阅读说明：本技术 一种基于数字孪生的agv小车仿真系统 (AGV dolly simulation system based on digital twinning ) 是由 姜跃君 蒋俊杰 于 2021-07-15 设计创作，主要内容包括：本发明公开了一种基于数字孪生的AGV小车仿真系统,涉及仓储物流仿真领域。对整个AGV系统进行1:1真实还原,构建出虚拟数字孪生体,为面向AGV的数字孪生仓储仿真系统奠定虚拟映射现实的基础。根据状态传感器和定位传感器获取实时的传感器数据以及相关AGV的电量、位置信息,基于实时通讯技术对AGV的真实运动过程、运动结果进行还原,所见即所得,摆脱了之前模拟表现不细腻,只能依靠结果数据做出推断的缺点。最终根据模拟AGV系统的数据表现结果,可以真实映射真正系统运行结果,从而帮助对可能出现的问题作出预测性推断以及对整个AGV系统进行设计优化。(The invention discloses an AGV (automatic guided vehicle) simulation system based on digital twins, and relates to the field of warehouse logistics simulation. And performing 1:1 real reduction on the whole AGV system to construct a virtual digital twin body, and laying a virtual mapping reality foundation for the AGV-oriented digital twin storage simulation system. The real-time sensor data and the electric quantity and the position information of the related AGV are acquired according to the state sensor and the positioning sensor, the real motion process and the motion result of the AGV are restored based on a real-time communication technology, and the real-time sensor data are obtained. Finally, according to the data expression result of the simulation AGV system, the real system operation result can be truly mapped, so that predictive inference on possible problems and design optimization on the whole AGV system are facilitated.)

1. An AGV car simulation system based on digital twinning, comprising:

the virtual digital twins correspond to real physical entities of the AGV, wherein the AGV comprises a state sensor for acquiring start and stop and other state data of the AGV equipment and a positioning sensor for acquiring position data of the AGV equipment, such as position, angle and the like;

the virtual digital twin body is updated based on data acquired by a state sensor and a positioning sensor during simulation debugging of the AGV;

a three-dimensional engine initialized based on the digital twins and configured as an AGV based digital twins simulation system;

the communication system updates parameters based on the twin and keeps synchronous handshake operation in real time;

the AGV simulation digital twins are generated based on the digital twins and are correspondingly updated based on data acquired by the state sensor and the positioning sensor during simulation debugging of the AGV.

2. The AGV car simulation system according to claim 1, wherein the digital twins are constructed based on the AGVs in a 1:1 equal ratio, and have the same aggregate structure, size, shape and material performance as the AGVs.

3. A digital twin based AGV cart simulation system according to claim 1, characterised in that the AGV system further comprises: the material goods shelves of two-dimensional code and demand transport are fixed a position on ground.

4. A digital twin based AGV cart simulation system according to claim 1 where the three dimensional engine is built based on a FlexSim engine.

5. The AGV simulation system according to claim 1, wherein the communication system is constructed based on a Modbus protocol.

6. A digital twin based AGV car simulation system according to any of claims 1 to 5 comprising the steps of:

1) constructing a digital twinning body corresponding to the AGV trolley system, and finishing the initialization of the digital twinning simulation system facing the AGV trolley by guiding the digital twinning body into the three-dimensional engine;

2) acquiring real-time data of the AGV and uploading the real-time data to a handshake activation simulation system through a communication system;

3) acquiring data acquired by the state sensor and the positioning sensor, and updating the digital twin body;

4) inputting the position coordinate A of the conveying target shelf and the position B of the conveying destination in the simulation system, and calculating the traveling path P of the AGV by the simulation engine through an A-x algorithm; the initial point of the trolley is O, namely the path P is a path from the point O to the point A and then to the point B;

5) cutting the calculated path P into P1.P2.P3 … Pn according to the turning times; inserting a loading task L1 at the point A and an unloading task L2 at the point B in the path tasks, namely the cutting array of the path P is [ P1.P2.P3.L1 … Pn. L2 ];

6) the task P1 is sent to a real AGV through a communication system, the AGV is guided to execute the task, and the signal is received by the AGV and then a handshake success signal is returned through the communication system;

7) and the real trolley executes the tasks, and updates the trolley state parameters and the position parameters through real-time communication. Synchronizing to a digital twin system to perform the same operation;

8) after the real trolley executes the received task, a task completion signal is sent to the simulation end through the communication system, and at the moment, the digital twin body of the simulation end also updates and completes the task of the virtual end, so that handshake synchronization is completed;

9) the simulation end sends the next task P2 to the real AGV, and repeats S6-S8;

10) if the last task L2 is executed, the current group of tasks are executed completely, and the tasks of the real AGV trolley and the virtual digital twin entity are executed synchronously in the whole execution process;

11) by obtaining the digital twins of the AGV trolleys, operational optimization and overall carrying efficiency optimization design of the system can be cooperatively carried out aiming at the paths of the multiple AGV trolleys.

7. A digital twin based AGV car simulation system according to claim 6 wherein step 3) specifically comprises:

based on the dynamically acquired trolley position information, the coordinate position, the moving direction and the target position of the trolley in the simulation system are synchronized in real time through the communication system;

based on the dynamically acquired trolley state information, the current speed, the acceleration, the deflection angle and the real-time electric quantity of the trolley in the simulation system are synchronized in real time through the communication system.

8. The AGV car simulation system according to claim 5, wherein the optimization design in step 11) is to perform multi-objective path algorithm optimization by using an operation research method according to the task path of the car in the system, so as to reduce the path distance of the whole AGV car system.

Technical Field

The invention relates to the technical field of warehouse logistics simulation, in particular to an AGV (automatic guided vehicle) simulation system based on a digital twin.

Background

The digital twin technology is that a virtual model of a physical entity is created in a digital mode, and the behavior of the physical entity in a real environment is simulated by means of data; as a technology for fully utilizing models, data, intelligence and integrating multiple disciplines, the digital twin is oriented to the process of the product life cycle, plays the roles of bridges and links for connecting a physical world and an information world, provides more real-time, efficient and intelligent services, and provides an effective solution for the interaction and the fusion of the physical world and the information world.

For example, patent No. CN110320908B discloses an AGV real-time simulation system, which includes an AVG main control subsystem, a visual guidance subsystem, and a simulation interaction subsystem; and fitting the driving track of the trolley body through the visual guidance subsystem to calculate a deflection angle, then transmitting the deflection angle to the ACV main control subsystem, processing by the main control subsystem to obtain the deflection angle of the trolley body during actual driving, taking the deflection angle as a second deflection angle, and then transmitting the driving speed and the second deflection angle of the trolley body during actual driving to the simulation interaction subsystem. The simulation interaction subsystem calculates the running speed of the trolley simulation model on the virtual road during straight running and the rotation angle and running speed of the center of the trolley during turning running according to the second deflection angle and the actual running speed of the trolley body, so as to realize simulation of the actual running state of the trolley body; by implementing the embodiment of the invention, a user can monitor that the running state of the trolley does not need to arrive at an operation site through the simulation interaction subsystem, thereby improving the convenience.

For another example, patent No. CN109062080A discloses an AGV-based simulation control method, which includes establishing an AGV simulation test trajectory planning path based on a topology map, and calculating and acquiring coordinates of all points on the planning path and storing the coordinates; establishing a motion model of an AGV chassis, acquiring moving state data of the AGV in real time through the motion model, and acquiring corresponding AGV control reference point state data according to the moving state data; calculating and acquiring angle regulating quantity and speed regulating quantity of a reference point on the planned path according to the length of the preview point; and inputting the angle adjustment quantity and the speed adjustment quantity into the motion model to adjust the moving state of the AGV simulation vehicle. By aiming at the track simulation of the virtual vehicle, the debugging of the track control parameters of the AGV is completely realized based on simulation, is not limited by a real vehicle or an embedded controller, is convenient and quick to debug, and overcomes the fault interference of real vehicle hardware in the parameter setting process.

Similar to the simulation system of the above application, the following disadvantages exist:

firstly, the situation of insufficient observation exists in the process of executing the AGV task, the control effect is insufficient, and the visual control is inconvenient for convenient and flexible adjustment; secondly, the development cost of the AGV control system is high, the development period is slow, and the AGV control system is not convenient to build and use quickly.

Therefore, the existing requirements are not met, and a digital twin-based AGV car simulation system is provided for the system.

Disclosure of Invention

Problem (A)

The invention aims to provide an AGV car simulation system based on digital twins, which aims to solve the problems that the AGV task execution process proposed in the background technology has insufficient observation, insufficient control effect and inconvenience for convenient and flexible adjustment through visual control; the AGV control system has the problems of high development cost, slow development period and difficulty in quick construction and use.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: an AGV (automatic guided vehicle) simulation system based on digital twins comprises virtual digital twins corresponding to real physical entities of the AGV, wherein the AGV comprises a state sensor for acquiring start and stop of the AGV equipment and other state data and a positioning sensor for acquiring position data of the AGV equipment, such as position, angle and the like;

the virtual digital twin body is updated based on data acquired by a state sensor and a positioning sensor during simulation debugging of the AGV;

a three-dimensional engine initialized based on the digital twins and configured as an AGV based digital twins simulation system;

the communication system updates parameters based on the twin and keeps synchronous handshake operation in real time;

the AGV simulation digital twins are generated based on the digital twins and are correspondingly updated based on data acquired by the state sensor and the positioning sensor during simulation debugging of the AGV.

Preferably, the digital twins are constructed based on the AGVs according to the equal proportion of 1:1, and the digital twins and the AGVs have the same integrated structure, size, shape and material performance.

Preferably, the AGV system further includes: the material goods shelves of two-dimensional code and demand transport are fixed a position on ground.

Preferably, the three-dimensional engine is constructed based on a FlexSim engine.

Preferably, the communication system is constructed based on a Modbus protocol.

Preferably, the AGV car simulation system based on the digital twin comprises the following steps:

1) constructing a digital twinning body corresponding to the AGV trolley system, and finishing the initialization of the digital twinning simulation system facing the AGV trolley by guiding the digital twinning body into the three-dimensional engine;

2) acquiring real-time data of the AGV and uploading the real-time data to a handshake activation simulation system through a communication system;

3) acquiring data acquired by the state sensor and the positioning sensor, and updating the digital twin body;

4) inputting the position coordinate A of the conveying target shelf and the position B of the conveying destination in the simulation system, and calculating the traveling path P of the AGV by the simulation engine through an A-x algorithm; the initial point of the trolley is O, namely the path P is a path from the point O to the point A and then to the point B;

5) cutting the calculated path P into P1.P2.P3 … Pn according to the turning times; inserting a loading task L1 at the point A and an unloading task L2 at the point B in the path tasks, namely the cutting array of the path P is [ P1.P2.P3.L1 … Pn. L2 ];

6) the task P1 is sent to a real AGV through a communication system, the AGV is guided to execute the task, and the signal is received by the AGV and then a handshake success signal is returned through the communication system;

7) and the real trolley executes the tasks, and updates the trolley state parameters and the position parameters through real-time communication. Synchronizing to a digital twin system to perform the same operation;

8) after the real trolley executes the received task, a task completion signal is sent to the simulation end through the communication system, and at the moment, the digital twin body of the simulation end also updates and completes the task of the virtual end, so that handshake synchronization is completed;

9) the simulation end sends the next task P2 to the real AGV, and repeats S6-S8;

10) if the last task L2 is executed, the current group of tasks are executed completely, and the tasks of the real AGV trolley and the virtual digital twin entity are executed synchronously in the whole execution process;

11) by obtaining the digital twins of the AGV trolleys, operational optimization and overall carrying efficiency optimization design of the system can be cooperatively carried out aiming at the paths of the multiple AGV trolleys.

Preferably, step 3) specifically comprises:

based on the dynamically acquired trolley position information, the coordinate position, the moving direction and the target position of the trolley in the simulation system are synchronized in real time through the communication system.

Based on the dynamically acquired trolley state information, the current speed, the acceleration, the deflection angle and the real-time electric quantity of the trolley in the simulation system are synchronized in real time through the communication system.

Preferably, the optimization design in the step 11) is to perform multi-objective path algorithm optimization by using an operation research method according to the task path of the car in the system, so as to reduce the path distance of the whole AGV car system.

(III) advantageous effects

The invention provides an AGV (automatic guided vehicle) simulation system based on digital twins, which has the following advantages:

1. according to the invention, the digital twin function of the AGV system is realized through the simulation of the AGV system and the communication of real AGV hardware, the whole-process visualization and actual control of the execution of the AGV task are realized, and the actual control of the AGV operation in practice is greatly facilitated.

2. The invention greatly reduces the development cost and the development period of the AGV control system, and has higher reproducibility and flexibility due to the modular function.

3. The present invention provides experience in the design of an AGV system and helps to standardize the design of the operation mode.

Drawings

FIG. 1 is the operating logic of the digital twinning system;

FIG. 2 is an operational logic of a communication system in a digital twin system;

Detailed Description

Referring to fig. 1 to fig. 2, an embodiment of the present invention includes: an AGV (automatic guided vehicle) simulation system based on digital twins comprises virtual digital twins corresponding to real physical entities of the AGV, wherein the AGV comprises a state sensor for acquiring starting and stopping of the AGV equipment and other state data and a positioning sensor for acquiring position data of the AGV equipment such as position, angle and the like; the virtual digital twin body is updated based on data acquired by the state sensor and the positioning sensor during simulation debugging of the AGV; the three-dimensional engine is initialized based on the digital twins and is configured into a digital twins simulation system based on the AGV; the communication system updates parameters based on the twin and keeps synchronous handshake operation in real time; the AGV simulation digital twins are generated based on the digital twins and are correspondingly updated based on data acquired by the state sensor and the positioning sensor during simulation debugging of the AGV.

The digital twins are constructed on the basis of the AGVs according to the equal proportion of 1:1, and have the same set structure, size, shape and material performance as the AGVs.

Wherein, the AGV system still includes: the ground positioning two-dimensional code and a material shelf and the like needing to be carried.

The three-dimensional engine is constructed based on a FlexSim engine, and the FlexSim is a Windows-based object-oriented simulation environment and is used for establishing a discrete event flow process.

The communication system is constructed based on a Modbus protocol, and the Modbus protocol is a serial communication protocol.

The AGV car simulation system based on the digital twin comprises the following steps:

1) constructing a digital twinning body corresponding to the AGV trolley system, and finishing the initialization of the digital twinning simulation system facing the AGV trolley by guiding the digital twinning body into the three-dimensional engine;

2) acquiring real-time data of the AGV and uploading the real-time data to a handshake activation simulation system through a communication system;

3) acquiring data acquired by the state sensor and the positioning sensor, and updating the digital twin body; the method specifically comprises the following steps:

based on the dynamically acquired trolley position information, the coordinate position, the moving direction and the target position of the trolley in the simulation system are synchronized in real time through the communication system;

based on the dynamically acquired trolley state information, the current speed, the acceleration, the deflection angle and the real-time electric quantity of the trolley in the simulation system are synchronized in real time through a communication system;

4) inputting the position coordinate A of the conveying target shelf and the position B of the conveying destination in the simulation system, and calculating the traveling path P of the AGV by the simulation engine through an A-x algorithm; the initial point of the trolley is O, namely the path P is a path from the point O to the point A and then to the point B;

5) cutting the calculated path P into P1.P2.P3 … Pn according to the turning times; inserting a loading task L1 at the point A and an unloading task L2 at the point B in the path tasks, namely the cutting array of the path P is [ P1.P2.P3.L1 … Pn. L2 ];

6) the task P1 is sent to a real AGV through a communication system, the AGV is guided to execute the task, and the signal is received by the AGV and then a handshake success signal is returned through the communication system;

7) and the real trolley executes the tasks, and updates the trolley state parameters and the position parameters through real-time communication. Synchronizing to a digital twin system to perform the same operation;

8) after the real trolley executes the received task, a task completion signal is sent to the simulation end through the communication system, and at the moment, the digital twin body of the simulation end also updates and completes the task of the virtual end, so that handshake synchronization is completed;

9) the simulation end sends the next task P2 to the real AGV, and repeats S6-S8;

10) if the last task L2 is executed, the current group of tasks are executed completely, and the tasks of the real AGV trolley and the virtual digital twin entity are executed synchronously in the whole execution process;

11) by obtaining the digital twins of the AGV trolleys, operational optimization and overall carrying efficiency optimization design of the system can be cooperatively carried out on the paths of the multiple AGV trolleys, and multi-objective path algorithm optimization is carried out by utilizing an operational research method according to task paths of trolleys in the system, so that the path distance of the overall AGV trolley system is reduced.

The most important heuristic of the digital twin is that the feedback of a real physical system to a virtual space digital model is realized, which is a strong way of reverse thinking in the industrial field, people try to pack all the physical world into a digital space, and only the whole life tracking with loop feedback is a real whole life cycle concept. Therefore, the method can be truly in the whole life cycle range, and the coordination between the numbers and the physical world is ensured. Various simulation, analysis, data accumulation and mining based on a digital model, and even the application of artificial intelligence can ensure the applicability of the system to a real physical system, which is the meaning of an array twin to intelligent logistics.

The working principle is as follows: constructing a digital twinning body corresponding to the AGV trolley system, and finishing the initialization of the digital twinning simulation system facing the AGV trolley by guiding the digital twinning body into a three-dimensional engine; acquiring real-time data of the AGV trolley and uploading the real-time data to a handshake activation simulation system through a communication system; acquiring data acquired by a state sensor and a positioning sensor, and updating the digital twin body; inputting position coordinates A of a carrying target shelf and a position B of a carrying destination in a simulation system, and calculating a traveling path P of the AGV by a simulation engine through an A-x algorithm; the initial point of the trolley is O, namely the path P is a path from the point O to the point A and then to the point B; cutting the calculated path P into P1.P2.P3 … Pn according to the steering times; inserting a loading task L1 at the point A and an unloading task L2 at the point B in the path tasks, namely the cutting array of the path P is [ P1.P2.P3.L1 … Pn. L2 ]; sending the task P1 to a real AGV through a communication system, guiding the AGV to execute the task, and returning a handshake success signal through the communication system after the AGV receives the signal; the real trolley executes tasks, and updates the trolley state parameters and the position parameters through real-time communication. Synchronizing to a digital twin system to perform the same operation; after the real trolley executes the received task, a task completion signal is sent to the simulation end through the communication system, and at the moment, the digital twin body of the simulation end also updates and completes the task of the virtual end, so that handshake synchronization is completed; the simulation end sends the next task P2 to the real AGV, and repeats S6-S8; if the last task L2 is executed, the current group of tasks are executed completely, and the tasks of the real AGV trolley and the virtual digital twin entity are executed synchronously in the whole execution process; by obtaining the digital twin of the AGV trolleys, operational optimization and the overall carrying efficiency optimization design of the system can be cooperatively carried out aiming at the paths of the multiple AGV trolleys.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.