CN102346483B - AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual - Google Patents
AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual Download PDFInfo
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- CN102346483B CN102346483B CN201110150892XA CN201110150892A CN102346483B CN 102346483 B CN102346483 B CN 102346483B CN 201110150892X A CN201110150892X A CN 201110150892XA CN 201110150892 A CN201110150892 A CN 201110150892A CN 102346483 B CN102346483 B CN 102346483B
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Abstract
The invention provides an AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual. The method is characterized in that a control center acquires the position information of an AGV on the basis of a passive RFID technology; the AGV receives a dispatching demand of a cutter distribution center on the basis of an aided visual technology; and the dynamic monitoring of the execution process of distribution tasks of the AGV, distribution plan dispatching and accurate path trace function can be realized through designing numerical workshop RFID reader layout, dispatching patterning commands and an accurate high-efficiency real-time image processing algorithm; and therefore the bidirectional communication between the control center and the AGV can be realized under the condition of not using a radio communication method. By the adoption of the AGV operation control method, the problem that the AGV cannot be controlled remotely in an occasion with high requirement on safety because radio communication cannot be used can be solved, and the dispatching communication is safe and reliable.
Description
Technical field
The present invention relates to a kind of AGV control technology; Especially the wired control technology of AGV; Specifically a kind of AGV progress control method based on passive RFID and accessorial visual, it comprises obtaining and discerning of instruction that control center sends control center the quasi real time monitoring and the AGV of AGV present position.
Background technology
AGV (Automatic Guided Vehicle) is meant automatically guiding trolley, and it is to be power with the battery, and the unmanned automated handling vehicle of navigational system is housed.The distinguishing feature of AGV is unmanned; Utilize automatic guiding system; AGV can go along predetermined route under the situation that does not need artificial pilotage automatically, automatically goods is transported to the destination from starting point; And can be according to storage goods yard requirement; The technological process of productions etc. change and change flexibly, have flexible good, automaticity is high and the intelligent level advantages of higher, so AGV has obtained research and application in a plurality of industry fields such as machining, material assembling, household electrical appliances production, microelectronics manufacturing, cigarette.
The navigate mode of AGV has multiple, like electromagnetism guiding, optical navigation, laser guidance, pattern recognition guiding etc.Homing guidance dolly (V-AGV) based on vision is the focus of present AGV research.
The operation of AGV need be carried out real-time Communication for Power with control center, comprises obtaining information such as destination address, job command from control center, and reports the information such as position of oneself to control center.General communication modes has wireless and wired two kinds, because AGV need have higher maneuverability, and job position often changes, and obvious wireless telecommunications have bigger advantage.
But at the high special occasions of some security requirement; In order to prevent to divulge a secret through electromagnetic leakage; Do not allow to use wireless telecommunications facility and active RFID (Radio Frequency Identification in these occasions; Radio frequency identification), therefore makes existing AGV to obtain the steering order that control center sends, be difficult to realize efficient scheduling and management through the wireless telecommunications facility.Owing to lack real-time monitoring to AGV; And, cause that material allocation is untimely, dispensing makes mistakes to the location in real time accurately and the effective ways of following the tracks of of AGV, make production run occur waiting for even interrupting; Thereby influence manufacturing schedule, upset the execution of original production plan.Therefore in order to realize the application of AGV in the high occasion of security requirement, be badly in need of the method for a kind of new wired dispatching communication of AGV of exploitation.
Summary of the invention
The objective of the invention is to cause AGV to be difficult to problem according to the route operation of setting to the limitation that can't use wireless telecommunications facility and active RFID in the concerning security matters place; Invent a kind of AGV progress control method, a difficult problem that communicates with position monitoring, control center and the AGV that solves AGV based on passive RFID and accessorial visual.
Technical scheme of the present invention is:
A kind of AGV progress control method based on passive RFID and accessorial visual is characterized in that it may further comprise the steps:
At first, passive RFID electronic label and graph image deriving means are installed on AGV;
Secondly, the RFID reader is installed on the path of AGV process, the RFID reader is linked to each other with AGV control center through cable network;
The 3rd, on the path of AGV process, graphics device is installed with matching part, RFID reader installation site, this graphics device links to each other with AGV control center through cable network;
The 4th; During AGV process RFID reader; The RFID reader receives the information of the passive RFID electronic label on the AGV and delivers to AGV control center; AGV control center determines the position of AGV according to the numbering of RFID reader, and AGV control center judges the direction of motion of AGV according to the program of setting, and AGV control center is presented at corresponding direction of motion identifier on the graphics device that is complementary with the RFID reader through cable network according to the right direction of motion of AGV immediately; The last graph image deriving means of AGV obtains corresponding direction of motion figure, and AGV converts thereof into motion control instruction through Figure recognition software;
Finally, AGV realizes corresponding motion according to motion control instruction.
The installation site of described RFID reader and quantity should be moved road conditions according to AGV and confirm; Comprise each stop and turning point; Each RFID reader is provided with unique numbering; AGV is during through the RFID reader, and AGV control center obtains the position of AGV according to the numbering of the numbering of RFID reader and the passive RFID electronic label that reads.
What the connected mode of described RFID reader and AGV control center adopted is the wired connection mode that comprises netting twine and serial ports connected mode.
Described graph image display device is symmetrically distributed in both sides, AGV path; AGV control center is connected through wired mode with the graph image display device; The graph image display device shows the instruction that control center sends with the mode of graph image; The last graph image deriving means of AGV is discerned the graphical instruction on the graph image display device, after image recognition, obtains the scheduling controlling instruction that AGV control center sends then.
Described graph image display device is digitron display screen or LED display.
Described graph image deriving means comprises the CCD camera.
The present invention includes obtaining and discerning of instruction that control center sends control center the quasi real time monitoring and the AGV of AGV present position.It is installed in the electronic tag of one or more passive RFIDs on the AGV as the electronic tag group, is provided with the unique number of AGV in the electronic tag.The concrete installation site of electronic tag can be confirmed according to practical application with distributing, every group of AGV that the RFID electronic tag is corresponding unique; On the road surface, AGV control center and RFID reader pass through wired connection to the RFID reader along the path profile of AGV.The concrete installation site of RFID reader and quantity are confirmed according to concrete road conditions and practical application; Comprise each stop, turning point etc.; Each RFID reader is provided with unique numbering; During AGV process RFID reader, control center can confirm the position that an AGV belongs to according to the numbering of RFID reader and the AGV numbering that reads.
The mode that AGV obtains the instruction that control center sends is based on visual identity, it is characterized in that the graph image display device is distributed in both sides, AGV path, and concrete installation site is definite according to practical application with quantity.Control center and graph image display device are passed through wired connection; The graph image display device shows the instruction that control center sends with the mode of graph image, and AGV obtains the scheduling controlling instruction that AGV control center sends through the graphical instruction on the graph image deriving means identification graph image display device.Vehicle mounted guidance and control system are moved according to the up-to-date instruction control AGV that receives accordingly.
Beneficial effect of the present invention:
Utilize method of the present invention can realize dynamic monitoring, distribution plan scheduling and the accurate path trace facility of AGV implementation.The invention solves in the higher occasion of security requirement,, can effectively use AGV to carry out the delivery management of logistics, thereby improve automatic management level because of the problem that can't carry out Long-distance Control to AGV that can't use wireless telecommunications to cause.
Description of drawings
Fig. 1 is AGV location recognition and instruction recognition principle figure.
Fig. 2 is the exemplary plot of electronic tag group in installation site, AGV bottom.
Fig. 3 is the flow example figure of AGV dispatching communication.
Fig. 4 is the cutter automatic delivery total arrangement synoptic diagram of the embodiment of the invention.
Fig. 5 is an AGV body coordinate system synoptic diagram of the present invention.
Fig. 6 is a patterned AGV dispatch command synoptic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further described.
Shown in Fig. 1-6.
A kind of AGV progress control method based on passive RFID and accessorial visual, it may further comprise the steps:
At first, passive RFID electronic label and graph image deriving means are installed on AGV; As shown in Figure 1, passive RFID electronic label preferably is installed in AGV bottom and installs in groups, and is as shown in Figure 2, among Fig. 2 totally one row three passive electronic labels have been installed;
Secondly, the RFID reader is installed on the path of AGV process, the RFID reader is linked to each other with AGV control center through cable network; As shown in Figure 1;
The 3rd, on the path of AGV process, graphics device is installed with matching part, RFID reader installation site, this graphics device links to each other with AGV control center through cable network; Graphics device can be data presentation pipe, LED display, flat-panel monitor etc., and graphics device preferably is arranged symmetrically in the both sides of AGV orbit or route, and is as shown in Figure 1;
The 4th; During AGV process RFID reader; The RFID reader receives the information of the passive RFID electronic label on the AGV and delivers to AGV control center, and AGV control center determines the position of AGV according to the numbering of RFID reader, and AGV control center judges the direction of motion of AGV according to the program of setting; AGV control center is presented at corresponding direction of motion identifier on the graphics device that is complementary with the RFID reader through cable network according to the right direction of motion of AGV immediately; The last graph image deriving means of AGV obtains corresponding direction of motion figure, and AGV converts thereof into motion control instruction through Figure recognition software, and is as shown in Figure 3;
Finally, AGV realizes corresponding motion according to motion control instruction.
In NC Machining Workshop, being used for the cutter dispensing below in conjunction with AGV is further described.
In this embodiment AGV is applied in the cutter automatic delivery in the NC Machining Workshop, the layout of station and AGV control center in the numerical control workshop (being cutter home-delivery center) is as shown in Figure 4, has 9 numerical control processing districts, and there are 4 stations each processing district.AGV runs between cutter home-delivery center and each station, and the cutter home-delivery center while is as the dispatching control center of AGV.
All be provided with before electronic display in each station annex and each crossroad and T-shaped road junction in this embodiment.Arrow has been represented the direction of motion that AGV is possible among the figure.For the ease of the scheduling of AGV, AGV is all the time along body coordinate system Y axle positive movement or turning left under the normal condition in this embodiment.The body coordinate system of AGV is the right hand rectangular coordinate system that is fixed on the AGV, and is as shown in Figure 5.
The electronic tag of passive RFID is selected Philips Mifare 1 IC S50 card for use, and the thin card of Mifare S50 radio frequency adopts the original-pack Mifare IC S50 chip in Philip (NXP), meets IEC/ISO 14443A agreement.Memory capacity: 8Kbit; 16 subregions, the two groups of passwords in per minute district; Frequency of operation 13.56 MHz; Communication speed 106KBoud; Reading/writing distance 2.5～10cm; Access time 1～2ms; Working temperature-20 ℃～55 ℃; Erasing and writing life>100,000 times; Data are preserved>10 years.
3 IC-cards (electronic tag of passive RFID) evenly are installed on the straight line vertical with path direction of AGV bottom (as shown in Figure 2), and the ground distance of keeping at a distance is less than 10cm.Whenever a card reader is set at a distance from 2 meters along the center, path of AGV, each card reader is set up unique numbering and is connected with the host computer of control center through the RS232 interface.The every signal that reads the electronic tag invention on the AGV during through a RFID reader of AGV; This reader promptly sends signal to control center; Control center can confirm the residing position of AGV according to the numbering of this RFID reader, thereby realizes the quasi real time monitoring of control center to the AGV position.
A computer monitor is set as electronic display in the position that each AGV need stop, all client displays are connected with the main frame of control center and pass through wired network communication through router.Control center sends steering order and be presented on the electronic display with the form of figure through the cable network transmission mode.The AGV top surface is respectively installed a CCD camera (or digital camera) to two sides; When AGV when the electronic console through the graphical instruction of CCD camera reading displayed on computer monitor, the identification of the image identification system on AGV back obtains the scheduling controlling instruction that dispensing control center sends then.Vehicle-mounted AGV navigation and the operation of control system according to the latest command control AGV that receives.The flow process of AGV dispatching communication is as shown in Figure 3.
Fig. 5 is the AGV body coordinate system.Traffic control instruction is as shown in Figure 6, and the patterned AGV dispatch command among Fig. 6 is to be defined on the basis of Y axle in the body coordinate system.
The image-recognizing method that adopts in this instance can adopt existing comparatively ripe software (like the OCR identification software), also can adopt following method to realize:
At first, utilize the CCD camera to obtain to be presented at the figure on the computer monitor;
Secondly, the image that is obtained is sent into carried out illumination correction and contrast enhancement processing in the AGV truck-mounted computer;
The 3rd, figure is carried out slant correction and carries out binary conversion treatment, adopts white pixel point summation line by line to add up and the method for color change number of times statistics obtains graphic feature;
Finally, through the method realization Figure recognition of multimode version characteristic matching, and the instruction that finally draws the figure representative.
Illumination is proofreaied and correct and is meant the brightness variation of estimating entire image through the mean flow rate of calculating the small images zone, the background luminance of estimating with this figure image subtraction then, and last, the image that illumination is proofreaied and correct carries out the histogram enhancing; To remedy the contrast that the inhomogeneous illumination condition improves image again; Binary conversion treatment is to confirm image threshold σ through maximum classification variance method; The pixel of digital picture after gray processing is handled and carried out contrast expansion represented that value is in zone [0; σ] in pixel represent that value all is changed to 0, remaining pixel representes that value all is changed to 1; Multimode version coupling is to instigate same figure to have a plurality of templates; When carrying out Figure recognition; The feature difference of all templates of computations figure and instruction graphics template one by one; Get the minimum value of all template differences of corresponding 6 Instruction Graphics, this minimum value and pairing graphics command are exactly the recognition result of this figure.
The present invention does not relate to all identical with the prior art prior art that maybe can adopt of part and realizes.
Claims (5)
1. AGV progress control method based on passive RFID and accessorial visual is characterized in that:
At first, passive RFID electronic label and graph image deriving means are installed on AGV;
Secondly, the RFID reader is installed on the path of AGV process, the RFID reader is linked to each other with AGV control center through cable network;
The 3rd, on the path of AGV process, the figure image display device is installed with matching part, RFID reader installation site, this graph image display device links to each other with AGV control center through cable network; Described graph image display device is symmetrically distributed in both sides, AGV path; AGV control center is connected through wired mode with the graph image display device; The graph image display device shows the instruction that control center sends with the mode of graph image; The last graph image deriving means of AGV is discerned the graphical instruction on the graph image display device, after image recognition, obtains the scheduling controlling instruction that AGV control center sends then;
The 4th; During AGV process RFID reader; The RFID reader receives the information of the passive RFID electronic label on the AGV and delivers to AGV control center; AGV control center determines the position of AGV according to the numbering of RFID reader, and AGV control center judges the direction of motion of AGV according to the program of setting, and AGV control center is presented at corresponding direction of motion identifier on the graphics device that is complementary with the RFID reader through cable network according to the right direction of motion of AGV immediately; The last graph image deriving means of AGV obtains corresponding direction of motion figure, and AGV converts thereof into motion control instruction through Figure recognition software;
Finally, AGV realizes corresponding motion according to motion control instruction.
2. the AGV progress control method based on passive RFID and accessorial visual according to claim 1; The installation site and the quantity that it is characterized in that the RFID reader should be moved road conditions according to AGV and confirm; Comprise each stop and turning point; Each RFID reader is provided with unique numbering, and AGV is during through the RFID reader, and AGV control center obtains the position of AGV according to the numbering of the numbering of RFID reader and the passive RFID electronic label that reads.
3. the AGV progress control method based on passive RFID and accessorial visual according to claim 1 and 2, what it is characterized in that the connected mode of described RFID reader and AGV control center adopts is the wired connection mode that comprises netting twine and serial ports connected mode.
4. the AGV progress control method based on passive RFID and accessorial visual according to claim 1 is characterized in that described graph image display device is digitron display screen or LED display.
5. the AGV progress control method based on passive RFID and accessorial visual according to claim 1 is characterized in that described graph image deriving means comprises the CCD camera.
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| CN102955476B (en) * | 2012-11-12 | 2015-02-11 | 宁波韵升股份有限公司 | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology |
| CN103165014B (en) * | 2013-04-15 | 2014-09-17 | 南京航空航天大学 | Monitoring teaching demonstration method and system of internet-of-things-based discrete manufacturing workshop |
| CN104182777B (en) * | 2014-08-13 | 2017-05-03 | 成都四威高科技产业园有限公司 | RFID (Radio Frequency Identification)-based AGV (Automatic Guided Vehicle) multi-task positioning method |
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