the method for automatic docking of an AGV with programmable logic according to any one of claims 1 - 9, includes Device configuration module: Connects to various automation devices and is used to configure and manage the basic information of each device. Data docking address configuration module: Used to configure the data exchange addresses between the AGV and each device to ensure the correctness and reliability of data transmission. Variable configuration module: Used to define and manage the variables used in the interaction between the AGV and each device. Docking logic compilation module: Used to establish the logic that allows writing or modifying the docking of the AGV with each device, and supports dynamic adjustment. Device docking execution module: Executes the docking logic and controls the interaction process between the AGV and the device.

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