CN107346139A - Intelligence based on multi-faceted tag recognition carries vehicle control - Google Patents
Intelligence based on multi-faceted tag recognition carries vehicle control Download PDFInfo
- Publication number
- CN107346139A CN107346139A CN201710502988.5A CN201710502988A CN107346139A CN 107346139 A CN107346139 A CN 107346139A CN 201710502988 A CN201710502988 A CN 201710502988A CN 107346139 A CN107346139 A CN 107346139A
- Authority
- CN
- China
- Prior art keywords
- read
- car body
- controller
- faceted
- write line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims description 10
- 230000004913 activation Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000003213 activating effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Toxicology (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of intelligence based on multi-faceted tag recognition and carries vehicle control, including：Car body, there is the manipulator for carrying；Several electronic tags are respectively placed on object to be identified；Read-write equipment on car body, the object information to be identified of the corresponding write-in of its reading electronic labels；Track guider on car body, it is provided with the magnetic stripe identification sensor for navigating；Controller, it is located on car body, and controller communicates to connect with manipulator, read-write equipment and track guider respectively；Remote control, it includes host computer and is connected to the display screen of host computer, and host computer is communicatively connected to controller；Read-write equipment includes the first read write line among the car body headstock, is symmetrically distributed in the second read write line of car body headstock both sides；First read write line and the second read write line communicate to connect with controller respectively.The present invention realizes the prosthetic carrying of intelligent carrier, multi-faceted tag recognition, and automaticity and carrying accuracy are higher.
Description
Technical field
The present invention relates to intelligence to carry vehicle control technical field, it is more particularly related to a kind of based on more
The intelligence of orientation tag recognition carries vehicle control.
Background technology
Intelligent carrier (Automated Guided vehicle, abbreviation AGV) refers to magnetically or optically waits automatically equipped with electricity
Guiding device, the transport vehicle that safeguard protection and various transfer functions can be travelled, had along defined guide path, it be with
Battery is power, and goods is transported on intelligent carrier by worker, and the carrying to goods can be completed without pilot steering, due to
Its automaticity is high, flexibly and easily, is rapidly progressed in recent years.
Existing intelligent carrier, magnetically or optically homing device is waited to be navigated and run by electricity more, rail of taking action
Mark is single；Reach near goods, it is still desirable to manually goods is transported on car and aids in carrying.
The content of the invention
For weak point present in above-mentioned technology, the present invention provides a kind of intelligence based on multi-faceted tag recognition and removed
Vehicle control is transported, Intelligent Recognition is realized by several electronic tags between carrier and goods, is realized and removed by manipulator
Fortune, realizes prosthetic carrying, multi-faceted tag recognition, and automaticity and carrying accuracy rate are high.
It is achieved through the following technical solutions to realize according to object of the present invention and further advantage, the present invention：
The present invention provides a kind of intelligence based on multi-faceted tag recognition and carries vehicle control, including：
Car body, it has the manipulator for carrying；
Several electronic tags, some electronic tags are respectively placed on object to be identified；
Read-write equipment, it is located on the car body, and the corresponding write-in of the read-write equipment reading electronic tag is waited to know
Other object information；
Track guider, it is located on the car body, and the track guider is provided with the magnetic stripe identification for navigating
Sensor；
Controller, it is located on the car body, the controller respectively with the manipulator, the read-write equipment and institute
State track guider communication connection；And
Remote control, it includes host computer and is connected to the display screen of the host computer, the host computer communication link
It is connected to the controller；
Wherein, the read-write equipment include the first read write line among the car body headstock, be symmetrically distributed in it is described
Second read write line of car body headstock both sides；First read write line and second read write line respectively with the controller communication link
Connect.
Preferably, the read-write equipment also includes realizing and selected between first read write line and second read write line
With the read write line selector of switching, the read write line selector communicates to connect with the controller.
Preferably, in addition to it is used for the activation device for activating the electronic tag, it is located on the car body；It is described to swash
Removable mounting is put to be communicated to connect with the controller.
Preferably, the barrier sensing prior-warning device in addition on the car body, it include sensing barrier and
The infrared sensor of the car body distance and the indicator lamp for warning；The infrared sensor and the indicator lamp respectively with institute
State controller communication connection.
Preferably, the hand-held device of body movement state described in remote control, the hand-held dress are included
Put and communicated to connect with the controller.
Preferably, the controller is provided with wireless transmitter, and the controller passes through the wireless transmitter point
The host computer and the hand-held device are not communicatively connected to.
Preferably, the controller respectively with the manipulator, the read-write equipment and the track guider
Connected by CAN.
The present invention comprises at least following beneficial effect：
1) intelligence provided by the invention carries vehicle control, and object to be identified is placed with electronic tag, installed on car body
There are the manipulator for carrying, read-write equipment, track guider and a controller, corresponding to read-write equipment reading electronic labels
Object information to be identified, and be sent to controller and judgement is identified, if object to be identified, controller send carry instruction to
Manipulator is by object transport to be identified to car body；Intelligent Recognition is realized by electronic tag between carrier and goods, passed through
Manipulator, which is realized, to be carried, and realizes prosthetic carrying, multi-faceted electronic label identification, and automation is higher；
2) read-write equipment includes the first read write line among the car body headstock, is symmetrically distributed in the of car body headstock both sides
Two read write lines；First read write line and second read write line communicate to connect with controller respectively, the first read write line and the second read-write
Device forms read-write region expanding, in intersection sector, improves and reads accuracy.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the schematic diagram that the intelligence of the present invention based on multi-faceted tag recognition carries vehicle control；
Fig. 2 is a kind of embodiment schematic diagram of read-write equipment of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of individual other elements or its combination.
As shown in figure 1, the intelligence provided by the invention based on multi-faceted tag recognition carries vehicle control, including：
Car body 10；It has the manipulator 14 for carrying；
Several electronic tags 20, some electronic tags 20 are respectively placed on object to be identified；
Read-write equipment 11, it is located on car body 10, the thing to be identified of the corresponding write-in of the reading electronic labels 20 of read-write equipment 11
Body information；
Track guider 12, it is located on car body 10, and the magnetic stripe identification that track guider 12 is provided with for navigating passes
Sensor；
Controller 13, it is located on car body 10, controller 13 respectively with write device 11, track guider 12, manipulator
14 communication connections；And
Remote control 30, it includes host computer 31 and is connected to the display screen 32 of host computer 31, and host computer 31 communicates
It is connected to controller 13；
Wherein, read-write equipment 11 includes the first read write line 111 among the headstock of car body 10, is symmetrically distributed in car body 10
Second read write line 112 of headstock both sides；First read write line 111 and the second read write line 112 communicate to connect with controller 13 respectively.
Intelligence provided by the invention based on multi-faceted tag recognition carries vehicle control, and object to be identified is placed with electricity
Subtab 20, the manipulator 14 for carrying, read-write equipment 11, track guider 12 and controller are installed on car body 10
13；Intelligent carrier is run under the guiding of track guider 12, and at the same time, the reading electronic labels of read-write equipment 11 are corresponding
Object information to be identified, and be sent to controller 13 and judgement be identified, if object to be identified, controller 13 sends carrying
Instruct on object transport to be identified to car body 10 to manipulator 14；Intelligence is realized by electronic tag 11 between carrier and goods
It can identify, be realized and carried by manipulator 14, realize prosthetic carrying, automaticity is higher.
In above-mentioned embodiment, manipulator 14 can arbitrarily identify to coordinate with electronic tag 20 to realize the machine for carrying function
Tool device, such as captured by mechanical clamping device or drawn by sucker.Identify that cooperation is removed with electronic tag 20 to improve
The accuracy of fortune, manipulator 14 are provided with camera device, and camera device communicates to connect with controller 13.Camera device is by the figure of shooting
Feature extraction, analysis, contrast are carried out as information is sent to controller 13, and comparative information is waited to know with what read-write equipment 11 was read
Other object information is contrasted again.
In above-mentioned embodiment, controller 10 be single-chip microcomputer, FPGA (Field-Programmable Gate Array,
Field-programmable logic gate array), one kind in DSP (Digital Signal Processing, Digital Signal Processing).
In above-mentioned embodiment, the setting of the first read write line 111 and the second read write line 112, it is located at car body equivalent to single
The first read write line 111 among 10 headstocks, formed expansion, in fan-shaped read-write region is intersected, realize multi-faceted electronics mark
Label identification, it is high to read accuracy.
As another embodiment of the present invention, as shown in Fig. 2 read-write equipment 11 also includes realizing the first read-write
The read write line selector 113 with switching, read write line selector 113 and controller 13 are selected between the read write line 112 of device 111 and second
Communication connection.Read write line selector 113 provides selection for the read-write mode of read-write equipment 11.
As another embodiment of the invention, the intelligence based on multi-faceted tag recognition is carried vehicle control and also wrapped
The activation device 15 for activating electronic tag 20 is included, it is located on car body 10；Activation device 15 communicates to connect with controller 13.
Electronic tag 20 is generally in resting state, saves the energy；Intelligent carrier is during motion, when electronic tag 20 enters
During the reading/writing distance of read-write equipment 11, controller 13 sends activation command and activates electronic tag 20 to activation device 15, for reading
Write device 11 is read.
As another embodiment of the invention, the intelligence based on multi-faceted tag recognition is carried vehicle control and also wrapped
The barrier sensing prior-warning device 16 on car body 10 is included, it includes sensing barrier and the infrared sensor of the distance of car body 10
With the indicator lamp for warning；Infrared sensor and indicator lamp communicate to connect with controller 13 respectively.Infrared sensor will sense
Barrier and the range information of car body 10 be sent to controller 13, controller 13 carries out discriminatory analysis to the range information, if should
When range information is less than target range information, controller 13 sends warning instruction to indicator lamp, is warned to staff, is easy to work
Make personnel and make protection adjustment in time.Preferably, indicator lamp includes being used for energization running status, the failure shape for indicating car body 10
State, the tri coloured lantern for not pressing fixed route transport condition, warning are clear.
As another embodiment of the invention, the intelligence based on multi-faceted tag recognition is carried vehicle control and also wrapped
The hand-held device 40 of the motion state of remote control car body 10 is included, hand-held device 40 communicates to connect with controller 13.Work
Make personnel, by the operation of hand-held device 40, can send operational order, and then control in working site to controller 13
The running status of intelligent carrier.Hand-held device 40 can be one kind in mobile phone or tablet personal computer.Preferably, control
Device 13 is provided with wireless transmitter, and controller 13 is communicatively connected to host computer 31 and hand-held by wireless transmitter respectively
Device 40.As further preferably, the communication mode of wireless transmitter is one in mobile data, wifi and bluetooth
Kind.Wherein, mobile data communication includes any of 2G, 3G, 4G.
As another embodiment of the invention, controller 13 respectively with manipulator 14, read-write equipment 11 and track
Guider 12 is connected by CAN.Data real-time communication between each node of CAN standard network is strong, exploitation week
Phase is short, has formed the fieldbus of international standard.CAN is one of most widely used fieldbus in the world, is easy to intelligence
The later development of vehicle control can be carried, expanded.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With.It can be applied to various suitable the field of the invention completely.Can be easily for those skilled in the art
Realize other modification.Therefore it is of the invention and unlimited under the universal limited without departing substantially from claim and equivalency range
In specific details and shown here as the legend with description.
Claims (7)
1. a kind of intelligence based on multi-faceted tag recognition carries vehicle control, it is characterised in that including：
Car body, it has the manipulator for carrying；
Several electronic tags, some electronic tags are respectively placed on object to be identified；
Read-write equipment, it is located on the car body, and the read-write equipment reads the thing to be identified of the corresponding write-in of the electronic tag
Body information；
Track guider, it is located on the car body, and the track guider is provided with the magnetic stripe identification sensing for navigating
Device；
Controller, it is located on the car body, the controller respectively with the manipulator, the read-write equipment and the rail
Mark guider communicates to connect；And
Remote control, it includes host computer and is connected to the display screen of the host computer, and the host computer is communicatively connected to
The controller；
Wherein, the read-write equipment includes the first read write line among the car body headstock, is symmetrically distributed in the car body
Second read write line of headstock both sides；First read write line and second read write line communicate to connect with the controller respectively.
2. the intelligence based on multi-faceted tag recognition carries vehicle control as claimed in claim 1, it is characterised in that described
Read-write equipment also includes realizing the read write line selector selected between first read write line and second read write line with switching,
The read write line selector communicates to connect with the controller.
3. the intelligence based on multi-faceted tag recognition carries vehicle control as claimed in claim 1, it is characterised in that also wraps
The activation device for activating the electronic tag is included, it is located on the car body；The activation device leads to the controller
Letter connection.
4. the intelligence based on multi-faceted tag recognition carries vehicle control as claimed in claim 1, it is characterised in that also wraps
The barrier sensing prior-warning device on the car body is included, it includes sensing barrier and the infrared sensing of the car body distance
Device and the indicator lamp for warning；The infrared sensor and the indicator lamp communicate to connect with the controller respectively.
5. the intelligence based on multi-faceted tag recognition carries vehicle control as claimed in claim 1, it is characterised in that also wraps
Include the hand-held device of body movement state described in remote control, the hand-held device and the controller communication link
Connect.
6. the intelligence based on multi-faceted tag recognition carries vehicle control as claimed in claim 5, it is characterised in that described
Controller is provided with wireless transmitter, and the controller is communicatively connected to the host computer respectively by the wireless transmitter
With the hand-held device.
7. the intelligence based on multi-faceted tag recognition carries vehicle control as claimed in claim 1, it is characterised in that described
Controller is connected with the manipulator, the read-write equipment and the track guider by CAN respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710502988.5A CN107346139A (en) | 2017-06-27 | 2017-06-27 | Intelligence based on multi-faceted tag recognition carries vehicle control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710502988.5A CN107346139A (en) | 2017-06-27 | 2017-06-27 | Intelligence based on multi-faceted tag recognition carries vehicle control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107346139A true CN107346139A (en) | 2017-11-14 |
Family
ID=60256553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710502988.5A Pending CN107346139A (en) | 2017-06-27 | 2017-06-27 | Intelligence based on multi-faceted tag recognition carries vehicle control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107346139A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846810A (en) * | 2020-07-17 | 2020-10-30 | 坎德拉（深圳）科技创新有限公司 | Distribution robot, automatic distribution method, robot system, and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105892468A (en) * | 2016-06-02 | 2016-08-24 | 芜湖智久机器人有限公司 | Obstacle sensing and early-warning device for AGV control system |
| CN106094815A (en) * | 2016-05-31 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of control system of AGV |
| CN205959094U (en) * | 2016-04-25 | 2017-02-15 | 国网江苏省电力公司盐城供电公司 | Substation equipment temperature monitoring system of tape label discernment |
-
2017
- 2017-06-27 CN CN201710502988.5A patent/CN107346139A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205959094U (en) * | 2016-04-25 | 2017-02-15 | 国网江苏省电力公司盐城供电公司 | Substation equipment temperature monitoring system of tape label discernment |
| CN106094815A (en) * | 2016-05-31 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of control system of AGV |
| CN105892468A (en) * | 2016-06-02 | 2016-08-24 | 芜湖智久机器人有限公司 | Obstacle sensing and early-warning device for AGV control system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111846810A (en) * | 2020-07-17 | 2020-10-30 | 坎德拉（深圳）科技创新有限公司 | Distribution robot, automatic distribution method, robot system, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11987477B2 (en) | System and method for controlling mobile hoisting apparatus, server and mobile hoisting apparatus | |
| CN105468001B (en) | A kind of submersible AGV navigation dollies and its control method | |
| TWI439404B (en) | System and method for guiding automated guided vehicle | |
| CN103823469B (en) | Positioning device for unmanned line-tracking robot and positioning method thereof | |
| KR102051309B1 (en) | Intelligent technology based augmented reality system | |
| CN101559600A (en) | Service robot grasp guidance system and method thereof | |
| CN102682620A (en) | Container port vehicle running state sensing and positioning system and method thereof | |
| CN105931311B (en) | A kind of equipment routing inspection system and its method for inspecting | |
| CN208059937U (en) | AGV trolley abnormality alarm sets | |
| CN206232331U (en) | For the intelligent to Barebone of container | |
| CN107284474B (en) | The active positioning method of metallurgic railway rolling stock | |
| CN203038111U (en) | Indoor robot positioning and navigating system based on RFID | |
| CN107140057A (en) | Library book is made an inventory AGV dollies | |
| CN107346139A (en) | Intelligence based on multi-faceted tag recognition carries vehicle control | |
| CN108490956A (en) | A kind of airdrome luggage autonomous transport robot | |
| CN106094767B (en) | Monorail crane integrates centralized control system | |
| Chuan et al. | An RFID warehouse robot | |
| CN205081975U (en) | Three -dimensional positioning system of coal washery personnel | |
| CN204143467U (en) | RFID accurate positioning device | |
| CN106094816A (en) | A kind of BS control system of AGV | |
| CN107357289A (en) | Intelligence based on electronic tag carries vehicle control | |
| CN215558468U (en) | Position identification system of crane | |
| CN206489453U (en) | A kind of unmanned aerial vehicle platform searchlighting system | |
| JP2005135302A (en) | Portable terminal device, information processing system using ic tag, information processing method using ic tag, computer program and recording medium | |
| CN204883360U (en) | Stored goods inter -item transfer intelligent vehicle navigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171114 |