CN203689152U - Automatic navigation device based on radio frequency identification technology - Google Patents
Automatic navigation device based on radio frequency identification technology Download PDFInfo
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- CN203689152U CN203689152U CN201420040647.2U CN201420040647U CN203689152U CN 203689152 U CN203689152 U CN 203689152U CN 201420040647 U CN201420040647 U CN 201420040647U CN 203689152 U CN203689152 U CN 203689152U
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- 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
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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Abstract
The utility model provides an automatic navigation device based on radio frequency identification technology. The automatic navigation device includes a host, a vehicle-mounted controller, motor drivers, driving motors, a radio frequency reader/writer and multiple electronic tags. The vehicle-mounted controller includes an embedded computer and a data interface board. The host and the embedded computer are connected with each other in a wireless communication manner. The radio frequency reader/writer is connected with the embedded computer of the vehicle-mounted controller through a serial interface. The embedded computer is connected with the motor drivers through the data interface board. The motor drivers are connected with the corresponding driving motors. The vehicle controller and the radio frequency reader/writer are both disposed on a vehicle body of an automatic navigation vehicle, and all the electronic tags are laid on a running path of the automatic navigation vehicle. The automatic navigation device based on the radio frequency identification technology introduces the radio frequency identification technology into the field of automatic navigation vehicles, provides stable navigation information for the vehicle, and ensures safe and reliable operation of the vehicle.
Description
Technical field
The utility model belongs to industrial automation, particularly a kind of autopilot based on radio RF recognition technology.
Background technology
Automatic Guided Vehicle is the key equipment of automatic Material Handling System, modern Assembling Production system, have on the market at present the automatic Guided Vehicle of multiple different navigation mode, application more widely navigate mode is mainly navigated and two kinds of modes of laser navigation by magnetic inductive.
Magnetic induction navigate mode technology maturation; and commercialization; but the path of this kind of navigate mode is laid and is formed by tape; need protect tape in the place that operating mode is comparatively complicated; comparatively complicated and can't use this navigate mode to magnetic-field-sensitive region in magnetic field; on the more path of fork, need more magnetic mark is set, also increased the laying of system and used difficulty.Laser navigation mode precision is high, flexible, and without laying guide rails, but sensor price is higher, causes laser navigation mode to be applied to the insensitive occasion of some prices, has affected the universal of such navigate mode.
Utility model content
The purpose of this utility model is to provide a kind of autopilot based on radio RF recognition technology that high precision can be provided, stablize navigation information.
The technical solution that realizes the utility model object is: a kind of autopilot based on radio RF recognition technology, comprise host computer, Vehicle Controller, motor driver, drive motor, frequency read/write and multiple electronic tag, wherein Vehicle Controller comprises embedded computer and data interface board; Described host computer is connected with communication with embedded computer, frequency read/write is connected with the embedded computer of Vehicle Controller by serial ports, embedded computer is connected with motor driver by data interface board, and motor driver is connected with corresponding drive motor; Described Vehicle Controller and frequency read/write are installed on automatic Guided Vehicle car body, and each electronic tag is all laid on the operating path of automatic Guided Vehicle; In automatic Guided Vehicle operational process, after frequency read/write recognizes electronic tag, from electronic tag, reading electronic labels is numbered and motion control parameter, by serial communication, electronic tag numbering and motion control parameter are sent to Vehicle Controller, Vehicle Controller is according to the motor driven systems of motion control parameter control automatic Guided Vehicle, thereby realizes the self-navigation of dolly.
Compared with prior art, its remarkable advantage is the utility model: (1) improves the flexibility of automatic Guided Vehicle operation; (2) fast, the long transmission distance of navigation information reading speed; (3) reduce the cost of automatic Guided Vehicle and the complexity that system forms.
Brief description of the drawings
Fig. 1 is the structural representation of the autopilot of the utility model based on radio RF recognition technology.
Fig. 2 is the process flow diagram of the automatic navigation method of the utility model based on radio RF recognition technology.
Fig. 3 is the layout of electronic tag on rectangle route in the utility model embodiment 1.
Fig. 4 is the layout that has electronic tag on the line of branch road in the utility model embodiment 1.
Embodiment
Below in conjunction with drawings and the specific embodiments, the utility model is described in further detail.
In conjunction with Fig. 1, the autopilot of the utility model based on radio RF recognition technology, comprise host computer, Vehicle Controller, motor driver, drive motor, frequency read/write and multiple electronic tag, wherein Vehicle Controller comprises embedded computer and data interface board; Described host computer is connected with communication with embedded computer, frequency read/write is connected with the embedded computer of Vehicle Controller by serial ports, embedded computer is connected with motor driver by data interface board, and motor driver is connected with corresponding drive motor; Described Vehicle Controller and frequency read/write are installed on automatic Guided Vehicle car body, and each electronic tag is all laid on the operating path of automatic Guided Vehicle; In described each electronic tag all with routing information and the moving of car control parameter in this corresponding section of electronic tag, wherein motion control parameter comprises turning radius, travelling speed and the two-wheeled velocity contrast of automatic Guided Vehicle; Described frequency read/write adopts SICK super high frequency radio frequency read write line RF1642, and described embedded computer adopts contains rich PM16D embedded PC board/104 computing machine;
In automatic Guided Vehicle operational process, after frequency read/write recognizes electronic tag, from electronic tag, reading electronic labels is numbered and motion control parameter, by serial communication, electronic tag numbering and motion control parameter are sent to Vehicle Controller, Vehicle Controller is according to the motor driven systems of motion control parameter control automatic Guided Vehicle, thereby realizes the self-navigation of dolly.
In conjunction with Fig. 2, the automatic navigation method of the utility model based on radio RF recognition technology, comprises the following steps:
The 1st step is laid multiple electronic tags on the operating path of automatic Guided Vehicle, to each electronic tag be numbered and each electronic tag in all write and the motion control parameter of routing information and the dolly in this corresponding section of electronic tag;
The 2nd step, Vehicle Controller is opened and is controlled thread, reads the path planning information of host computer transmission, and information comprises the electronic tag quantity followed in travel path and No. ID;
The 3rd step, frequency read/write by send radiofrequency signal read by way of electronic labeling information, be transferred to Vehicle Controller by serial ports, Vehicle Controller is according to the drive unit of electronic labeling information control automatic Guided Vehicle;
The 4th step, Vehicle Controller control dolly completes the motion component of each electronic tag on travel path in order, next instruction of parking waiting host computer.
In the utility model, adopt ultrahigh frequency radio frequency read write line and the electronic tag of 915MHz, the basic characteristics of super high frequency radio frequency system are that the interior data volume of preserving of electronic tag is large, (can reach several meters to tens meters) far away of reading distance, and adapting to objects at high speed Windsor, reading antenna and electronic label antenna all has stronger directivity.Frequency read/write is arranged on the front end of automatic Guided Vehicle, to ensure effectively reading of radiofrequency signal.
Electronic tag writes by writing card device the path coherence information that need to be identified of storing in advance, these information comprise the distance in this section of path, dolly gait of march, turn direction and radius, the contents such as branch road information, label is layed in the travel path of automatic Guided Vehicle, in trolley travelling process, the radiofrequency signal that frequency read/write is 915M by antenna transmission frequency, when electronic tag enters after the working range of emitting antenna, the coded message of self is sent, after motion and routing information that the antenna reception of read write line sends to electronic tag, send Vehicle Controller to by serial ports, Vehicle Controller drives drive motor running by these information control motor drivers, dolly is pressed specified path operation.
The layout of electronic tag is to realize the key link of navigation: electronic tag is arranged on the key position such as turning and leading portion operating path end of automatic Guided Vehicle running route in advance, by electronic tag Unified number, and automatic Guided Vehicle motion control reference record on the route that each section answered is in contrast in electronic tag, kinematic parameter mainly comprises movement velocity, path and the turning radius of automatic Guided Vehicle.The electronic tag of diverse location plays different effects in path navigation, and therefore the content of its preservation is also incomplete same.
Data content in electronic tag is divided according to function, may be defined to different data blocks, can search corresponding data block according to different demands in actual applications, reaches the object of accelerating data processing.Arrange can to when specific implementation these motion control parameters No. ID, detailed configuration is as shown in table 1.
Motion control parameter configuration in table 1 electronic tag
| Motion control parameter I D | Functional description | Functional parameter |
| 00 | Stop sign | When parking, dolly navigational state information |
| 01 | Road condition sign | Speed, path, acceleration |
| 02 | Turning mark | Radius of turn, speed, two-wheeled differential |
| 03 | Branch road mark | The next electronic tag numbering of all directions |
Embodiment 1
In conjunction with Fig. 3, in the time that the travel route of automatic Guided Vehicle is rectangle, arrange successively in four corners of rectangle the electronic tag that is numbered 1～4, the automatic Guided Vehicle that frequency read/write is housed only need to be identified the electronic tag that has configured numbering successively.
In conjunction with Fig. 4, the route travelling when automatic Guided Vehicle is two sections of straight lines, but while having a fork in its travel route, therefore in electronic tag 2, must configure branch road mark, in electronic tag 2, keep the numbering of next electronic tag, after automatic Guided Vehicle is turned right, what then read is the information in electronic tag 4, and after turning left, what read is the information in electronic tag 3.When frequency read/write recognizes after electronic tag, reading tag numbering and motion control parameter from electronic tag, by serial communication, tag number and motion control parameter are sent to Vehicle Controller, Vehicle Controller is motion control parameter control vehicle motor drive system, thereby realized the self-navigation of dolly.
Vehicle Controller is the core control part of automatic Guided Vehicle, and the interface relationship of it and miscellaneous part and data flow are as shown in Figure 3.After start, first controller is set operating path, the operating path of dolly can be set by two kinds of modes, one is local setting, namely set at the enterprising line parameter of Vehicle Controller, another kind is remote setting, and Vehicle Controller is by wireless communication interface, and the operational factor that receiving remote control terminal sends also resets automatic Guided Vehicle.In operational process, information in the continuous reading electronic labels of frequency read/write, and these information exchanges are crossed to serial ports send to controller, controller is processed read information, and the steering order obtaining is sent to drive motor, dolly is according to the path operation of specifying.Concrete control flow is as follows:
The 1st step is laid multiple electronic tags on the operating path of automatic Guided Vehicle, to each electronic tag be numbered and each electronic tag in all write and the motion control parameter of routing information and the dolly in this corresponding section of electronic tag;
The 2nd step, Vehicle Controller is opened and is controlled thread, reads the path planning information of host computer transmission, and information comprises the electronic tag quantity followed in travel path and No. ID;
The 3rd step, frequency read/write by send radiofrequency signal read by way of electronic labeling information, be transferred to Vehicle Controller by serial ports, Vehicle Controller is according to the drive unit of electronic labeling information control automatic Guided Vehicle;
The 4th step, Vehicle Controller control dolly completes the motion component of each electronic tag on travel path in order, next instruction of parking waiting host computer.
The utility model Vehicle Controller has stronger data operation ability, can complete in the short period of time the processing of navigation information and the computing of control algolithm, can receive the status information of driver feedback and complete controls such as driver start, stops, the host computer of providing wireless communication interface is provided simultaneously, the information that received RF read write line sends, the utility model is applied on automatic Guided Vehicle as it provides the navigation information that precision is high and stable.
Claims (5)
1. the autopilot based on radio RF recognition technology, it is characterized in that, comprise host computer, Vehicle Controller, motor driver, drive motor, frequency read/write and multiple electronic tag, wherein Vehicle Controller comprises embedded computer and data interface board; Described host computer is connected with communication with embedded computer, frequency read/write is connected with the embedded computer of Vehicle Controller by serial ports, embedded computer is connected with motor driver by data interface board, and motor driver is connected with corresponding drive motor; Described Vehicle Controller and frequency read/write are installed on automatic Guided Vehicle car body, and each electronic tag is all laid on the operating path of automatic Guided Vehicle;
In automatic Guided Vehicle operational process, after frequency read/write recognizes electronic tag, from electronic tag, reading electronic labels is numbered and motion control parameter, by serial communication, electronic tag numbering and motion control parameter are sent to Vehicle Controller, Vehicle Controller is according to the motor driven systems of motion control parameter control automatic Guided Vehicle, thereby realizes the self-navigation of dolly.
2. the autopilot based on radio RF recognition technology according to claim 1, it is characterized in that, in described each electronic tag all with routing information and the moving of car control parameter in this corresponding section of electronic tag, wherein moving of car control parameter comprises turning radius, travelling speed and the two-wheeled velocity contrast of automatic Guided Vehicle.
3. the autopilot based on radio RF recognition technology according to claim 1, is characterized in that, described frequency read/write adopts SICK super high frequency radio frequency read write line RF1642.
4. the autopilot based on radio RF recognition technology according to claim 1, is characterized in that, described embedded computer adopts contains rich PM16D embedded PC board/104 computing machine.
5. the autopilot based on radio RF recognition technology according to claim 1, is characterized in that, the frequency of operation of described frequency read/write is 915MHz.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420040647.2U CN203689152U (en) | 2014-01-22 | 2014-01-22 | Automatic navigation device based on radio frequency identification technology |
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| CN201420040647.2U CN203689152U (en) | 2014-01-22 | 2014-01-22 | Automatic navigation device based on radio frequency identification technology |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571110A (en) * | 2015-01-08 | 2015-04-29 | 北京印刷学院 | RFID-based automatic trolley guiding method and system |
| CN106510357A (en) * | 2016-11-24 | 2017-03-22 | 南京九致信息科技有限公司 | Walking teapot, meeting table and tea pouring method |
| CN106618050A (en) * | 2016-11-24 | 2017-05-10 | 南京九致信息科技有限公司 | Walkable teapot, council board, teacups and tea pouring method |
| CN107037815A (en) * | 2017-06-13 | 2017-08-11 | 江苏振邦医用智能装备有限公司 | Intelligent carriage logistics system |
| CN108784544A (en) * | 2018-07-16 | 2018-11-13 | 广州俊德信息科技有限公司 | The cruise clean method of cleaning appliance, system, equipment and can storage medium |
| CN109048900A (en) * | 2018-08-15 | 2018-12-21 | 深圳新物种科技有限公司 | robot, robot control system, method and device |
| CN109814560A (en) * | 2019-01-24 | 2019-05-28 | 深圳市施罗德工业集团有限公司 | Motion control method, device, storage medium and electronic equipment |
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2014
- 2014-01-22 CN CN201420040647.2U patent/CN203689152U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571110A (en) * | 2015-01-08 | 2015-04-29 | 北京印刷学院 | RFID-based automatic trolley guiding method and system |
| CN106618050B (en) * | 2016-11-24 | 2018-11-16 | 南京九致信息科技有限公司 | Can walk teapot, conference table, teacup and method of serving the tea |
| CN106510357A (en) * | 2016-11-24 | 2017-03-22 | 南京九致信息科技有限公司 | Walking teapot, meeting table and tea pouring method |
| CN106618050A (en) * | 2016-11-24 | 2017-05-10 | 南京九致信息科技有限公司 | Walkable teapot, council board, teacups and tea pouring method |
| CN106510357B (en) * | 2016-11-24 | 2018-08-17 | 南京九致信息科技有限公司 | Can walk teapot, conference table and method of serving the tea |
| CN107037815A (en) * | 2017-06-13 | 2017-08-11 | 江苏振邦医用智能装备有限公司 | Intelligent carriage logistics system |
| CN107037815B (en) * | 2017-06-13 | 2024-05-14 | 江苏振邦医用智能装备有限公司 | Intelligent trolley logistics system |
| CN108784544A (en) * | 2018-07-16 | 2018-11-13 | 广州俊德信息科技有限公司 | The cruise clean method of cleaning appliance, system, equipment and can storage medium |
| CN108784544B (en) * | 2018-07-16 | 2020-11-27 | 广州俊德信息科技有限公司 | Cruise cleaning method, system, device and storable medium for cleaning an electrical appliance |
| CN109048900A (en) * | 2018-08-15 | 2018-12-21 | 深圳新物种科技有限公司 | robot, robot control system, method and device |
| CN109048900B (en) * | 2018-08-15 | 2022-01-21 | 算丰科技（北京）有限公司 | Robot, robot control system, method and device |
| CN109814560A (en) * | 2019-01-24 | 2019-05-28 | 深圳市施罗德工业集团有限公司 | Motion control method, device, storage medium and electronic equipment |
| CN109814560B (en) * | 2019-01-24 | 2022-08-16 | 深圳市施罗德工业集团有限公司 | Motion control method, motion control device, storage medium and electronic equipment |
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Effective date of registration: 20201125 Address after: 222006 song hop high tech Zone, Lianyungang Development Zone, Jiangsu Patentee after: CSIC Information Technology Co.,Ltd. Address before: 102 mailbox 222061, Jiangsu City, Lianyungang Province Patentee before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140702 |
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| CF01 | Termination of patent right due to non-payment of annual fee |