阅读说明：本技术 一种与现场固定设备采用光通信技术的agv及光通信方法 (AGV (automatic guided vehicle) adopting optical communication technology with field fixing equipment and optical communication method ) 是由 马贤朋 田华亭 张献军 吴茂华 杨进 聂稳 李兵 罗蒙 钱鸿顺 孙志斌 何奇毅 于 2019-11-29 设计创作，主要内容包括：本发明涉及一种与现场固定设备采用光通信技术的AGV及光通信方法,用于解决AGV移动设备与固定设备之间的信息交互。移动设备AGV控制器触发主站的可灵活配置单元的使能,主站将信号采集单元采集到的信息与可灵活配置单元的设置打包,通过短距光通讯单元发送到从站的短距光通讯单元。从站收到主站的信息后,通过从站的可灵活配置单元校验数据的合法性,数据合法后将数据解析给信息输出单元输出信息到固定设备控制器。通过在移动设备AGV和固定设备上分别安装可配置的光通信装置,移动设备AGV到达指定范围就能和固定设备之间进行方式多样的信息交互,是一种通讯范围可控、能够即时通讯且无需对通讯拓扑结构做预设的与现场固定设备可靠通信技术的AGV。(The invention relates to an AGV and an optical communication method which adopt an optical communication technology with a field fixing device, and is used for solving the problem of information interaction between an AGV moving device and the fixing device. The mobile equipment AGV controller triggers the enabling of the flexibly configurable unit of the main station, the main station packs the information acquired by the signal acquisition unit and the setting of the flexibly configurable unit, and the information is sent to the short-distance optical communication unit of the slave station through the short-distance optical communication unit. After receiving the information of the master station, the slave station checks the legality of the data through the flexibly configurable unit of the slave station, and after the data is legal, the data is analyzed to the information output unit to output the information to the fixed equipment controller. The configurable optical communication devices are respectively arranged on the AGV and the fixed equipment, so that the AGV can perform information interaction with the fixed equipment in various modes when reaching an appointed range, and is the AGV with controllable communication range, instant communication and reliable communication technology with field fixed equipment without presetting a communication topological structure.)

1. The utility model provides an AGV with on-spot fixed equipment adopts optical communication technique, includes AGV and mobile device AGV controller (20) and fixed equipment controller (21), its characterized in that: the mobile equipment AGV controller (20) and the fixed equipment controller (21) respectively comprise a signal acquisition unit (3), a flexible configuration unit (4), a signal output unit (5), a signal processing unit (6) and a short-distance optical communication unit (7), wherein the signal acquisition unit (3), the flexible configuration unit (4), the signal output unit (5) and the short-distance optical communication unit (7) are respectively and electrically connected with the signal processing unit (6);

the wiring terminal interface (10) is electrically connected with the acquisition unit (3), an input signal is accessed to the acquisition unit (3) through the wiring terminal interface (10), and the acquisition unit (3) acquires and stores data;

the signal output unit (5) is electrically connected with the wiring terminal interface (10), and the wiring terminal interface (10) outputs an output signal;

the flexible configuration unit (4) is electrically connected with the external configuration interface (11), the flexible configuration unit (4) collects configuration information of the external configuration interface (11) and stores data in a flexible configuration cache area, the flexible configuration unit (4) can configure the AGV controller (20) and the fixed equipment controller (21) as a master station (8) or a slave station (9), and can also configure different points to receive or send data and then carry out coding processing according to the configured information, wherein different codes represent different information; the master station (8) and the slave station (9) prescribe information represented by codes in advance, and the information is configured specifically according to needs in actual application;

the short-distance optical communication unit (7) puts the received data into an optical communication receiving buffer area and an optical communication sending buffer area through an optical transmission interface (13), and sends the data through the optical transmission interface (13);

the data processing unit (6) acquires data of the signal acquisition buffer area and flexibly configures the buffer area according to needs to determine whether to write data into the signal output buffer area, the signal output unit (5) outputs the output signal (2) through the wiring terminal interface (10) and writes the data into the optical communication sending buffer area, and the short-distance optical communication unit (7) sends information from the optical transmission interface (13).

2. The AGV of claim 1, further comprising:

the wiring terminal interface (10) is a composite configurable interface.

3. The AGV of claim 1, further comprising:

the master station (8) and the slave station (9) are in a silent state in an initial state, and the master station (8) is an initiator of each communication.

4. The AGV of claim 1, further comprising:

the short-distance optical transmission device selects a 32-bit MCU or DSP, and the data processing unit (6) is responsible for flexibly initializing each functional unit according to the data of the flexibly configurable unit (4);

the signal acquisition unit (3) and the signal output unit (5) are connected through a wiring terminal interface (10).

5. The AGV of claim 1, further comprising:

the master station (8) encodes and packages the acquired information through the flexible configuration unit (4) and finally sends the information out through the optical communication unit (7), and the slave station (9) performs encoding check on the received information, namely checks whether the received information is a predetermined code or not, and then sends the predetermined code to the signal processing unit (6) for processing; vice versa from the station (9) to the master station (8).

6. An AGV according to any one of claims 1 to 5 that uses optical communication technology with a field fixture, wherein:

the wiring terminal interface (10) adopts at least one of digital quantity, analog quantity, CAN bus and RS232 interface modes or is used in a mixed mode.

7. An optical communication method for an AGV using optical communication technology with a field fixture according to any one of claims 1 to 6, wherein the communication step comprises:

s101, a signal processing unit (6) of a master station (8) judges that a signal acquisition unit (3) acquires a sending enable;

s102, the signal processing unit (6) of the master station (8) acquires the cache data of the signal acquisition unit (3) and packs the data according to the configuration of the flexible configuration unit (4);

s103, writing the packed data into an optical communication sending buffer area by the signal processing unit (6) of the master station (8), and sending the data to the slave station (9) by the optical communication unit (7);

s201: a short-distance optical communication unit (7) of a slave station (9) receives data sent by a master station (8) and stores the data in an optical communication receiving buffer area;

s202: the signal processing unit (6) of the slave station (9) checks the validity of the data according to the configuration of the flexible configuration unit (4);

s203: the signal processing unit (6) of the slave station (9) analyzes the data, writes the data into a buffer area of the signal output unit (5), and controls the signal output by the signal output unit (5);

s204: a signal output unit (5) of the slave station (9) outputs information;

s210, the signal processing unit (6) of the slave station (9) acquires the cache data of the signal acquisition unit (3) and packs the data according to the configuration of the flexible configuration unit (4);

s211, writing the packed data into an optical communication sending buffer area by a signal processing unit (6) of a slave station (9), and sending the data to a master station (8) by an optical communication unit (7);

s110: the short-distance optical communication unit (7) of the master station (8) receives the data sent by the master station (8) and stores the data in an optical communication receiving buffer area;

s111: the signal processing unit (6) of the master station (8) verifies the validity of the data according to the configuration of the flexible configuration unit (4);

s112: the signal processing unit (6) of the master station (8) analyzes the data, writes the data into a buffer area of the signal output unit (5), and controls signal output by the signal output unit (5);

s113: a signal output unit (5) of the master station (8) outputs information.

Technical Field

The invention relates to an AGV and an optical communication method which adopt an optical communication technology with field fixing equipment, in particular to an AGV and an optical communication method which carry out optical communication between a mobile equipment AGV and fixing equipment such as a platform, an automatic door, a charger and the like.

Background

An automatic Guided vehicle agv (automated Guided vehicle) is an important component of an automated logistics system, and is one of core mobile handling units for realizing automation and intelligent flexibility of the logistics system. In the application of the AGV, signal interaction is often performed between the AGV and a fixed device on the site (e.g., a platform, an automatic door, a charger, etc.). The existing equipment can only carry out signal interaction through an infrared phototube or other wireless modes, and has the problems of overlarge volume, insufficient bandwidth, overlong signal delay time and the like for more complex information interaction, so that the requirements of AGV safety and intelligent development are severely restricted.

Aiming at the problems, the invention discloses an AGV adopting an optical communication technology with a field fixing device, and the AGV and the fixing device are respectively provided with a configurable optical communication device, so that the AGV can perform information interaction with the fixing device when reaching a specified range, and the signal interaction mode is various, thereby realizing the signal interaction in real time and being easy to realize engineering application.

Disclosure of Invention

The invention designs an AGV which adopts an optical communication technology with a field fixing device, aiming at the problem that the safety and the intellectualization requirements of the AGV cannot be met by adopting devices and devices in the existing market for information interaction between a mobile device AGV and the fixing device. The invention adopts short-distance optical communication for interaction, and is provided with the configurable unit which can be arranged externally, thereby being easy to meet the information interaction requirement between the AGV and the fixed equipment.

The technical scheme of the invention is as follows:

the utility model provides a with on-spot fixed equipment AGV that adopts optical communication technique, includes AGV and mobile device AGV controller and fixed equipment controller, its characterized in that: the mobile equipment AGV controller and the fixed equipment controller respectively comprise a signal acquisition unit, a flexible configuration unit, a signal output unit, a signal processing unit and a short-distance optical communication unit, and the signal acquisition unit, the flexible configuration unit, the signal output unit and the short-distance optical communication unit are respectively and electrically connected with the signal processing unit;

the wiring terminal interface is electrically connected with the acquisition unit, an input signal is accessed to the acquisition unit through the wiring terminal interface, and the acquisition unit acquires and stores data;

the signal output unit is electrically connected with the wiring terminal interface, and the wiring terminal interface outputs an output signal;

the flexible configuration unit is electrically connected with the external configuration interface, acquires configuration information of the external configuration interface and stores the data in the flexible configuration cache area, the flexible configuration unit can configure the mobile equipment AGV controller and the fixed equipment controller as a master station or a slave station, and can also configure different points for receiving or sending the data, and then coding processing is carried out according to the configured information, wherein different codes represent different information; the master station and the slave station reserve information represented by codes in advance and are configured specifically according to needs in actual application;

the short-distance optical communication unit puts the received data into an optical communication receiving buffer area and an optical communication sending buffer area through an optical transmission interface, and sends the data through the optical transmission interface;

the data processing unit is used for determining whether data is written into the signal output buffer area according to data of the signal acquisition buffer area and the flexible configuration buffer area, the signal output unit outputs output signals through the wiring terminal interface, the data is written into the optical communication sending buffer area, and information is sent from the optical transmission interface through the short-distance optical communication unit.

The wiring terminal interface is a composite configurable interface.

The master station and the slave station are in a silent state in an initial state, and the master station is an initiator of each communication.

The short-distance optical transmission device selects a 32-bit MCU or DSP, and the data processing unit is responsible for flexibly initializing each functional unit according to the data of the flexibly configurable unit;

and the signal acquisition unit and the signal output unit are accessed by a wiring terminal interface.

The master station encodes and packages the acquired information through the flexible configuration unit and finally sends the information out through the optical communication unit, and the slave station performs encoding check on the received information, namely checks whether the information is a predetermined code or not, and then sends the information to the signal processing unit for processing; the same is true for the slave to the master.

The terminal interface adopts at least one of digital quantity (DI/DO), analog quantity (AI/AO), CAN bus and RS232 interface modes or is used in a mixed mode.

According to the AGV optical communication method using the optical communication technology with the field fixing equipment, the communication step comprises the following steps:

s101, a signal processing unit of a master station judges that a signal acquisition unit acquires a sending enable;

s102, a signal processing unit of the master station acquires cache data of a signal acquisition unit and packs the data according to the configuration of a flexible configuration unit;

s103, the signal processing unit of the master station writes the packed data into an optical communication sending buffer area, and the optical communication unit sends the data to the slave station;

s201: the short-distance optical communication unit of the slave station receives the data sent by the master station and stores the data in an optical communication receiving buffer area;

s202: the signal processing unit of the slave station checks the validity of data according to the configuration of the flexible configuration unit;

s203: the signal processing unit of the slave station analyzes the data, writes the data into a buffer area of the signal output unit, and controls the signal output by the signal output unit;

s204: the signal output unit of the slave station outputs information;

s210, the signal processing unit of the slave station acquires the cache data of the signal acquisition unit and packs the data according to the configuration of the flexible configuration unit;

s211, writing the packed data into an optical communication sending buffer area by a signal processing unit of the slave station, and sending the data to the master station by the optical communication unit;

s110: the master station short-distance optical communication unit receives the data sent by the master station and stores the data in an optical communication receiving buffer area;

s111: the signal processing unit of the main station verifies the data validity according to the configuration of the flexible configuration unit;

s112: the signal processing unit of the master station analyzes the data, writes the data into a buffer area of the signal output unit, and controls signal output by the signal output unit;

s113: the signal output unit of the master station outputs information.

According to the AGV adopting the optical communication technology with the field fixing equipment, the mobile equipment AGV controller triggers the enabling of the flexible configuration unit of the main station, the main station packs the information acquired by the signal acquisition unit and the setting of the flexible configuration unit, and the information is sent to the short-distance optical communication unit of the slave station through the short-distance optical communication unit. After receiving the information of the master station, the slave station checks the legality of the data through the flexibly configurable unit of the slave station, and after the data is legal, the data is analyzed to the information output unit to output the information to the fixed equipment controller. And meanwhile, the fixed equipment controller outputs information to the slave station information acquisition unit, the slave station packs the information acquired by the signal acquisition unit and the setting of the flexibly configurable unit, and the information is sent to the short-distance optical communication unit of the master station through the short-distance optical communication unit. After receiving the information of the slave station, the master station checks the legality of the data through the flexibly configurable unit of the master station, and after the data is legal, the data is analyzed to the information output unit to output the information to the AGV controller of the mobile equipment.

The invention has the beneficial effects that: the configurable optical communication devices are respectively installed on the AGV and the fixed equipment, the AGV can perform information interaction with the fixed equipment when reaching an appointed range, the signal interaction mode is various, the signal interaction is realized immediately, the engineering application is easy to realize, and the AGV is an AGV which has a controllable communication range, can perform instant communication and does not need to perform a preset communication technology with the field fixed equipment on a communication topological structure and has a reliable communication technology.

Drawings

FIG. 1 is a software functional partitioning diagram of the present invention;

FIG. 2 is a diagram of the hardware functional partitioning of the present invention;

FIG. 3 is a flow chart of the steps of the communication system of the present invention;

FIG. 4 is a schematic diagram of the system of the present invention;

FIG. 5 is a diagram illustrating wired interaction of information according to an embodiment of the present invention;

FIG. 6 is an exemplary illustration of a system information interaction of the present invention;

in the figure: 1-input information; 2-outputting information; 3-a signal acquisition unit; 4-flexibly configurable elements; 5-a signal output unit; 6-a signal processing unit; 7-short-range optical communication unit; 8, a master station; 9-a slave station; 20-a mobile device AGV controller; 21-fixed equipment controller; 22, interactive information sent by the AGV controller of the mobile equipment to the controller of the fixed equipment; 23-interaction information given by the fixed equipment controller to the moving equipment AGV controller.

Detailed Description

As shown in FIG. 5, a short-distance optical communication unit of an AGV using an optical communication technology with a field fixing device needs to be installed in a correlation manner. Since the information interaction is generally the need of the AGV to perform signal interaction with the fixed device after the AGV arrives at a certain point, a short-distance optical communication unit 7 is set as a master station 8 and installed on the AGV. The other short-range optical communication unit is provided as a slave station 9 mounted on the fixed equipment.

When there is no information interaction, the signal acquisition units 3 (of the master station 8 and of the slave station 9) of the short-range optical communication unit 7 always acquire data at regular time and store the data in the buffer data.

The moving equipment AGV controller 20 needs to send information 22 to the fixture controller 21 as shown in fig. 5. The fixed equipment controller 21 needs to send information 23 to the moving equipment AGV controller 20 for information interaction. Since the connection between the mobile device and the stationary device cannot be made by wire. Therefore, as shown in fig. 6, the short-range optical communication unit installed on the AGV is set as the master station 8 and connected to the AGV controller 20. The short-range optical communication unit installed on the fixed equipment is set as a slave station 9, and is connected with a fixed equipment controller 21.

When the AGV travels to a position where information interaction with the fixed equipment is required, the AGV controller 20 of the mobile equipment triggers the enabling of the flexibly configurable unit of the master station, the master station packs the information 22 acquired by the signal acquisition unit and the setting of the flexibly configurable unit, and the information is sent to the short-distance optical communication unit of the slave station through the short-distance optical communication unit. After receiving the information 22 of the master station, the slave station checks the legality of the data through the flexible configuration unit of the slave station, and after the data is legal, the data is analyzed to the information output unit to output the information 22 to the fixed equipment controller 21. Meanwhile, the fixed equipment controller 21 outputs information 23 to the slave station information acquisition unit, and the slave station packs the information 23 acquired by the signal acquisition unit and the setting of the flexibly configurable unit and sends the information to the short-distance optical communication unit of the master station through the short-distance optical communication unit. After receiving the information 23 of the slave station, the master station checks the validity of the data through the flexible configuration unit of the master station, and after the data is legal, the data is analyzed to the information output unit to output the information 23 to the AGV controller 20. Thus completing one information circulation. The mobile device AGV controller 20 sends a message 22 to the master at a time, and the master and slave completely perform a message transfer. Until the mobile device AGV controller 20 confirms that information interaction is no longer required, the mobile device AGV controller 20 resets the enable of the flexibly configurable unit of the master station, and both the master station and the slave station are in a reset state.

The above-described embodiments are merely illustrative of specific embodiments, and the scope of the present invention is not limited to the above-described specific embodiments.