CN107135517B - Communication system suitable for warehouse mobile robot - Google Patents
Communication system suitable for warehouse mobile robot Download PDFInfo
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- CN107135517B CN107135517B CN201710350441.8A CN201710350441A CN107135517B CN 107135517 B CN107135517 B CN 107135517B CN 201710350441 A CN201710350441 A CN 201710350441A CN 107135517 B CN107135517 B CN 107135517B
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- mobile robot
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/08—Reselecting an access point
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/14—Reselecting a network or an air interface
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/02—Terminal devices
- H04W88/06—Terminal devices adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals
Abstract
The invention belongs to the technical field of warehousing mobile robot communication, and particularly relates to a communication system suitable for a warehousing mobile robot, which comprises a server, an access controller AC connected with the server, a plurality of first access points AP connected with the access controller AC in a multi-point access mode and arranged in the same warehousing environment, and a first terminal arranged on the mobile robot; the mobile robot is connected with the server through the first access point AP and the access controller AC by means of the first terminal and by using the first communication frequency band A, and further comprises a second access point AP and a second terminal, wherein the second access point AP is arranged in the warehousing environment and is connected with the server through a single-point access mode, the second terminal is arranged on the mobile robot, and the mobile robot is connected with the server through the second access point AP by means of the second terminal and by using the second communication frequency band B. The system can avoid the parking condition caused by the fault and unstable signal of the first communication frequency band A, and improves the carrying efficiency of the mobile robot.
Description
Technical Field
The invention belongs to the technical field of warehousing mobile robot communication, and particularly relates to a communication system suitable for a warehousing mobile robot.
Background
In warehousing environments, particularly warehouses involving large numbers of order pickups, mobile robots are gradually replacing manual handling, typically requiring tens or even hundreds of mobile robots to be deployed. All mobile robots communicate with a fixed server in real time in a wireless communication mode, and all mobile robots move orderly and accurately under the unified control of the server to complete the carrying of articles, so that a wireless communication system is very critical, the requirement is met, the high deployment density of the mobile robots is met, and meanwhile certain real-time performance and reliability are guaranteed.
At present, the WiFi technology is most often applied to a warehousing mobile robot system, and the mobile robot system is deployed through a plurality of Access Points (AP) and an Access Controller (AC), so that the high deployment density of the mobile robot is generally met, and meanwhile certain real-time performance and reliability are guaranteed. But the storage environment is more complicated, and metal goods shelves are more, and in order to improve handling efficiency, often dynamic optimization goods shelves overall arrangement, article kind and quantity also change on the goods shelves often, probably leads to the wiFi signal unstable, leads to communication interrupt between mobile robot and server occasionally, and in order to guarantee that other mobile robot avoid colliding this moment, probably lead to other robots also to stop working. The WiFi system is also characterized in that the mobile robot needs to scan the access point AP signal strength of different nearby channels before switching to the next access point AP in order to select a better access point, and the communication between the mobile robot and the server is interrupted during the scanning period, which is generally 0.5 seconds or more, and the speed of the mobile robot needs to be reduced or the mobile robot needs to stop completely. Such interruptions and stops can accumulate to have a significant impact on the handling efficiency of the warehouse.
Disclosure of Invention
The storage mobile robot aims at the problems of a communication system adopted by the existing storage mobile robot. The invention aims to provide a communication system for a warehousing mobile robot, which inherits the high density, real-time performance and reliability of a WIFI system and can effectively avoid communication interruption caused by unstable signals and/or scanning operation due to a complex environment.
In order to achieve the above purpose, the technical scheme adopted by the invention is a communication system suitable for a warehousing mobile robot, which comprises a server, an access controller AC connected with the server, a plurality of first access points AP connected with the access controller AC in a multipoint access mode and arranged in the same warehousing environment, and a first terminal arranged on the mobile robot; the mobile robot depends on the first terminal, uses the first communication frequency band A, passes through the first access point AP, the access controller AC and the server contact, wherein, still including setting up in the storage environment, through single-point access mode with a second access point AP that the server links to each other sets up last second terminal of mobile robot, the mobile robot depends on the second terminal, uses the second communication frequency band B, passes through the second access point AP with the server contact.
Further, the mobile robot firstly selects to depend on the first terminal, firstly depends on the first terminal, uses a first communication frequency band A, and contacts with the server through the first access point AP and the access controller AC, and when the contact fails in the way, the mobile robot selects to depend on the second terminal, uses a second communication frequency band B, and contacts with the server through the second access point AP; the first access point AP adopts a honeycomb deployment mode, the first communication frequency band A is divided into a plurality of channels, and the adjacent first access point AP uses different channels.
Further, the penetrating capability of the second communication frequency band B is higher than that of the first communication frequency band a, and the mobile robot can contact with the server through the second access point AP by means of the second terminal and using the second communication frequency band B at any position in the warehousing environment.
Further, the first communication band a is a WiFi working band, and the second communication band B includes a LoRa working band.
Further, first communication frequency channel A is wiFi working frequency channel, the second terminal is the GPRS terminal, second communication frequency channel B is GPRS mobile communication frequency channel, second access point AP is the same the GPRS terminal.
Further, the first terminal and the second terminal are each implemented by using one processor.
Further, the access controller AC and the second access point AP are deployed in a hot backup manner.
Further, the mobile robot obtains the signal intensity conditions of a plurality of first Access Points (AP) near the mobile robot by means of the first terminal, and selects one of the first Access Points (AP) to contact with the server; the mobile robot can scan the signal intensity condition of the first access point AP near the mobile robot according to the instruction of the server, distinguish the priority level of the scanned first access point AP according to the signal intensity condition, upload the distinguishing result to the server, send the distinguishing result to other mobile robots which do not perform scanning, and the mobile robots which do not perform scanning can select to connect with the first access point AP according to the distinguishing result.
Furthermore, the mobile robot is further provided with a positioning device, the mobile robot can obtain the real-time position of the mobile robot through the positioning device, and select the first access point AP close to the real-time position to contact with the server.
The method comprises the steps that a mobile robot is provided with a first access point AP, the first access point AP is close to the mobile robot, and the first terminal is used for scanning the signal intensity of the first access point AP near the mobile robot and sending the signal intensity to the first terminal on the mobile robot where the mobile robot is located for connection selection; and when the first terminal cannot work normally, the third terminal is used as a backup of the first terminal and is used for the contact between the mobile robot and the server.
The invention has the beneficial effects that:
1. through setting up second communication frequency channel B and second terminal, can make mobile robot still can contact with the server when first terminal and first communication frequency channel A, first access point AP etc. take place the communication failure to avoid mobile robot's outage, guaranteed mobile robot's handling efficiency.
2. Through adopting the second communication frequency band B that is stronger than first communication frequency band A penetrating power, can make the mobile robot in the optional position of storage environment can contact with the server to avoid the mobile robot because of losing the shut down that leads to with the server, guaranteed mobile robot's handling efficiency.
3. Through the real-time position that uses positioner to obtain mobile robot, combine the distribution condition of first access point AP in the storage environment, can select suitable first access point AP to insert according to the distance of real-time position and nearby first access point AP, further shortened the time of looking for the access point, guaranteed mobile robot's handling efficiency.
4. The first terminal and the second terminal are respectively realized by adopting one processor, the access controller AC and the second access point AP are deployed in a hot backup mode, and the risk of system shutdown caused by the failure of a single first access point AP is eliminated.
5. Due to the fact that the third terminal is adopted, the first access point AP nearby the mobile robot is scanned specially through the third terminal, the signal strength condition of the first access point AP is obtained, the first terminal saves scanning time of the first access point AP, the first terminal can be rapidly connected into the optimal first access point AP, interruption time is shortened, and the carrying efficiency of the mobile robot is improved.
Drawings
Fig. 1 is a schematic diagram of a communication system suitable for a mobile warehousing robot according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1, the communication system suitable for a storage mobile robot provided by the present invention includes a server, an access controller AC, a plurality of first access points AP, a second access point AP, a first terminal and a second terminal arranged on the mobile robot, and a main controller, a motor controller, a battery, a motor, a reducer, a wheel, a positioning device, an inertial navigation device, and an obstacle avoidance sensor arranged on the mobile robot. The mobile robot can contact with the server in two modes, wherein the first mode is to contact with the server through a first Access Point (AP) by means of a first terminal and a first communication frequency band A; the second way is to rely on the second terminal to contact the server through the second access point AP using the second communication band B.
Considering that the storage environment is complex, metal shelves are more, and the communication signal attenuation is severe when the mobile robot continuously passes through the bottom of the shelf, which may cause the mobile robot to fail to communicate with the server through the first communication frequency band a and the first access point AP, and the mobile robot is lost. Therefore, the working frequency of the second communication frequency band B of the communication system provided by the invention is lower than that of the first communication frequency band A, the penetrating capability of the second communication frequency band B is higher than that of the first communication frequency band A, and the mobile robot can contact with the server through the second access point AP by using the second communication frequency band B by means of the second terminal at any position in the warehousing environment.
The first communication frequency band a adopted by the invention is a WiFi working frequency band (at present, two frequency bands of 2.4GHz and 5GHz are mainly used), and the second communication frequency band B comprises a LoRa working frequency band, and can also be other communication terminals with similar characteristics, such as an NB-IoT terminal. The LoRa mainly operates in global free frequency bands including 433, 868, 915MHz and the like. The LoRa technology has the characteristics of long distance, low power consumption, multiple nodes and low cost. One LoRa access point AP (also called gateway) may connect multiple nodes or end devices, as explained by Semtech authorities: one SX1301 has 8 channels and can accept about 150 million packets of data per day using the LoRaWAN protocol. If each terminal sends one packet per hour, one SX1301 gateway can handle about 62500 terminal devices, and multiple SX1301 gateways can be deployed in parallel to expand the terminal capacity and communication data capacity.
The communication system suitable for the storage mobile robot provided by the invention further comprises another configuration scheme, which comprises a server, an access controller AC, a plurality of first access points AP, a second access point AP, a first terminal and a second terminal, wherein the first terminal and the second terminal are arranged on the mobile robot, and the mobile robot is also provided with a main controller, a motor controller, a battery, a motor, a speed reducer, wheels, a positioning device, inertial navigation, obstacle avoidance and other sensors. The mobile robot can contact with the server in two modes, wherein the first mode is to contact with the server through a first Access Point (AP) by means of a first terminal and a first communication frequency band A; the second way is to rely on the second terminal to contact the server through the second access point AP using the second communication band B. In the scheme, the first communication frequency band A is still a WiFi working frequency band (the same as the scheme above), the second terminal is a GPRS terminal, the second terminal (the GPRS terminal) is connected with a main controller on the mobile robot through a serial interface, the second communication frequency band B is a GPRS mobile communication frequency band, and the second access point AP is a GPRS terminal (the same as the second terminal on the mobile robot); the GPRS terminal realizes data transmission of the serial interface, and each mobile robot can communicate with the server through the second terminal (GPRS terminal). The second terminal of the scheme can also use other wireless data communication terminals similar to GPRS (General Packet Radio Service). The GPRS mobile communication band used by the solution can also be a professional mobile communication network of a third party.
In the communication system provided by the invention, the access controller AC and the second access point AP are connected with the server, the access controller AC and the second access point AP are arranged in the same warehousing environment, and the plurality of first access points AP are also arranged in the same warehousing environment and are connected with the access controller AC. The first access point AP is connected with the access controller AC in a multipoint access mode, and the second access point AP is connected with the server in a single-point access mode. Generally, in order to provide a higher deployment density and avoid mutual interference among a plurality of first access points AP, the first access points AP adopt a cellular deployment mode, the first communication frequency band a is divided into a plurality of channels, the adjacent first access points AP use different channels, for example, in a 2.4GHz frequency band, and three adjacent APs respectively use channel 1, channel 6, and channel 11.
Normally, the mobile robot firstly selects to depend on the first terminal, use the first communication frequency band A (WiFi), contact with the server through the first access point AP and the access controller AC, and when the contact fails in the mode, the mobile robot selects to depend on the second terminal, use the second communication frequency band B (LoRa), contact with the server through the second access point AP. At the moment, most of mobile robots in the same storage environment still communicate with the server through a plurality of first communication frequency channels A (WiFi) used, the first access point AP and the access controller AC, the high deployment density of the mobile robots is met, meanwhile, certain real-time performance and reliability are guaranteed, a few of mobile robots communicate with the server through the second communication frequency bands B (LoRa) and the second access point AP, the fact that a transportation system formed by the mobile robots is not stopped is guaranteed, and manual intervention measures are not needed.
The first terminal and the second terminal on the mobile robot are respectively realized by adopting one processor. The access controller AC and the second access point AP are deployed in a hot backup mode so as to eliminate the risk of system shutdown caused by single point of failure.
In the way of selecting the access point AP, generally, the mobile robot obtains the signal strength of a plurality of first access points AP located near the mobile robot by means of the first terminal, and selects one of the first access points AP to contact the server.
In addition, the mobile robot is also provided with a positioning device, and the mobile robot can obtain the real-time position of the mobile robot through the positioning device and select a first access point AP close to the real-time position to contact with the server.
The mobile robot can also integrate the signal intensity condition of the first access point AP nearby the mobile robot, the real-time position of the mobile robot and the layout condition of the first access point AP nearby, and select the corresponding first access point to contact with the server.
Considering that the warehousing environment is complex, a large number of metal shelves are provided, and in order to improve the carrying efficiency, the shelf layout is often dynamically optimized, the types and the number of articles on the shelves are also often changed, which may cause the WiFi signal strength of different first access points AP to also change, during actual deployment, one or a small number of mobile robots are generally required to be dispatched from time to scan, the server is informed of the preferred first access point AP and the suboptimal first access point AP at different positions in the warehousing environment, and the server is issued to other mobile robots, so that most of the mobile robots do not scan any more, and the corresponding preferred first access point AP or the suboptimal first access point AP is directly selected to be associated according to the position information. Therefore, the mobile robot can scan the signal strength of the first access point AP near the position of the mobile robot according to the instruction of the server, the scanned first access point AP distinguishes the preferred level according to the signal strength, the distinguishing result is uploaded to the server, the server issues the distinguishing result to other mobile robots which do not scan, and when the mobile robot which do not scan is at the position, the corresponding preferred first access point AP or the suboptimal first access point AP can be selected and connected according to the distinguishing result without scanning, so that the scanning time is saved.
The other mode is that a third terminal is arranged on the mobile robot, the third terminal uses a first communication frequency band A as the first terminal, when the first terminal works normally, the third terminal is specially used for scanning the signal intensity condition of a first access point AP near the position of the mobile robot, and sending the signal intensity condition to the first terminal on the mobile robot where the third terminal is located for the mobile robot to perform connection selection, so that the first terminal can be quickly switched to the next first access point AP, and the interruption time is greatly reduced; in addition, when the first terminal cannot work normally, the third terminal can be used as a backup of the first terminal and used for the contact between the mobile robot and the server.
The system according to the present invention is not limited to the embodiments described in the specific embodiments, and those skilled in the art may derive other embodiments according to the technical solutions of the present invention, and also belong to the technical innovation scope of the present invention.
Claims (8)
1. A communication system suitable for a warehousing mobile robot comprises a server, an access controller AC connected with the server, a plurality of first access points AP connected with the access controller AC in a multipoint access mode and arranged in the same warehousing environment, and a first terminal arranged on the mobile robot; the mobile robot depends on the first terminal, uses a first communication frequency band A, and contacts with the server through the first access point AP and the access controller AC, and is characterized in that: the system also comprises a second access point AP which is arranged in the warehousing environment and connected with the server through a single-point access mode, and a second terminal which is arranged on the mobile robot; the mobile robot firstly depends on the first terminal, uses a first communication frequency band A, and contacts with the server through the first access point AP and the access controller AC, and when the contact fails, the mobile robot selects to depend on the second terminal, uses a second communication frequency band B, and contacts with the server through the second access point AP; the first access point AP adopts a honeycomb deployment mode, the first communication frequency band A is divided into a plurality of channels, and the adjacent first access point AP uses different channels; the penetrating capability of the second communication frequency band B is higher than that of the first communication frequency band A, and the mobile robot can contact with the server through the second access point AP by means of the second terminal and using the second communication frequency band B at any position in the warehousing environment.
2. The communication system of claim 1, wherein: the first communication frequency band A is a WiFi working frequency band, and the second communication frequency band B comprises a LoRa working frequency band.
3. The communication system of claim 2, wherein: first communication frequency channel A is wiFi working frequency channel, the second terminal is the GPRS terminal, second communication frequency channel B is GPRS mobile communication frequency channel, second access point AP is the same the GPRS terminal.
4. The communication system of claim 1, wherein: the first terminal and the second terminal are respectively realized by adopting one processor.
5. The communication system of claim 1, wherein: and the access controller AC and the second access point AP are deployed in a hot backup mode.
6. The communication system of claim 1, wherein: the mobile robot obtains the signal intensity conditions of a plurality of first Access Points (AP) near the mobile robot by means of the first terminal, and selects one of the first Access Points (AP) to contact with the server; the mobile robot can scan the signal intensity condition of the first access point AP near the mobile robot according to the instruction of the server, distinguish the scanned first access point AP according to the signal intensity condition, upload the distinguishing result to the server, send the distinguishing result to other mobile robots which do not perform scanning, and the mobile robot which does not perform scanning can select to connect the first access point AP according to the distinguishing result.
7. The communication system of claim 1, wherein: the mobile robot is also provided with a positioning device, and the mobile robot can obtain the real-time position of the mobile robot through the positioning device and select the first access point AP close to the real-time position to contact with the server.
8. The communication system according to any of claims 1 to 7, wherein: the mobile robot further comprises a third terminal, wherein the third terminal uses a first communication frequency band A, and when the first terminal works normally, the third terminal is used for scanning the signal intensity condition of the first access point AP near the mobile robot and sending the signal intensity condition to the first terminal on the mobile robot where the third terminal is located so as to enable the mobile robot to select connection; and when the first terminal cannot work normally, the third terminal is used as a backup of the first terminal and is used for the contact between the mobile robot and the server.
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| CN201710350441.8A CN107135517B (en) | 2017-05-18 | 2017-05-18 | Communication system suitable for warehouse mobile robot |
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| CN107135517B true CN107135517B (en) | 2022-10-14 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102711164A (en) * | 2012-05-15 | 2012-10-03 | 上海交通大学无锡研究院 | Intelligent management method for data communication link of mobile terminal |
| CN104070540A (en) * | 2013-11-28 | 2014-10-01 | 北京国电电科院检测科技有限公司 | Industrial inspection robot |
| CN106249646A (en) * | 2016-08-11 | 2016-12-21 | 廖金能 | A kind of internet of things equipment monitoring system based on WIFI and data processing method thereof |
| CN106650532A (en) * | 2016-10-28 | 2017-05-10 | 成都聚智工业设计有限公司 | Intelligent logistics system based on mobile robots |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140254896A1 (en) * | 2011-07-18 | 2014-09-11 | Tiger T G Zhou | Unmanned drone, robot system for delivering mail, goods, humanoid security, crisis negotiation, mobile payments, smart humanoid mailbox and wearable personal exoskeleton heavy load flying machine |
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2017
- 2017-05-18 CN CN201710350441.8A patent/CN107135517B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102711164A (en) * | 2012-05-15 | 2012-10-03 | 上海交通大学无锡研究院 | Intelligent management method for data communication link of mobile terminal |
| CN104070540A (en) * | 2013-11-28 | 2014-10-01 | 北京国电电科院检测科技有限公司 | Industrial inspection robot |
| CN106249646A (en) * | 2016-08-11 | 2016-12-21 | 廖金能 | A kind of internet of things equipment monitoring system based on WIFI and data processing method thereof |
| CN106650532A (en) * | 2016-10-28 | 2017-05-10 | 成都聚智工业设计有限公司 | Intelligent logistics system based on mobile robots |
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