CN110174891A - A kind of AGV cluster control system and method based on WIFI wireless communication - Google Patents
A kind of AGV cluster control system and method based on WIFI wireless communication Download PDFInfo
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Abstract
The invention discloses a kind of AGV cluster control systems and method based on WIFI wireless communication, belong to AGV scheduling controlling technical field.Include the following steps: map importing, connection setup, AGV positioning, task schedule, task execution, log recording.Wherein map is directed through camera and overlooks the realization of system work area domain, AGV and client communication are established to be realized by WIFI module, AGV positioning is computed realization by camera and trolley attitude algorithm, and the scheduling of task is realized by the RTOS of client, finally controls AGV and executes task.The control method can not only solve the problems, such as AGV clustered control, realize that more AGV are configured in the resources optimization of collaborative work, and lay a good foundation further to enrich clustered control function etc..
Description
Technical field
The invention belongs to AGV scheduling controlling technical fields, and in particular to a kind of AGV cluster control system and its method.
Background technique
It is well known that automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), being can be along defined
Guide path movement, the transport vehicle with various mobile delivery functions.Usually using rechargeable battery as its power resources；One
As its motor behavior and route can be controlled using controller, or its motor behavior and route are set using electromagnetic path.
Have benefited from the flexibility and controllability of AGV, AGV has been widely used in the multiple fields such as logistics, household, machining.
In addition to this, since Italy scholar Dorigo in 1991 proposes ant group optimization theory, swarm intelligence is as one
A theory is formally proposed, and has gradually attracted the concern of large quantities of scholars, to start research climax.AGV clustered control
Become research hotspot instantly.
Want to carry out clustered control to AGV, realizes that multiple AGV efficiently cooperate, then need to construct a clustered control
System proposes a kind of control method.The method that motor behavior is set using electromagnetic path requires the workspace AGV harsh, work
It is with high costs to make Regional Investment.It, can be under AGV using WIFI wireless communication with the development and popularization and application of technology of Internet of things
Up to control instruction, cooperates camera head monitor that can reduce the requirement of working region, improve the real-time and accuracy of control.Therefore
AGV cluster control system based on wireless communication suffers from AGV intelligent scheduling, Collaborative Control, resource distribution vital
Effect.
As the degree of automation is constantly promoted, clustering, networking and intelligent control are the important directions of AGV development.State
The interior single control comparative maturity for AGV, but the research in terms of cluster control system is less, thus cluster control system and
The main problem that method referred to as needs to solve.
Summary of the invention
It, can it is an object of the invention to design a kind of AGV cluster control system and method based on WIFI wireless communication
It solves the problems, such as AGV clustering, to realize the efficient collaborative work of AGV, gives full play to clustered control and led in modernization industry
The effect in domain.
A kind of technical solution of method of the invention are as follows: control of the AGV cluster control system based on WIFI wireless communication
Method, comprising the following steps:
Step 1: obtaining cartographic information, then to map information pre-processes, mainly the extraction of map feature point；
Step 2:AGV accesses client by WIFI, obtains the number of client granting.AGV is according to client granting
Number shows that itself is numbered, and is matched with the number of client granting by number indicator light；
Step 3: image capturing system chooses a steadily frame image, obtains the number information of AGV from the image of acquisition
And location information of the AGV of reference numeral on map.Two kinds of situations are specifically divided into, at the beginning of situation one refers to cluster control system
Beginningization.Situation two refers in the cluster control system course of work；
Step 4: obtaining the status information of AGV；
Step 5: client analyzes user instruction, checks AGV state, carries out task schedule；
Step 6:AGV receives and performs the instruction that client is assigned；
Step 7: client carries out an acceptance inspection to AGV task completeness；
Step 8: task daily record uploads.
Further, step 1 specifically includes:
First, it is specified that the working region of system is a square area, map is divided into 9 × 9 small square
Then include 11 × 11 lattice points, image capturing system, the height root of image capturing system are installed right above square area
Depending on the visual range of camera, visual range need to include entire square working region, further obtain cartographic information, institute
Image capturing system is stated using OpenMV (1), the cartographic information includes all lattice points in working region；
The cartographic information of acquisition is handled, specific rectangular coordinate system is established, the specific rectangular coordinate system is
Refer to using most central lattice point as coordinate origin, establishing horizontal axis is (- 5,5), and the longitudinal axis is the coordinate system of (- 5,5).
Further, the step 2 includes:
AGV and client carry out wireless data transmission, client for on-site customer end and AGV using WIFI progress networking
End first starts radio program thread, then starts UDP and receives data server thread, server is worked as by broadcast thread to find
Preceding online AGV accesses client according to configuration information after AGV receives broadcast message, will obtain the volume of client distribution
Number；
In control, the quantity of AGV is N, and wherein N is the integer greater than 1, and the number of the number indicator light carried is needed on AGV
Amount is n, and wherein n is more than or equal to log2The integer of N is made of N AGV trolley AGV, equipped with n pieces of number indicator light, with
AGV headstock direction is vertically in one line, is numbered in the form of binary number, according to being respectively indicated from left to right by a high position
Mode to low level indicates, bright with indicator light indicates binary one, indicates binary zero with going out for indicator light；Such as
No. 0 AGV is then expressed asNo. 1 AGV isNo. 2 AGV areNo. 3 AGV areThe indicator light of different colours can be used in order to distinguish high-order and low level；
AGV is numbered according to the sequence of access client, and the channel number of the AGV distribution of first access client is 0,
Client passes through the link having built up and sends information to AGV, informs that its number is 0, the state of corresponding indicator light isI.e. indicator light goes out entirely, and the channel number of the AGV distribution of second access client is 1, and client is by having built
Vertical link sends messages to AGV, informs that its number is 1, the state of corresponding indicator light isThat is high-level indication lamp
Extinguish, low level indicator light is bright；The channel number that third accesses client is 2, and client is received and sent by the chain having built up to disappear
It ceases to AGV, informs that its number is 2, the state of corresponding indicator light isI.e. high-level indication lamp is bright, low level instruction
Lamp extinguishes；The channel number of the AGV distribution of 4th access client is 3, and client passes through the chain having built up and receives and sends message
To AGV, inform that its number is 3, the state of corresponding indicator light isThat is indicator light all light；So far AGV number with
The channel number of client corresponds.
Further, the step 3 includes:
Situation one: cluster control system initialization obtains AGV in the location information on working map, initialization for the first time
When, the N AGV random any position for being placed in square working region；Client sends instructions to No. 0 AGV, orders No. 0
The flashing of AGV indicator light, image capturing system capture the position of point of scintillation, and the position of point of scintillation is sent to client by serial ports
End, client determines coordinate of the AGV in square working region by coordinate transform, and the link by having built up is informed
The coordinate of AGV is completed to initialize to N AGV sequence according to the method described above, after initializing successfully, AGV can by with client
The link of foundation obtains itself number and location information；
Situation two: in system operation, AGV is obtained in the location information on working map, due to motor characteristic, control
The differences such as parameter, AGV control are needed by repeatedly correction；This system by the coordinate that is obtained to the path computing of AGV itself and
The different weight of the AGV coordinate assignment that image capturing system obtains, the actual coordinate of Lai Xiuzheng AGV, wherein being transported by AGV itself
Dynamic path computing coordinate refers to that obtain acceleration by accelerometer is integrated to obtain speed again in the movement direction, accumulates again
Get displacement；Wherein weight should be determined according to real system, and coordinate obtains the higher more weights of distribution of precision.
A kind of technical solution of the device of the invention are as follows: AGV cluster control system based on WIFI wireless communication, comprising:
Monitoring device is installed on the surface of working region, for monitoring the location information of cartographic information and AGV, and on
Reach client；
Client (2) installs wire communication device, for release tasks demand and receives cartographic information, AGV state letter
Breath.It has been internally integrated task dispatcher, embedded real-time operating system has been implanted into, calculates each AGV trolley according to mission requirements
Task cost, the task dispatcher send assignment instructions to the smallest AGV trolley of cost, carry out task schedule；
AGV (3), it is wheeled using 4 wheel driven, (4) four miniature DC geared motors (5) are driven by two H bridge type direct current generators
Composition, above carry embeded processor (6) simultaneously install for detect AGV attitude transducer (7), with client (2) into
WIFI module (8), state display (9), debugging key (10) and the number indicator light (11) of row communication；Wherein, the appearance
State sensor is used to detect the course angle of AGV trolley and the acceleration of AGV trolley；AGV trolley is calculated through embeded processor
Driving path；The WIFI module sends oneself state information and task performance to server for AGV；Itself shape
State information includes number, motion state, electric energy storage state and the IP address of AGV, meanwhile, the WIFI module is also used to connect
Receive the movement instruction that client is sent.
Further, the monitoring device refers to camera, is installed on the surface of specified square working region, and this system is adopted
It is the OpenMV3 (1) of star pupil science and technology.
Further, the client be can be laptop or tablet computer or mobile phone.
Further, the client and the AGV form local area network by WIFI module；WIFI module is happy prosperous Information Center
The ESP8266-01S of skill；The task dispatcher is using STM32F429 and is implanted into FreeRTOS real time operating system.
Main implementation steps of the invention are, first by image monitoring device complete to AGV in working region positioning simultaneously
The location information of AGV is uploaded to client.On the one hand client is received from the collected position the AGV letter of image monitoring device
On the other hand breath also receives the status information transmitted from AGV.AGV and the client networking in such a way that WIFI is wirelessly communicated.
Further, client collects the mission requirements of user, analysis result is sent to task dispatcher, task dispatcher carries out task point
Solution and analysis are assigned control by WIFI communication and are required, and AGV requires to execute control instruction according to control, are finally reached collection team control
The purpose of system.
The OpenMV image capturing system that the present invention uses is developed using Python programming language, be a kind of object-oriented,
Explanation type computer language has simple and clear, is easy to transplant a little, there is function library abundant.
The task dispatcher that the present invention uses is configured with real time operating system FreeRTOS, can efficiently analysis task need
It asks, carries out task schedule.
The invention has the benefit that
1. utilizing number indicator light, it is numbered using the method for binary number, keeps system more flexible, to the system of addition
AGV quantity, sequentially there is no limit each AGV all has substitutability, does not have fixed number in cluster control system
With fixed addition sequence, can be replaced when some AGV breaks down；It is flexible that this method compares previous clustered control
Property is stronger, and fault-tolerance is stronger.
2. client completes issuing for task, AGV completes the analysis and execution of task.It is compared to host computer United Dispatching
Method, reduce the requirement to client process ability, cost can be reduced.On the other hand, the processing chip of AGV is in addition to complete
Except simple motion control, it is also necessary to which the processing chip of AGV can be improved in the analysis for completing issuing to client for task
Utilization rate.
Detailed description of the invention
Fig. 1 is AGV cluster control system overall operation block diagram；
Fig. 2 is single AGV hardware structure diagram；
Fig. 3 is AGV group system simulation model；
In figure: 1-OpenMV；2- client；3-AGV；The driving of 4- direct current generator；5- miniature DC geared motor；6- insertion
Formula processor；7- attitude transducer；8-WIFI module；9- state display；10- debugs key；11- number indicator light.
Specific embodiment
The technical solution that the invention will now be described in detail with reference to the accompanying drawings.
As shown in Figure 1, 2, the present invention is a kind of AGV cluster control system based on WIFI wireless communication, comprising:
Monitoring device is installed on the surface of working region, for monitoring the location information of cartographic information and AGV, and on
Reach client；Client (2) installs wire communication device, for release tasks demand and receives cartographic information, AGV state
Information.It has been internally integrated task dispatcher, embedded real-time operating system has been implanted into, calculates each AGV trolley according to mission requirements
Task cost, the task dispatcher sends assignment instructions to the smallest AGV trolley of cost, carries out task schedule；AGV
(3), wheeled using 4 wheel driven, it drives (4) four miniature DC geared motors (5) to form by two H bridge type direct current generators, takes above
Embeded processor (6) are carried to install for detecting the attitude transducer (7) of AGV, the WIFI communicated with client (2) simultaneously
Module (8), state display (9), debugging key (10) and number indicator light (11)；Wherein, the attitude transducer is used for
Detect the course angle of AGV trolley and the acceleration of AGV trolley；The driving path of AGV trolley is calculated through embeded processor；Institute
It states WIFI module and sends oneself state information and task performance to server for AGV；Oneself state information includes AGV
Number, motion state, electric energy storage state and IP address, meanwhile, the WIFI module be also used to receive client transmission
Movement instruction.
Fig. 3 is AGV group system simulation model.
Control method of the invention includes the following steps:
Step 1: obtaining cartographic information, then to map information pre-processes, mainly the extraction of map feature point.
Step 2:AGV accesses client by WIFI, obtains the number of client granting.AGV is according to client granting
Number shows that itself is numbered, and is matched with the number of client granting by number indicator light；
Step 3: image capturing system chooses a steadily frame image, obtains the number information of AGV from the image of acquisition
And location information of the AGV of reference numeral on map.Two kinds of situations are specifically divided into, at the beginning of situation one refers to cluster control system
Beginningization.Situation two refers in the cluster control system course of work；
Step 4: obtaining the status information of AGV
Step 5: client analyzes user instruction, checks AGV state, carries out task schedule
Step 6:AGV receives and performs the instruction that client is assigned
Step 7: client carries out an acceptance inspection to AGV task completeness
Step 8: task daily record uploads record
Further, the step 1 includes:
First, it is specified that the working region of system is a square area.Map is divided into 9 × 9 small square
It then include 11 × 11 lattice points.Image capturing system, the height root of image capturing system are installed right above square area
Depending on the visual range of camera, visual range need to include entire square working region, further obtain cartographic information.Institute
Image capturing system is stated using OpenMV (1).The cartographic information includes all lattice points in working region.
Further, the cartographic information of acquisition is handled, establishes specific rectangular coordinate system.The specific right angle is sat
Mark system refers to that using most central lattice point as coordinate origin, establishing horizontal axis is (- 5,5), and the longitudinal axis is the coordinate system of (- 5,5).
Step 2 described further includes:
Firstly, AGV and client carry out networking using WIFI, wireless data transmission is carried out for on-site customer end and AGV.
WIFI module uses the ESP826-01S module of Le Xin Information technology company.Client first starts radio program thread, then opens
Dynamic UDP receives data server thread, and server finds current online AGV by broadcast thread, when AGV receives broadcast letter
Client is accessed according to configuration information after breath, the number of client distribution will be obtained.
In control, the quantity of AGV is N, and wherein N is the integer greater than 1, and the number of the number indicator light carried is needed on AGV
Amount is n, and wherein n is more than or equal to log2The integer of N is made of N AGV trolley AGV, equipped with n pieces of number indicator light, with
AGV headstock direction is vertically in one line, is numbered in the form of binary number, according to being respectively indicated from left to right by a high position
Mode to low level indicates, bright with indicator light indicates binary one, indicates binary zero with going out for indicator light；Such as
No. 0 AGV is then expressed asNo. 1 AGV isNo. 2 AGV areNo. 3 AGV areThe indicator light of different colours can be used in order to distinguish high-order and low level；
AGV is numbered according to the sequence of access client, and the channel number of the AGV distribution of first access client is 0,
Client passes through the link having built up and sends information to AGV, informs that its number is 0, the state of corresponding indicator light isI.e. indicator light goes out entirely, and the channel number of the AGV distribution of second access client is 1, and client is by having built
Vertical link sends messages to AGV, informs that its number is 1, the state of corresponding indicator light isThat is high-level indication lamp
Extinguish, low level indicator light is bright；The channel number that third accesses client is 2, and client is received and sent by the chain having built up to disappear
It ceases to AGV, informs that its number is 2, the state of corresponding indicator light isI.e. high-level indication lamp is bright, low level indicator light
Extinguish；The channel number of the AGV distribution of 4th access client is 3, and client passes through the link having built up and sends messages to
AGV informs that its number is 3, and the state of corresponding indicator light isThat is indicator light all light；So far AGV number and visitor
The channel number at family end corresponds.
In the control method, the quantity of AGV is N, and wherein N is the integer greater than 1, and the number carried instruction is needed on AGV
The quantity of lamp is n, and wherein n is more than or equal to log2The integer of N.For ease of description, this example is by 4 AGV trolley AGV groups
At, it is vertical with AGV headstock direction in one line equipped with two pieces of number indicator lights, it is compiled in the form of binary number
Number, mark indicates in the way of respectively indicating big-endian from left to right, and bright with indicator light indicates binary one,
Binary zero is indicated with going out for indicator light.Such as No. 0 AGV is then expressed as 0#0#, No. 1 AGV is 0#1#, and No. 2 AGV are 1#0#,
No. three AGV are 1#1#.The indicator light of different colours can be used in order to distinguish high-order and low level.
Further, AGV is numbered according to the sequence of access client.The AGV distribution of first access client is led to
Taoist monastic name is 0, and client passes through the link having built up and sends information to AGV, informs that its number is 0, the shape of corresponding indicator light
State is 0#0#, i.e. indicator light goes out entirely.The channel number of the AGV distribution of second access client is 1, and client is by having built up
Link send messages to AGV, inform that its number is 1, the state of corresponding indicator light is 0#1#, i.e. high-level indication lamp extinguishes,
Low level indicator light is bright.The channel number that third accesses client is 2, and client passes through the link having built up and sends messages to
AGV informs that its number is 2, and the state of corresponding indicator light is 1#0#, i.e. high-level indication lamp is bright, and low level indicator light extinguishes.4th
The channel number of the AGV distribution of a access client is 3, and client passes through the link having built up and sends messages to AGV, informs it
Number is 3, and the state of corresponding indicator light is 1#1#, i.e. indicator light all light.So far AGV is numbered with the channel number of client one by one
It is corresponding.
Further, the step 3 includes:
Situation one: cluster control system initialization obtains AGV in the location information on working map for the first time.Initialization
When, 4 AGV random four apex angles for being placed in square working region.Client sends instructions to No. 0 AGV, orders No. 0
The flashing of AGV indicator light, image capturing system capture the position of point of scintillation, and the position of point of scintillation is sent to client by serial ports
End, client determines coordinate of the AGV in square working region by coordinate transform, and the link by having built up is informed
The coordinate of AGV.According to the method described above 4 AGV sequences are completed to initialize, after initializing successfully, the coordinate of AGV should be respectively
(- 5, -5), (- 5,5), (5, -5), (5,5)
Situation two: in system operation, AGV is obtained in the location information on working map.Due to motor characteristic, control
The differences such as parameter, AGV control need that cumulative errors can be reduced by repeatedly correction to mention high control precision.This system is logical
The different weight of AGV coordinate assignment that the coordinate that obtains to the path computing of AGV itself and image capturing system obtain is crossed, to repair
The actual coordinate of positive AGV, wherein it is described referred to by AGV displacement path computing coordinate acceleration is obtained by accelerometer
It is integrated to obtain speed in the movement direction again, integral is displaced again.Wherein the weight should according to real system come
It determines.Coordinate obtains the higher more weights of distribution of precision.
Further, the step 4 includes:
Firstly, the status information of AGV refers to that motion state, further movement state include movement velocity and the direction of motion.On
It states the direction of motion to obtain by gyroscope attitude transducer, the attitude transducer can use MPU6050.AGV in this example
The direction of motion only need to measure yaw angle and can be obtained.Motion path obtains acceleration again in the direction of motion by accelerometer
On integrated to obtain speed.The status information of AGV, which passes through according to its number order by WIFI communication module, to be had built up
Link real-time circulation is sent to client.
Further, the step 5 includes: analysis user instruction, checks that AGV working condition, calculating task cost are assigned and appointed
Business instruction.
Analysis user instruction described further refers to, user instruction is parsed into coordinates of targets.The fortune for example, 4 AGV form into columns
Row arranges according to one type of Chinese character, then coordinates of targets should be arranged to the coordinate of four continuity points.For example, when task is that order refers to
When determining AGV and running at specified coordinate, coordinates of targets should be set as the coordinate of specified point, while the pass for also needing regulation AG V to pass through
The coordinate of key node, such as the coordinate of corner.
Further described working condition includes idle, busy, three kinds of states of failure.AGV working condition is checked, for next
The calculating of step task cost.
Calculating task cost described further refers to, the coordinate of AGV is obtained on the basis of step 234, and calculates arrival
The smallest AGV of purpose coordinate cost.The path planning algorithm being directed to is not within the research range of this method.
The instruction described further that assigns a task refers to, by the key node information in the smallest path of cost by having built
Vertical link is sent to specified AGV.
Further, the step 6 includes:
The coordinate of key node described in AGV receiving step 5 calculates the fortune of AGV in conjunction with the position coordinates of current AGV
Dynamic path, the motion path include by key node, each section of path the direction of motion and move distance.
Further, the step 7 includes:
Firstly, the image capturing system right above square working region obtains the coordinate of current AGV, analyzed with step 5
The coordinates of target point of mission requirements be compared.Image capturing system, which obtains, sits calibration method according to the situation two of step 3
It is described.The not up to specified corresponding AGV of coordinate points of client analysis, is referred to by receiving and sending inquiry with the chain that AGV has built up
It enables, that successively inquires AGV and client links situation, the charge condition of AGV, motor working condition of AGV etc..
Further, the step 8 includes:
Whenever task distribution, believed by the position AGV of time, pending task task dispatcher logger task
Key node information, the coordinates of targets information of task during breath, AGV task execution, AGV current electric energy storage situation.
When task is completed, time that task dispatcher logger task terminates, AGV current location information, AGV current electric energy storage feelings
Task completeness situation described in condition, step 7.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (8)
1. a kind of control method of the AGV cluster control system based on WIFI wireless communication, which is characterized in that including following step
It is rapid:
Step 1: obtaining cartographic information, then to map information pre-processes, mainly the extraction of map feature point；
Step 2:AGV accesses client by WIFI module, obtains the number of client granting.AGV is according to client granting
Number shows that itself is numbered, and is matched with the number of client granting by number indicator light；
Step 3: image capturing system chooses a steadily frame image from the image of acquisition, obtain AGV number information and
Location information of the AGV of reference numeral on map.Two kinds of situations are specifically divided into, situation one refers to that cluster control system is initial
Change.Situation two refers in the cluster control system course of work；
Step 4: obtaining the status information of AGV；
Step 5: client analyzes user instruction, checks AGV state, carries out task schedule；
Step 6:AGV receives and performs the instruction that client is assigned；
Step 7: client carries out an acceptance inspection to AGV task completeness；
Step 8: task daily record uploads.
2. a kind of control method of AGV cluster control system based on WIFI wireless communication according to claim 1, special
Sign is that step 1 specifically includes:
First, it is specified that the working region of system is a square area, the small square that map is divided into 9 × 9 is then wrapped
Containing 11 × 11 lattice points, image capturing system is installed right above square area, the height of image capturing system is according to taking the photograph
As head visual range depending on, visual range need to include entire square working region, further obtain cartographic information, the figure
Picture acquisition system uses OpenMV (1), and the cartographic information includes all lattice points in working region；
The cartographic information of acquisition is handled, establishes specific rectangular coordinate system, the specific rectangular coordinate system refer to
Most central lattice point is coordinate origin, and establishing horizontal axis is (- 5,5), and the longitudinal axis is the coordinate system of (- 5,5).
3. a kind of control method of AGV cluster control system based on WIFI wireless communication according to claim 1, special
Sign is that the step 2 includes:
AGV and client carry out wireless data transmission for on-site customer end and AGV, client is first using WIFI progress networking
Start radio program thread, then starts UDP and receive data server thread, server is currently existed by broadcast thread to find
The AGV of line accesses client according to configuration information after AGV receives broadcast message, will obtain the number of client distribution；
In control, the quantity of AGV is N, and wherein N is the integer greater than 1, needs the quantity of the number indicator light carried to be on AGV
N, wherein n is more than or equal to log2The integer of N is made of N AGV trolley AGV, equipped with n pieces of number indicator light, with AGV
Headstock direction is vertically in one line, is numbered in the form of binary number, according to respectively indicate from left to right by a high position to
The mode of low level indicates, bright with indicator light indicates binary one, indicates binary zero with going out for indicator light；Such as 0
Number AGV is then expressed asNo. 1 AGV isNo. 2 AGV areNo. 3 AGV are
The indicator light of different colours can be used in order to distinguish high-order and low level；
AGV is numbered according to the sequence of access client, and the channel number of the AGV distribution of first access client is 0, client
End sends information to AGV by the link having built up, and informs that its number is 0, the state of corresponding indicator light isI.e. indicator light goes out entirely, and the channel number of the AGV distribution of second access client is 1, and client is by having built
Vertical link sends messages to AGV, informs that its number is 1, the state of corresponding indicator light isThat is high-level indication lamp
Extinguish, low level indicator light is bright；The channel number that third accesses client is 2, and client is received and sent by the chain having built up to disappear
It ceases to AGV, informs that its number is 2, the state of corresponding indicator light isI.e. high-level indication lamp is bright, low level instruction
Lamp extinguishes；The channel number of the AGV distribution of 4th access client is 3, and client passes through the chain having built up and receives and sends message
To AGV, inform that its number is 3, the state of corresponding indicator light isThat is indicator light all light；So far AGV number with
The channel number of client corresponds.
4. a kind of control method of AGV cluster control system based on WIFI wireless communication according to claim 1, special
Sign is,
The step 3 includes:
Situation one: cluster control system initialization obtains AGV when the location information on working map, initialization, N for the first time
The AGV random any position for being placed in square working region；Client sends instructions to No. 0 AGV, and No. 0 AGV is ordered to refer to
Show that lamp flashes, image capturing system captures the position of point of scintillation, and the position of point of scintillation is sent to client by serial ports, visitor
Family end determines coordinate of the AGV in square working region by coordinate transform, and the link by having built up informs AGV's
Coordinate is completed to initialize to N AGV sequence according to the method described above, and after initializing successfully, AGV can be by establishing with client
Link obtain itself number and location information；
Situation two: in system operation, AGV is obtained in the location information on working map, due to motor characteristic, control parameter
Etc. differences, AGV control need by repeatedly correction；This system passes through the coordinate and image that obtain to the path computing of AGV itself
The different weight of the AGV coordinate assignment that acquisition system obtains, the actual coordinate of Lai Xiuzheng AGV, wherein passing through AGV displacement road
Diameter coordinates computed refers to that obtain acceleration by accelerometer is integrated to obtain speed again in the movement direction, integrates again
To displacement；Wherein weight should be determined according to real system, and coordinate obtains the higher more weights of distribution of precision.
5. a kind of AGV cluster control system based on WIFI wireless communication characterized by comprising
Monitoring device is installed on the surface of working region, for monitoring the location information of cartographic information and AGV, and is uploaded to
Client；
Client (2) installs wire communication device, for release tasks demand and receives cartographic information, AGV status information.It is interior
Portion is integrated with task dispatcher, is implanted into embedded real-time operating system, the task generation of each AGV trolley is calculated according to mission requirements
Valence, the task dispatcher send assignment instructions to the smallest AGV trolley of cost, carry out task schedule；
AGV (3), it is wheeled using 4 wheel driven, (4) four miniature DC geared motor (5) groups are driven by two H bridge type direct current generators
At attitude transducer (7) and client (2) progress for detecting AGV are installed in carrying embeded processor (6) above simultaneously
WIFI module (8), state display (9), debugging key (10) and the number indicator light (11) of communication；Wherein, the posture
Sensor is used to detect the course angle of AGV trolley and the acceleration of AGV trolley；AGV trolley is calculated through embeded processor
Driving path；The WIFI module sends oneself state information and task performance to server for AGV；Oneself state
Information includes number, motion state, electric energy storage state and the IP address of AGV, meanwhile, the WIFI module is also used to receive
The movement instruction that client is sent.
6. AGV cluster control system according to claim 1, it is characterised in that: the monitoring device refers to camera, installation
In the surface of specified square working region, this system using star pupil science and technology OpenMV3 (1).
7. AGV cluster control system according to claim 1, it is characterised in that: the client be can be notebook electricity
Brain or tablet computer or mobile phone.
8. AGV cluster control system according to claim 1, it is characterised in that: the client and the AGV pass through
WIFI module forms local area network；WIFI module is the ESP8266-01S of happy prosperous Information technology；The task dispatcher uses
STM32F429 is simultaneously implanted into FreeRTOS real time operating system.
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