CN116719278A - Simulation device and simulation method for intelligent factory AGV scheduling system - Google Patents

Abstract

The invention relates to an intelligent factory AGV scheduling system simulation device which comprises a flat field, wherein a plurality of marking points are arranged on the edge of the field; a plurality of two-wheeled mobile robots and barriers are arranged in the field, and the colors of each two-wheeled mobile robot and each barrier are different; the simulation device also comprises a central monitoring device for shooting the field image, wherein the central monitoring device is positioned above the field; the central monitoring device is connected with a computer and is used for realizing data communication with the computer; the computer is connected with each two-wheeled mobile robot in a wireless mode and is used for controlling the two-wheeled mobile robot to walk. The device can simulate the running environment of the AGV trolley. The intelligent factory AGV scheduling system simulation method is characterized by further comprising an intelligent factory AGV scheduling system simulation method, when an obstacle is encountered, a central monitoring device timely collects position images of the two-wheel mobile robot, a path is planned for the two-wheel mobile robot again through a computer, control information is sent, and manual processing is not needed.

Description

A smart factory AGV dispatching system simulation device and simulation method

Technical field

The invention belongs to the technical field of intelligent guided vehicle dispatching, and specifically relates to a smart factory AGV dispatching system simulation device and a simulation method.

Background technique

AGV (Automated Guided Vehicle), also known as automatic guided vehicle, is a transportation vehicle with an automatic guidance device that can travel along a set path and transfer various materials. The main role of AGV is to serve as the main transportation carrier and mainstream automated handling equipment in smart factories. It is one of the key links in realizing automated logistics scheduling in smart factories.

The patent application number 202111349717.3 discloses an AGV dispatching algorithm simulation system. The patent is equipped with a GUI system to obtain AGV real-time information from the AGV dispatching system and comprehensively display all AGVs in the business space controlled by the AGV dispatching system. Operating parameters and operating status information (including posture, mode, power, path, AGV tasks, faults, etc.).

However, when the AGV of the above patent encounters an obstacle, since the GUI system only calls the information of the AGV dispatching system, the map will not be updated in real time in the AGV dispatching system. The map information in the AGV dispatching system is different from the map when the AGV encounters an obstacle. The information is inconsistent, so when the AGV encounters an obstacle, it will stop and wait for manual processing.

Contents of the invention

In order to overcome the deficiencies in the existing technology, the present invention proposes a smart factory AGV dispatching system simulation device and simulation method, which solves the technical problem of how to update site information in real time and provide AGV with an obstacle avoidance path.

In order to achieve the above purpose, a smart factory AGV dispatching system simulation device of the present invention is characterized by including a flat site with several marking points provided on the edge of the site; several two-wheeled mobile robots and obstacles are provided in the site Each two-wheeled mobile robot and the obstacles have different colors; the simulation device also includes a central monitoring device for taking images of the site, and the central monitoring device is located above the site; the central monitoring device is connected to a computer, It is used to realize data communication with the computer; the computer is connected to each two-wheeled mobile robot through wireless means and used to control the walking of the two-wheeled mobile robot.

Furthermore, the shape of the venue is rectangular, with guardrails surrounding the edges.

The rectangular site makes it easy to use the corner vertices of the site as the origin of the coordinate system; the guardrails are set up to prevent the two-wheeled mobile robot from walking out of the site. The use of a two-wheeled mobile robot also simplifies computer control of the two-wheeled mobile robot. For the complexity of walking, you only need to give the two-wheeled mobile robot two-wheel differential speed to realize the two-wheeled mobile robot walking, and the operation is simple.

Further, the central monitoring device is connected to the computer through a USB3.0 bus.

It ensures the stability of image transmission and can also be applied to the transmission of a large number of pictures. It can also ensure real-time communication between the computer and the central monitoring device.

A smart factory AGV dispatching system simulation method includes the following steps:

S1: The central monitoring device collects images of the site area and processes the images to obtain site information;

S2: The computer determines the coordinate position information of each two-wheeled mobile robot in the field based on the area occupied by each two-wheeled mobile robot in S1; determines the two-wheeled mobile robot that can perform the task and is closest to the target point; Plan the operation path of the two-wheeled mobile robot;

S3: Send control instructions to the two-wheeled mobile robot that performs the task, and control the two-wheeled mobile robot to walk.

The position of the two-wheeled mobile robot is directly monitored through the central monitoring device. When the two-wheeled mobile robot encounters an obstacle, the central monitoring device collects the position image of the two-wheeled mobile robot in time and re-plans the two-wheeled mobile robot through the computer. path and send the message. No manual processing is required.

Further, the computer preprocesses the collected images, which includes image enhancement and site calibration, and adjustment of image capacity and quality;

Segment the preprocessed images according to different colors to obtain binary images in different colors; associate the binary images in different colors to different two-wheeled mobile robots, and associate the different two-wheeled mobile robots with Mobile robot number; calculate the area occupied by two-wheeled mobile robots with different numbers in the preprocessed image, and calculate the area occupied by obstacles in the preprocessed image.

The two-wheeled mobile robot uses a variety of color combinations, which can improve the color complexity of the two-wheeled mobile robot. When the computer processes the color combination, the computer will not mistake the two-wheeled mobile robot as an obstacle. At the same time, the color combination also greatly increases the number of permutations and combinations of two-wheeled mobile robots, and can be applied to more two-wheeled mobile robots. The binary image has an indicative mark. For example, the binary image is in the shape of an arrow, which can assist the computer in identifying the direction of the front of the two-wheeled mobile robot 2 .

Further, the computer wirelessly sends the two-wheel differential speed information to the two-wheeled mobile robot.

Wireless transmission allows the computer to remotely control the two-wheeled mobile robot.

Beneficial effects: This simulation device uses a two-wheeled mobile robot to simulate the actual AGV walking environment; in the simulation method, by binary processing the image under different colors, the color combination of the two-wheeled mobile robot can be obtained, and more accurate AGVs can be identified. A large number of two-wheeled mobile robots. At the same time, when encountering an obstacle, the central monitoring device promptly collects the position image of the two-wheeled mobile robot and re-sends information to the two-wheeled mobile robot through the computer.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the device;

Figure 2 is a top view of the site;

Figure 3 is a schematic diagram of the recognition of a two-wheeled mobile robot in a binary image.

1. Site; 2. Two-wheeled mobile robot; 3. Central monitoring device; 4. Target point; 5. Obstacles.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

See Figure 1 and Figure 2, a smart factory AGV dispatching system simulation device, including a rectangular site 1, the surface of site 1 is flat, the size is 400*280 cm2, there are obstacles 5 fixed on the surface of site 1, along the site 1 There are several marking points on the edge, and the marking points are dots. There are multiple two-wheeled mobile robots 2 placed in the field 1. There are guardrails around the edge of the field 1 to prevent the two-wheeled mobile robots 2 from leaving the field 1. This embodiment uses two two-wheeled mobile robots 2. The colors of the two two-wheeled mobile robots 2, the obstacles 5 and the field 1 are all different.

The simulation device also includes a central monitoring device 3. The central monitoring device 3 is an existing technology and can be used in the patent application number 201610879528. ". The central monitoring device 3 is located about 2m directly above the venue 1 and is used to take pictures of the entire venue 1.

The central monitoring device 3 is connected to a computer through a USB3.0 bus transmission line, and the computer processes the collected images. The computer is connected to the two-wheeled mobile robot 2 through WIFI, Bluetooth or other wireless methods, and is used to control the movement of the two-wheeled mobile robot 2.

A smart factory AGV dispatching system simulation method includes the following steps:

S1: The central monitoring device 3 collects images of the site 1 area, and processes the images to obtain site 1 information;

In this step, the computer first preprocesses the image. The preprocessing includes image enhancement and site 1 calibration, and adjusts the capacity and quality of the image.

All pixels in the preprocessed image are divided into target pixels and non-target pixels according to color; the target pixels are the two-wheeled mobile robot 2 and the obstacle 5 of different colors, and the non-target pixels are other pixels except the target pixels. ;That is, the binary image;

The preprocessed image is segmented according to different colors to obtain multiple binary images.

See Figure 3. Each two-wheeled mobile robot 2 is numbered, and different numbered two-wheeled mobile robots 2 are associated with each binary image. One numbered two-wheeled mobile robot 2 can be associated with multiple binary images. association. For example: No. 1 two-wheeled mobile robot 2 is red and blue, which is red and blue in the two binary images respectively. If the red and blue images in the blue binary image and the red binary image are within a certain range, it is determined to be the No. 1 two-wheeled mobile robot 2. A certain range means that the difference between the red and blue images in the blue binary image and the red binary image is smaller than the diameter of the two-wheeled mobile robot 2 . Among them, the blue binary image and the red binary image both have obvious indicative marks, which can assist the computer in identifying the direction of the front of the two-wheeled mobile robot 2; in this embodiment, red and blue rectangles are used The direction and length of the binary image are used to indicate the direction of the vehicle head. In other embodiments, the color graphics of the two-wheeled mobile robot can also be designed in an arrow shape.

Calculate the area occupied by the two-wheeled mobile robot 2 with different numbers in the preprocessed image. Calculate the area occupied by obstacle 5 in the preprocessed image.

S2: The computer determines the coordinate position information of each two-wheeled mobile robot in the field based on the area occupied by each two-wheeled mobile robot in S1; after the computer releases the task target point 4 on the field, the computer determines the coordinate position information of each two-wheeled mobile robot on the field. The robot is ranked according to whether it performs the task and the distance to the target point 4, selects the nearest two-wheeled mobile machine and performs the task; the computer plans the travel path based on the coordinates of the nearest two-wheeled mobile machine and the coordinates of the target point 4;

The travel path planning method can use the application number "202211568935.0" and the name is the factory AGV path planning method based on the dijkstra algorithm.

S3: According to the traveling path in S2, the computer sends the left and right wheel speed information of the nearest two-wheeled mobile machine in S2, allowing the two-wheeled mobile robot to walk according to the traveling path.

The computer sends the left and right wheel speed information to the two-wheeled mobile robot wirelessly, and the signal transmission frequency is required to be consistent with the receiving frequency of the two-wheeled mobile robot.

Taking the above-mentioned ideal embodiments of the present invention as inspiration and through the above description, relevant workers can make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the description, and must be determined based on the scope of the claims.

Claims (6)

1. A smart factory AGV dispatching system simulation device, which is characterized in that it includes a flat site with several marking points set on the edge of the site; there are several two-wheeled mobile robots and obstacles in the site, each with two wheels. The mobile robot and obstacles are all different colors; The simulation device also includes a central monitoring device for taking images of the site. The central monitoring device is located above the site. The central monitoring device is connected to a computer for data communication with the computer. The computer communicates with each two-wheeled mobile robot wirelessly. Connection, used to control the walking of a two-wheeled mobile robot. 2. A smart factory AGV dispatching system simulation device according to claim 1, characterized in that the shape of the site is a rectangle with guardrails surrounding the edges. 3. A smart factory AGV dispatching system simulation device according to claim 1, characterized in that the central monitoring device is connected to the computer through a USB3.0 bus. 4. A smart factory AGV dispatching system simulation method, used for a smart factory AGV dispatching system simulation device according to any one of claims 1-3, characterized in that it includes the following steps: S1: The central monitoring device collects images of the site area and processes the images to obtain site information; S2: The computer determines the coordinate position information of each two-wheeled mobile robot in the field based on the area occupied by each two-wheeled mobile robot in S1; determines the two-wheeled mobile robot that can perform the task and is closest to the target point; Plan the operation path of the two-wheeled mobile robot; S3: Send control instructions to the two-wheeled mobile robot that performs the task, and control the two-wheeled mobile robot to walk. 5. A smart factory AGV scheduling system simulation method according to claim 4, characterized in that, in step S1, the computer preprocesses the collected images, and the preprocessing includes image enhancement and site calibration, and the capacity and size of the image are quality adjustment; Segment the preprocessed images according to different colors to obtain binary images in different colors; associate the binary images in different colors to different two-wheeled mobile robots, and associate the different two-wheeled mobile robots with Mobile robot number; calculate the area occupied by two-wheeled mobile robots with different numbers in the preprocessed image, and calculate the area occupied by obstacles in the preprocessed image. 6. A smart factory AGV dispatching system simulation method according to claim 4, characterized in that, in step S3, the computer sends the two-wheel differential speed information to the two-wheeled mobile robot through wireless means.