WO2018205198A1

WO2018205198A1 - Management system and management method for intelligent warehouse agv

Info

Publication number: WO2018205198A1
Application number: PCT/CN2017/083897
Authority: WO
Inventors: 罗红兵; 郑国维
Original assignee: 深圳市柘叶红实业有限公司
Priority date: 2017-05-11
Filing date: 2017-05-11
Publication date: 2018-11-15

Abstract

A management system and a management method for an intelligent warehouse AGV. The management system comprises a vehicle radio frequency card, a radio frequency sensing node and a vehicle management system, wherein the radio frequency sensing node scans a vehicle radio frequency card and is connected to the vehicle management system by means of a wireless network; the vehicle radio frequency card is mounted at one end of a vehicle; the radio frequency sensing node is mounted above a shelf channel, and the radio frequency sensing node is equipped with a wireless module, and scanned data is transmitted, by the wireless module, to the vehicle management system via a wireless network; and the vehicle management system calculates the position of the vehicle, realizes real-time positioning of the vehicle, plans a path for the vehicle, and controls the movement and stopping of the vehicle. The management system is low in cost, high in efficiency, and stable in terms of positioning and navigation.

Description

Intelligent warehouse AGV trolley management system and management method

[0001] The present invention relates to a management system for an AGV trolley, and more particularly to a management system and management method for an intelligent warehouse AGV trolley.

Background technique

[0002] With the continuous development of wireless technology and computer technology, and the increasing demand for target location information in many application systems, positioning systems are receiving more and more attention. The positioning system can be divided into an outdoor positioning system and an indoor positioning system according to different positioning environments. In recent years, the most widely used positioning system is the Global Position System (GPS). However, due to the complex layout of the indoor environment and the interference of non-line-of-sight noise, the traditional positioning method is not suitable for indoor positioning.

[0003] At present, commonly used indoor positioning technologies mainly include Bluetooth positioning, infrared positioning, and ultrasonic positioning. Among them, Bluetooth positioning technology is a short-distance low-power wireless transmission technology, which is based on measuring signal strength, but for complex space environments, the Bluetooth positioning system is greatly interfered by noise signals, making its stability slightly poor; Infrared positioning technology uses optical sensors to receive optical signals for positioning. The recognition accuracy is high, but it is easily interfered by fluorescent lamps or other light sources. There are limitations in positioning. Ultrasonic positioning technology uses reflective ranging methods, based on transmitted waves and The inter-turn difference of the echo calculates the distance to achieve the positioning, but it is affected by the multipath effect and the non-line-of-sight propagation. At the same time, a large amount of underlying hardware facilities are required, which makes the positioning cost too high.

technical problem

[0004] In order to solve the above problems, the present invention provides a management system and management method for an intelligent warehouse AGV trolley that is resistant to interference and low in cost. Problem solution

Technical solution

[0005] The specific technical solution is:

[0006] The management system of the intelligent warehouse AGV trolley includes a trolley radio frequency card, a radio frequency sensing node and a trolley management system, and the radio frequency sensing node scans the radio frequency card of the trolley, and is connected to the trolley management system through the wireless network; The radio frequency card is installed at one end of the trolley; the radio frequency sensing node is installed above the shelf channel, the radio frequency sensing node scans the radio frequency card of the trolley, the radio frequency sensing node is equipped with a wireless module, and the scanning data is wirelessly transmitted through the wireless module. The network is transmitted to the car management system; the car management system calculates the position of the car, realizes the actual positioning of the car, plans the path of the car, and controls the movement and stop of the car.

[0007] Preferably, the radio frequency sensing node includes a radio frequency reader and a radio frequency antenna, and the radio frequency reader is respectively connected to the radio frequency antenna and the wireless module; the radio frequency sensing node is placed directly above the intersection of the shelf channels. The adjacent multiple RF sensing nodes are mutually neighbor nodes, and the wireless communication signals of other nodes are relayed within the communication radius of the node.

[0008] Preferably, the radio frequency sensing nodes are all installed directly above the intersection of the shelf channels according to the needs of monitoring and positioning of the trolley.

[0009] Preferably, the radio frequency antenna is a directional radio frequency antenna, and is provided with four, respectively aligning four shelf channels. [0010] wherein the wireless module is a wireless router.

[0011] Preferably, the trolley radio frequency card is an active radio frequency card, and the active radio frequency card is connected to a power supply of the trolley.

[0012] Preferably, the car management system includes a client and a wireless module respectively connected to the server, the server is configured to store and manage data, and the client processes scan data of the radio frequency sensing node, and implements the car on the car.吋 Positioning and navigation, planning the path of the car, controlling the movement and stopping of the car.

[0013] The management method of the management system of the intelligent warehouse AGV trolley includes the following steps:

[0014] S1 distributes a plurality of RF sensing nodes in a grid form directly above the intersection of the shelf channels to form a trolley sensing area covering all the shelf channels of the warehouse, and RF readers and four for each RF sensing node. The directional antennas have independent numbers and defined positions;

[0015] The directional radio frequency antenna of the S2 RF sensing node is respectively aligned with four shelf channels for scanning the radio frequency card information of the trolley located on the shelf channel, and the scan data is transmitted to the server through the wireless network;

[0016] The S3 client reads the data of the server, calculates the actual position of the car, and finds the nearest car according to the position of the goods to be taken, and plans the running path of the car;

[0017] The S4 trolley automatically moves to the position of the goods to be taken according to the running path, stops, and loads the goods to be taken;

[0018] After the S5 is loaded with the goods, the trolley continues to move according to the running path, and if the vehicle still has to pick up the goods, according to the path Go to the next point of pick-up, and move directly to the unloading point if you do not need to continue loading the goods.

[0019] wherein, the method for calculating the actual position of the trolley in step S3 is:

[0020] When the trolley moves on the shelf channel, the trolley RF card transmits a continuous positioning signal to the directional RF antenna of the nearest RF sensing node on the shelf channel, and the RF reader of the RF sensing node receives the signal through the qualitative antenna. The radio frequency card of the car transmits a continuous positioning signal, and the client determines the distance between the car and the RF sensor node according to the change of the inter-turn difference between the transmitted signal and the received signal, or the power change of the signal received by the radio frequency card of the car; After the RF sensor node, the car RF card sends a continuous positioning signal to another nearest RF sensor node to continue positioning; if the car needs to turn, a turn signal is sent at the RF sensor node that needs to turn, when the car arrives The turning RF sensing node receives the turning signal and turns left or right as required, and then the trolley RF card sends a continuous positioning signal to the nearest RF sensing node of the other shelf channel to continue positioning.

Advantageous effects of the invention

Beneficial effect

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The management system and management method of the intelligent warehouse AGV trolley provided by the invention can implement the actual positioning and control of the trolley, and perform optimal path planning according to requirements, and the whole system has low cost, high efficiency, stable positioning and navigation. .

Embodiments of the invention

[0023] Specific embodiments of the present invention will now be described in conjunction with the embodiments.

Embodiment 1

[0025] The management system of the intelligent warehouse AGV car comprises a car RF card, a radio frequency sensor node and a car management system, wherein the radio frequency sensor node scans the car radio frequency card and connects with the car management system through the wireless network; The card is installed at one end of the trolley; the RF sensor node is installed above the shelf channel, the RF sensor node scans the car RF card, and the RF sensor node is equipped with a wireless module, and the scan data is transmitted from the wireless network to the car through the wireless module. The management system calculates the position of the trolley, realizes the actual positioning of the trolley, plans the path of the trolley, and controls the movement and stop of the trolley.

[0026] Preferably, the radio frequency sensing node includes a radio frequency reader and a radio frequency antenna, and the radio frequency reader respectively The radio frequency sensing node is connected to the radio frequency antenna and the wireless module; the radio frequency sensing node is placed directly above the intersection of the shelf channels, and the adjacent plurality of radio frequency sensing nodes are neighbor nodes, and the other nodes are relayed within the communication radius of the node. Wireless communication signal.

[0027] Preferably, the radio frequency sensing nodes are all installed directly above the intersection of the shelf channels according to the needs of monitoring and positioning of the trolley.

[0028] Preferably, the radio frequency antenna is a directional radio frequency antenna, and is provided with four, respectively aligning four shelf channels. [0029] wherein the wireless module is a wireless router.

[0030] Preferably, the trolley radio frequency card is an active radio frequency card, and the active radio frequency card is connected to a power supply of the trolley.

[0031] Preferably, the car management system includes a client and a wireless module respectively connected to the server, the server is configured to store and manage data, and the client processes scan data of the radio frequency sensing node, and implements the car on the car.吋 Positioning and navigation, planning the path of the car, controlling the movement and stopping of the car.

[0032] The active RF card supplies power required by the internal IC through the power source to generate an external signal, has a long read distance and a large memory capacity, and can be used to store some additional information transmitted by the reader. At the same time, it has faster response speed and better efficiency to meet the mobile positioning of the car.

Example 2

[0034] The management method of the management system of the intelligent warehouse AGV trolley includes the following steps:

[0035] S1 distributes a plurality of RF sensing nodes in a grid form directly above the intersection of the shelf channels to form a trolley sensing area covering all the shelf channels of the warehouse, and RF readers and four for each RF sensing node. The directional antennas have independent numbers and defined positions;

[0036] The directional radio frequency antenna of the S2 RF sensing node is respectively aligned with four shelf channels for scanning the radio frequency card information of the trolley located on the shelf channel, and the scan data is transmitted to the server through the wireless network;

[0037] The S3 client reads the data of the server, calculates the actual position of the car, and finds the nearest car according to the location of the goods to be taken, and plans the running path of the car;

[0038] The S4 trolley automatically moves to the position of the goods to be taken according to the running path, and then stops to load the goods to be taken; [0039] After the S5 is loaded with the goods, the trolley continues to move according to the running path, and if the vehicle still has to pick up the goods, according to the path Go to the next point of pick-up, and move directly to the unloading point if you do not need to continue loading the goods. [0040] wherein, the method for calculating the actual position of the trolley in step S3 is:

[0041] When the car moves on the shelf channel, the car RF card sends a continuous positioning signal to the directional RF antenna of the nearest RF sensor node on the shelf channel, and the RF reader of the RF sensor node receives the signal through the qualitative antenna. The radio frequency card of the car transmits a continuous positioning signal, and the client determines the distance between the car and the RF sensor node according to the change of the inter-turn difference between the transmitted signal and the received signal, or the power change of the signal received by the radio frequency card of the car; After the RF sensor node, the car RF card sends a continuous positioning signal to another nearest RF sensor node to continue positioning; if the car needs to turn, a turn signal is sent at the RF sensor node that needs to turn, when the car arrives The turning RF sensing node receives the turning signal and turns left or right as required, and then the trolley RF card sends a continuous positioning signal to the nearest RF sensing node of the other shelf channel to continue positioning.

[0042] In order to perform effective positioning, an anti-collision function is also required. Due to the wireless communication, there may be a problem that multiple readers read a car RF card within the effective communication range of the reader, which requires a reader. Has the ability to prevent collision handling. When a car RF card is within the working range of multiple reader antennas, the anti-collision function of the reader's anti-collision module will be activated. Under the control of the anti-collision processing program, the nearest RF reader is judged, and then the data of the nearest RF reader is accepted, and the other RF sensing nodes are in a waiting state.

Claims

Claim

[Claim 1] A management system for an intelligent warehouse AGV trolley, comprising: a radio frequency card, a radio frequency sensor node, and a car management system, wherein the radio frequency sensing node scans a radio frequency card of the car, and passes through the wireless network and the car management system. The radio frequency card is installed at one end of the trolley; the radio frequency sensing node is installed above the shelf channel, the radio frequency sensing node scans the radio frequency card of the car, the radio frequency sensing node is equipped with a wireless module, and the data is scanned by the wireless module. The wireless network transmits to the trolley management system; the trolley management system calculates the position of the trolley, realizes the actual positioning of the trolley, plans the path of the trolley, and controls the movement and stop of the trolley.

[Claim 2] The management system of the smart warehouse AGV trolley according to claim 1, wherein the radio frequency sensing node comprises a radio frequency reader and a radio frequency antenna, and the radio frequency reader is respectively connected with the radio frequency antenna and the radio module The RF sensing node is placed directly above the intersection of the shelf channels, and the adjacent plurality of RF sensing nodes are neighbor nodes, and the wireless communication signals of other nodes are relayed within the communication radius of the node.

[Claim 3] The intelligent warehouse AGV trolley management system according to claim 2, wherein the radio frequency sensing nodes are all installed directly above the intersection of the shelf channels according to the needs of the trolley monitoring and positioning.

[Claim 4] The intelligent warehouse AGV trolley management system according to claim 2, wherein the radio frequency antenna is a directional radio frequency antenna, and four are provided, and four shelf channels are respectively aligned

[Claim 5] The intelligent warehouse AGV trolley management system according to claim 1, wherein the wireless module is a wireless router.

[Claim 6] The intelligent warehouse AGV trolley management system according to claim 1, wherein the trolley radio frequency card is an active radio frequency card, and the active radio frequency card is connected to a power supply of the trolley

[Claim 7] The management system of the intelligent warehouse AGV trolley according to claim 1, wherein the car management system includes a client and a wireless module respectively connected to a server, and the server is configured to store and manage data. The client processes the scan data of the RF sensor node, performs actual positioning and navigation on the car, plans the path of the car, and controls the movement of the car. And stop.

[Claim 8] The management method of the management system of the intelligent warehouse AGV trolley according to claim 1, comprising the following steps:

S1 distributes multiple RF sensing nodes in a grid form directly above the intersection of the shelf channels to form a trolley sensing area covering all the shelf channels of the warehouse, RF readers and four directional antennas for each RF sensing node. Each has an independent number and a determined position; the directional RF antenna of the S2 RF sensing node is respectively aligned with four shelf channels for scanning the radio frequency card information of the trolley located on the shelf channel, and the scanned data is transmitted to the server through the wireless network;

The S3 client reads the data of the server, calculates the actual position of the car, and finds the nearest car according to the position of the goods to be taken, and plans the running path of the car;

The S4 trolley automatically moves to the position of the goods to be picked according to the running path, and then stops to load the goods to be picked up;

After the S5 is loaded with the goods, the trolley will continue to move according to the running path. If the vehicle still has to pick up the goods, according to the route to the next point of the goods to be taken, if it is not necessary to continue loading the goods, it will move directly to the unloading point.

[Claim 9] The management method of the management system of the smart warehouse AGV trolley according to claim 8, wherein the method for calculating the actual position of the trolley in step S3 is:

When the car moves on the shelf channel, the car RF card sends a continuous positioning signal to the directional RF antenna of the nearest RF sensor node on the shelf channel, and the RF reader of the RF sensor node receives the RF card through the qualitative antenna. Sending a continuous positioning signal, the client changes the inter-turn difference between the transmitted signal and the received signal, or uses the power change of the received radio frequency card signal to determine the distance between the car and the RF sensing node; when the car runs to the RF The sensing node 吋, the car RF card sends a continuous positioning signal to another nearest RF sensor node, and continues to locate; if the car needs to turn, the turning signal is sent at the RF sensor node that needs to turn, when the car reaches the turning RF The sensing node receives the turn signal, and turns left or right as required, and then the car RF card sends a continuous positioning signal to the nearest RF sensor node of the other shelf channel, and continues to set.

Z.68C80/Z.T0ZN3/X3d 86Ϊ 8Ϊ0Ζ OAV