CN105704717A - AGV communication method - Google Patents
AGV communication method Download PDFInfo
- Publication number
- CN105704717A CN105704717A CN201610165225.1A CN201610165225A CN105704717A CN 105704717 A CN105704717 A CN 105704717A CN 201610165225 A CN201610165225 A CN 201610165225A CN 105704717 A CN105704717 A CN 105704717A
- Authority
- CN
- China
- Prior art keywords
- agv
- wireless access
- access points
- wireless
- communication module
- 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
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/08—Access security
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/08—Reselecting an access point
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/16—Performing reselection for specific purposes
- H04W36/165—Performing reselection for specific purposes for reducing network power consumption
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W48/00—Access restriction; Network selection; Access point selection
- H04W48/20—Selecting an access point
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention, which belongs to the automated guided vehicle (AGV) control field, particularly relates to an AGV communication method, thereby realizing communication of an AGV with a central control system. The AGV is provided with a wireless communication module. The central control system is connected with a plurality of wireless access points distributed in an operating area of the AGV; and the wireless communication module is connected with the central control system by the wireless access points. During the AGV moving process, the wireless communication module scans available wireless access points and carries out identity verification; one wireless access point with the strong current position signal is selected for connection; and verification information of the wireless access points that are not connected is stored. When the AGV moves to a next position and the signal of the last wireless access point is lower than a set threshold value, connection between the AGV and the wireless access point is cut off; and then connection with the wireless access point that has the strong signal and has been processed by identity verification is carried out. Compared with the prior art, the method has advantages: the signal is stable; and connection with the wireless access points can be switched rapidly.
Description
Technical field
The invention belongs to AGV control field, be specially a kind of AGV means of communication。
Background technology
AGV is the abbreviation of AutomatedGuidedVehicle; also referred to as AGV dolly, refer to that being equipped with electricity magnetically or optically waits homing guidance device, it is possible to the guide path along regulation travels; there is safeguard protection and the transport vehicle of various transfer function, commercial Application does not need the mover of driver。Owing to AGV has the advantage such as intelligence degree, fast, the saving space of travelling speed, its range of application is more and more extensive。
Along with the development of technology, the work area of the delivery system of application AGV constantly increases, road conditions of walking need the task complexity performed also constantly to improve with AGV。In order to meet information mutual communication between central control system and AGV, meet AGV to run in region widely simultaneously, those skilled in the art have developed and adopt AP (wireless access points) to carry out wireless connections between central control system and AGV, complete the mutual means of communication of information between the two。
But in prior art, between wireless communication module and the AP on AGV, not there is switchover policy, to when cannot receive signal, AGV just can disconnect with the former AP being connected, after disconnecting, the wireless communication module of AGV and new AP are attached, and connect after new AP has needed authentication and could connect。This kind of mode, before AGV disconnects switching AP, signal is not sufficient between AGV and central control system to carry out information alternately, and needs to carry out authentication with new AP after disconnecting every time, extends switching time undoubtedly。
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of signal stabilization is connected the rapid AGV means of communication with the switching of each wireless access points。
In order to solve above-mentioned technical problem, the present invention is by the following technical solutions: a kind of AGV means of communication, for realizing the communication of AGV and central control system, AGV is provided with wireless communication module, central control system is connected to the wireless access points in multiple operation area being distributed in AGV, and wireless communication module is connected by described wireless access points with central control system；In AGV moving process, wireless communication module scans the wireless access points that can access and carries out authentication, and the wireless access points selecting current position signal stronger is attached, and preserves the checking information of the wireless access points being not connected with simultaneously；When AGV moves to the signal of the next position and a upper wireless access points less than the threshold value set, AGV and this wireless access points disconnect, and then stronger with the signal carrying out authentication wireless access points is attached。
The AGV means of communication provided by the invention, AGV can carry out authentication with plural wireless access points in advance, along with AGV runs, the wireless communication module of AGV according to the change in signal strength receiving wireless access points, select to connect signal higher carry out authentication wireless access points。Therefore, compared with prior art, the AGV means of communication provided by the invention are always maintained at the wireless access points stronger with signal and are attached, signal is more stable, and carrying out authentication with the wireless access points being not connected with in advance, when making switching connect, speed is rapider。
Preferably, described wireless access points is evenly arranged along AGV walking path, makes each wireless access points radiate AGV operating path equably, makes keep in AGV walking process with central control system that to carry out stable information mutual。
Preferably, described wireless access points presets ssid respectively, it is simple to AGV identifies each different wireless access points, can choose suitable wireless access points exactly and be attached。
Preferably, described wireless access points is preset password respectively, and the wireless communication module on described AGV is provided with the password being connected with each wireless access points accordingly。Avoid each wireless access points disturbed。
Preferably, described wireless communication module is WIFI module, makes signal more stable alternately。
Preferably, it is wired connection between described central control system and wireless access points, makes the signal transmission between central control system and wireless access points more stable。
Preferably, for wireless connections between described central control system and wireless access points, make the wireless access points can independently even so that it is to choose that to arrange position more convenient, flexible。
Preferably, in AGV traveling process, wireless communication module is scanned with frequency T, carries out authentication, T ∈ [aHz, bHz] with the wireless access points receiving signal。The wireless access points that wireless communication module can select signal higher is made to be attached。
Accompanying drawing explanation
Threshold value switchover policy schematic diagram in Fig. 1 means of communication provided by the invention；
Authentication mechanism schematic diagram in advance in Fig. 2 means of communication provided by the invention。
Detailed description of the invention
A kind of AGV means of communication provided by the invention, for realizing the communication of AGV and central control system, AGV is provided with wireless communication module, central control system is connected to the wireless access points in multiple operation area being distributed in AGV, wireless communication module is connected by described wireless access points with central control system, described wireless access points is provided with two or more, is distributed in the operation area of AGV；In the walking process of AGV, wireless communication module on AGV by threshold value switchover policy and and Authentication mechanism in advance, rationally, promptly with wireless access points switching over, be connected, all-the-time stable ground keeps carrying out real-time information interaction with central control system。
Referring to Fig. 1, described threshold value switchover policy is specific as follows:
AGV relative movement between AP (i.e. wireless access points), make the signal intensity that wireless communication module receives each AP that change to occur, then necessarily communication quality is impacted (as shown in Figure 1 to a certain extent when wireless communication module receives the AP signal intensity attenuation of built vertical connection, X-direction is the direction of AGV run location change, and Y-axis is the signal that wireless communication module receives)。
Set the lowest limit receiving semaphore intensity instruction RSSI (ReceivedSignalStrengthIndication), if the received signal strength indicator of wireless communication module and current associated AP is less than this threshold value (i.e. C point in Fig. 1), then now have to be off connecting, the foundation choosing signal in the AP completing authentication the strongest connects, and the size of threshold value is configured according to practical situation。This strategy ensures communication quality, is avoided that again and excessively switches continually between the aps, expends the resource of system。
Described Authentication mechanism in advance is specific as follows:
Each AP connects signal to the radiation of AGV travel region, and AP is more big with the distance of radiation areas, and the intensity connecting signal will be more little。If it is too little to connect signal, wireless communication module both cannot scan this AP。So each AP radiation forms detectable region, when AGV is in detectable region, communication for information can be carried out with corresponding AP。
Being AGV walking path referring to Fig. 2, S, L region is the detectable region of AP1, and Zone R is the detectable region of AP2, and M is L region and the overlapping region in Zone R territory。By Fig. 2 direction opened, AGV walks from left to right, and in walking process, wireless communication module constantly carries out active scan, finds attachable AP, when walking to L region, carries out authentication with AP1, and realizes connecting。AGV continues to advance to the right, and wireless communication module proceeds scanning, enters M region, AP2 signal can be detected, now can carry out authentication with AP2 in advance。After being verified, the information of AP2 is saved, but disconnection will not be carried out with the AP1 originally associated simultaneously, without sending out frame immediately to AP2 request association, remain in that original state, namely keep normal with the AP1 originally associated and connect。Movement along with AGV, the AP1 signal of previous association can progressively be decayed, when the signal that wireless communication module detects AP2 is stronger, threshold value switchover policy is adopted dynamically to judge, first with the AP1 disconnection of previous association, owing to previous station completes authentication with AP2, now avoid the need for repeating checking, directly can send out frame request association to AP2, set up associated connection, complete roaming switch。In whole handoff procedure, setting up the consuming time shorter of association, wireless communication module can keep connecting all the time, and the communication between AGV and central control system is without being greatly affected。
Described wireless access points is evenly arranged along AGV walking path, makes each wireless access points radiate AGV operating path equably, makes keep in AGV walking process with central control system that to carry out stable information mutual。In order to improve the stability of signal transmission, described wireless communication module is WIFI module。In AGV traveling process, wireless communication module is scanned with frequency 50Hz, carries out authentication with the wireless access points receiving signal。The wireless access points that wireless communication module can select signal higher is made to be attached。
As a kind of preferred version: described wireless access points presets ssid respectively, it is simple to AGV identifies each different wireless access points, can choose suitable wireless access points exactly and be attached。
In order to avoid each wireless access points is disturbed, described wireless access points is preset password respectively, and the wireless communication module on described AGV is provided with the password being connected with each wireless access points accordingly。
For being connected to following two mode between central control system and wireless access points:
The first: it is wired connection between described central control system and wireless access points, makes the signal transmission between central control system and wireless access points more stable。
The second: for wireless connections between described central control system and wireless access points, makes the wireless access points can independently even so that it is choose that to arrange position more convenient, flexible。
The announcement of book and instruction according to the above description, above-mentioned embodiment can also be modified and revise by those skilled in the art in the invention。Therefore, the invention is not limited in detailed description of the invention disclosed and described above, should also be as some modifications and changes of the present invention falling in the scope of the claims of the present invention。Although additionally, employ some specific terms in this specification, but these terms are intended merely to convenient explanation, and the present invention does not constitute any restriction。
Claims (8)
1. AGV means of communication, for realizing the communication of AGV and central control system, AGV is provided with wireless communication module, central control system is connected to the wireless access points in multiple operation area being distributed in AGV, and wireless communication module is connected by described wireless access points with central control system；It is characterized in that: in AGV moving process, wireless communication module scans the wireless access points that can access and carries out authentication, the wireless access points selecting current position signal stronger is attached, and preserves the checking information of the wireless access points being not connected with simultaneously；When AGV moves to the signal of the next position and a upper wireless access points less than the threshold value set, AGV and this wireless access points disconnect, and then stronger with the signal carrying out authentication wireless access points is attached。
2. a kind of AGV means of communication according to claim 1, it is characterised in that: described wireless access points is evenly arranged along AGV walking path。
3. a kind of AGV means of communication according to claim 1 and 2, it is characterised in that: described wireless access points presets ssid respectively。
4. a kind of AGV means of communication according to claim 3, it is characterised in that: described wireless access points is preset password respectively, and the wireless communication module on described AGV is provided with the password being connected with each wireless access points accordingly。
5. a kind of AGV means of communication according to claim 1 and 2, it is characterised in that: described wireless communication module is WIFI module。
6. a kind of AGV means of communication according to claim 1 and 2, it is characterised in that: it is wired connection between described central control system and wireless access points。
7. a kind of AGV means of communication according to claim 1 and 2, it is characterised in that: for wireless connections between described central control system and wireless access points。
8. a kind of AGV means of communication according to claim 1 and 2, it is characterised in that: in AGV traveling process, wireless communication module is scanned with frequency T, carries out authentication, T ∈ [30Hz, 50Hz] with the wireless access points receiving signal。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165225.1A CN105704717A (en) | 2016-03-19 | 2016-03-19 | AGV communication method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165225.1A CN105704717A (en) | 2016-03-19 | 2016-03-19 | AGV communication method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105704717A true CN105704717A (en) | 2016-06-22 |
Family
ID=56231597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610165225.1A Pending CN105704717A (en) | 2016-03-19 | 2016-03-19 | AGV communication method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105704717A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106686626A (en) * | 2016-12-07 | 2017-05-17 | 广东欧珀移动通信有限公司 | Setting method for Wi-Fi roaming and terminal equipment |
| CN107040932A (en) * | 2017-04-19 | 2017-08-11 | 深圳普智联科机器人技术有限公司 | AGV communication systems and its communicating control method based on double wireless communication channels |
| CN107992041A (en) * | 2017-12-06 | 2018-05-04 | 浙江大华技术股份有限公司 | A kind of AGV trolleies means of communication |
| CN109151711A (en) * | 2018-08-21 | 2019-01-04 | 新华三技术有限公司 | A kind of connection method for building up and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1172969A2 (en) * | 2000-07-11 | 2002-01-16 | CLARION Co., Ltd. | High-speed roaming method for a wireless local area network |
| US20060002342A1 (en) * | 2004-06-07 | 2006-01-05 | Jeou-Kai Lin | System and method for a handoff in an Internet Protocol-based multimedia mobile network |
| CN103686756A (en) * | 2012-09-17 | 2014-03-26 | 中国科学院沈阳自动化研究所 | TDMA (Time Division Multiple Access) accessing device and TDMA accessing method based on multiple access points |
| CN104853448A (en) * | 2015-05-08 | 2015-08-19 | 乐视致新电子科技（天津）有限公司 | Method for automatically establishing wireless connection and device thereof |
| CN105050146A (en) * | 2015-05-28 | 2015-11-11 | 上海精吉通讯技术有限公司 | Roaming switching method |
-
2016
- 2016-03-19 CN CN201610165225.1A patent/CN105704717A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1172969A2 (en) * | 2000-07-11 | 2002-01-16 | CLARION Co., Ltd. | High-speed roaming method for a wireless local area network |
| US20060002342A1 (en) * | 2004-06-07 | 2006-01-05 | Jeou-Kai Lin | System and method for a handoff in an Internet Protocol-based multimedia mobile network |
| CN103686756A (en) * | 2012-09-17 | 2014-03-26 | 中国科学院沈阳自动化研究所 | TDMA (Time Division Multiple Access) accessing device and TDMA accessing method based on multiple access points |
| CN104853448A (en) * | 2015-05-08 | 2015-08-19 | 乐视致新电子科技（天津）有限公司 | Method for automatically establishing wireless connection and device thereof |
| CN105050146A (en) * | 2015-05-28 | 2015-11-11 | 上海精吉通讯技术有限公司 | Roaming switching method |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106686626A (en) * | 2016-12-07 | 2017-05-17 | 广东欧珀移动通信有限公司 | Setting method for Wi-Fi roaming and terminal equipment |
| CN106686626B (en) * | 2016-12-07 | 2019-04-26 | Oppo广东移动通信有限公司 | The setting method and terminal device of WiFi roaming |
| US10863407B2 (en) | 2016-12-07 | 2020-12-08 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Method for setting Wi-Fi roaming, and related products |
| US10869250B2 (en) | 2016-12-07 | 2020-12-15 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Method for setting Wi-Fi roaming, and related products |
| CN107040932A (en) * | 2017-04-19 | 2017-08-11 | 深圳普智联科机器人技术有限公司 | AGV communication systems and its communicating control method based on double wireless communication channels |
| CN107040932B (en) * | 2017-04-19 | 2019-10-29 | 深圳普智联科机器人技术有限公司 | AGV communication system and its communicating control method based on double wireless communication channels |
| CN107992041A (en) * | 2017-12-06 | 2018-05-04 | 浙江大华技术股份有限公司 | A kind of AGV trolleies means of communication |
| CN109151711A (en) * | 2018-08-21 | 2019-01-04 | 新华三技术有限公司 | A kind of connection method for building up and device |
| WO2020038348A1 (en) * | 2018-08-21 | 2020-02-27 | 新华三技术有限公司 | Establishing connection |
| CN109151711B (en) * | 2018-08-21 | 2021-01-26 | 新华三技术有限公司 | Connection establishing method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU718981B2 (en) | Method and apparatus for reliable intersystem handoff in a CDMA system | |
| AU715780B2 (en) | Method and apparatus for providing a cone of silence in a cellular communication system | |
| CA2256409C (en) | Method and apparatus for providing diversity in hard handoff for a cdma system | |
| CN101932054B (en) | Switching method of wireless local area network | |
| US5917811A (en) | Method and apparatus for measurement directed hard handoff in a CDMA system | |
| EP3200508B1 (en) | Wireless communication system and method for trains and other vehicles using trackside base stations | |
| KR101884332B1 (en) | Method and apparatus for configuring virtual cell in wireless communication system | |
| CN105704717A (en) | AGV communication method | |
| EP2283675B1 (en) | Pilot signal set management in a multi-carrier communication system | |
| US5848063A (en) | Method and apparatus for hard handoff in a CDMA system | |
| CN109257786A (en) | A kind of GEO satellite mobile communication system multi-beam switching method that terminal is autonomous | |
| US7379750B2 (en) | Communications handoff using an adaptive antenna | |
| CN102497655B (en) | Dual network card cooperative handover method based on train position | |
| US20090111469A1 (en) | Method and apparatus for handover based on dynamic beamforming scheme | |
| CN105722170A (en) | Industrial mobile network AP (Access Point) switching method based on double wireless network cards | |
| JP2016213833A (en) | Antenna system for vehicle | |
| CN105101426A (en) | Device-to-device resource allocation information processing method, device and system | |
| CN110519813A (en) | Vehicle communication signal optimizing method and system | |
| JP4126134B2 (en) | Handoff control method and mobile station | |
| KR101708928B1 (en) | Method and apparatus for switching a frequency assignment in wireless communicaton system | |
| KR101521303B1 (en) | Method and apparatus for switching frequency assignment in wireless communicaton system | |
| CN103067995A (en) | Access handoff method and system and mobile access device | |
| CN107992041A (en) | A kind of AGV trolleies means of communication | |
| CN110809251B (en) | Switching method and device of wireless access point | |
| US20240107564A1 (en) | Communication relay system and radio device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160622 |
|
| RJ01 | Rejection of invention patent application after publication |