CN107194442A - The management system and management method of intelligent repository AGV dollies - Google Patents
The management system and management method of intelligent repository AGV dollies Download PDFInfo
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- CN107194442A CN107194442A CN201710328420.6A CN201710328420A CN107194442A CN 107194442 A CN107194442 A CN 107194442A CN 201710328420 A CN201710328420 A CN 201710328420A CN 107194442 A CN107194442 A CN 107194442A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The present invention relates to a kind of management system of AGV dollies, the especially management system and management method of intelligent repository AGV dollies, including dolly radio-frequency card, radio frequency sensing node and dolly management system, radio frequency sensing node scan dolly radio-frequency card, and it is connected by wireless network with dolly management system；Dolly radio-frequency card is arranged on one end of dolly；Radio frequency sensing node installation is equipped with wireless module, dolly management system is given by wireless network transmission by scan data by wireless module in the top of shelf passage, radio frequency sensing node scan dolly radio-frequency card, radio frequency sensing node；The position of dolly management system counting of carriers, realizes the real-time positioning of dolly, plans the path of dolly, controls the movement and stopping of dolly.The management system and management method for the intelligent repository AGV dollies that the present invention is provided can carry out positioning and controlling in real time to dolly, and carry out optimal path planning as needed, whole system cost is relatively low, efficiency high, positioning and navigation stabilization.
Description
Technical field
The present invention relates to a kind of management system of AGV dollies, the especially management system of intelligent repository AGV dollies and management
Method.
Background technology
With the development that deepens continuously of wireless technology, computer technology, and many application systems are for the real-time position of target
The demand that confidence breath is determined is increased, and alignment system increasingly attracts attention.Alignment system can be divided into according to the difference of localizing environment
Outdoor positioning system and indoor locating system.In recent years, most widely used alignment system is global positioning system (Global
Position System, GPS).But, complex topology and the interference of non line of sight noise due to indoor environment so that tradition
Localization method be not suitable for indoor positioning.
At present, conventional indoor positioning technologies mainly have bluetooth positioning, infrared ray positioning and ultrasonic wave positioning.Wherein bluetooth
Location technology is a kind of Radio Transmission Technology of short distance low-power consumption, is positioned by measurement signal intensity, but for
Complicated space environment, bluetooth alignment system is disturbed larger by noise signal so that its stability is slightly worse；Infrared confirming orientation technology
It is to receive optical signal using optical sensor to be positioned, accuracy of identification is higher, but is easily done by fluorescent lamp or other light sources
Disturb, there is limitation in positioning；Ultrasonic wave location technology is to utilize reflective telemetry, according to the time of transmitted wave and echo
Difference calculates distance to realize positioning, but can be influenceed by multipath effect and non-line-of-sight propagation, while needing substantial amounts of bottom hard
Part facility so that the cost of positioning is too high.
The content of the invention
To solve the above problems, the present invention provides a kind of management system of the low intelligent repository AGV dollies of anti-interference, cost
And management method, concrete technical scheme is：
The management system of intelligent repository AGV dollies, including dolly radio-frequency card, radio frequency sensing node and dolly management system, it is described
Radio frequency sensing node scan dolly radio-frequency card, and be connected by wireless network with dolly management system；The dolly radio-frequency card is installed
In one end of dolly；The radio frequency sensing node installation is in the top of shelf passage, radio frequency sensing node scan dolly radio-frequency card,
Radio frequency sensing node is equipped with wireless module, and dolly management system is given by wireless network transmission by scan data by wireless module；Institute
The position of dolly management system counting of carriers is stated, the real-time positioning of dolly is realized, the path of dolly is planned, the movement of dolly is controlled
And stopping.
It is preferred that, the radio frequency sensing node include radio frequency reader and radio-frequency antenna, the radio frequency reader respectively with
Radio-frequency antenna and wireless module connection；The radio frequency sensing node is placed in the surface in the crosspoint of shelf passage, adjacent
Multiple radio frequency sensing nodes neighbor node each other, in node communication radius, relays the wireless communication signal of other nodes.
It is preferred that, the need for the radio frequency sensing node is monitored with positioning according to dolly, all installed in shelf passage
The surface in crosspoint.
It is preferred that, the radio-frequency antenna is orientation radio-frequency antenna, and provided with four, is respectively aligned to four shelf passages.
Wherein, the wireless module is wireless router.
It is preferred that, the dolly radio-frequency card is active radio-frequency card, and the power supply of the active radio frequency card and dolly is connected.
It is preferred that, the dolly management system includes client and the wireless module being connected respectively with server, the clothes
Business device is used to storing and managing data, and the scan data of the client process radio frequency sensing node carries out determining in real time to dolly
Position and navigation, plan the path of dolly, control the movement and stopping of dolly.
The management method of the management system of intelligent repository AGV dollies, comprises the following steps：
Multiple radio frequency sensing nodes are distributed in the surface in the crosspoint of shelf passage by S1 with grid form, form a covering
The dolly sensing region of all shelf passages in warehouse, the radio frequency reader of each radio frequency sensing node and four directional aerials have
Independent numbering and defined location；
The orientation radio-frequency antenna of S2 radio frequency sensing nodes is respectively aligned to four shelf passages, small on shelf passage for scanning
The dolly radio frequency card information of car, scan data is by wireless network transmission to server；
The data of S3 client reading service devices, the real time position of counting of carriers, and distance is found out according to the position for treating picking thing
Nearest dolly, plans the operating path of dolly；
S4 dollies are automatically moved to according to operating path and stopped after behind the position of picking thing, and loading treats picking thing；
S5 installs dolly after goods and continued to move to according to operating path, according to path to next if the car need picking thing
It is individual to treat picking object point, move directly to break bulk point if without continuing to load goods.
Wherein, the method for the real time position of counting of carriers is described in step S3：
When dolly is moved on shelf passage, dolly radio-frequency card is determined against radio frequency sensing node nearest on the shelf passage
Continuous positioning signal is sent to radio-frequency antenna, the radio frequency reader of radio frequency sensing node receives the dolly by qualitative antenna and penetrated
The continuous positioning signal of frequency card transmission, client changes according to transmission signal with receiving the time difference of signal, or utilizes reception
Judge the distance of the dolly and this radio frequency sensing node to the changed power of dolly radio frequency card signal；When trolley travelling to should
During radio frequency sensing node, dolly radio-frequency card sends continuous positioning signal to another nearest radio frequency sensing node, continue into
Row positioning；If dolly needs to turn round, turn signal is sent in the radio frequency sensing node for needing to turn round, when dolly reaches the turn
Turn signal is received during radio frequency sensing node, is turned left or is turned right as requested, then dolly radio-frequency card is to another goods
The nearest radio frequency sensing node of frame passage sends continuous positioning signal, is persistently positioned.
Compared with prior art the invention has the advantages that：
The management system and management method for the intelligent repository AGV dollies that the present invention is provided can carry out positioning and controlling in real time to dolly
System, and carries out optimal path planning as needed, whole system cost is relatively low, efficiency high, positioning and navigation stably.
Embodiment
Illustrate the embodiment of the present invention in conjunction with real-time example.
Embodiment 1
The management system of intelligent repository AGV dollies, including dolly radio-frequency card, radio frequency sensing node and dolly management system, it is described
Radio frequency sensing node scan dolly radio-frequency card, and be connected by wireless network with dolly management system；The dolly radio-frequency card is installed
In one end of dolly；The radio frequency sensing node installation is in the top of shelf passage, radio frequency sensing node scan dolly radio-frequency card,
Radio frequency sensing node is equipped with wireless module, and dolly management system is given by wireless network transmission by scan data by wireless module；Institute
The position of dolly management system counting of carriers is stated, the real-time positioning of dolly is realized, the path of dolly is planned, the movement of dolly is controlled
And stopping.
It is preferred that, the radio frequency sensing node include radio frequency reader and radio-frequency antenna, the radio frequency reader respectively with
Radio-frequency antenna and wireless module connection；The radio frequency sensing node is placed in the surface in the crosspoint of shelf passage, adjacent
Multiple radio frequency sensing nodes neighbor node each other, in node communication radius, relays the wireless communication signal of other nodes.
It is preferred that, the need for the radio frequency sensing node is monitored with positioning according to dolly, all installed in shelf passage
The surface in crosspoint.
It is preferred that, the radio-frequency antenna is orientation radio-frequency antenna, and provided with four, is respectively aligned to four shelf passages.
Wherein, the wireless module is wireless router.
It is preferred that, the dolly radio-frequency card is active radio-frequency card, and the power supply of the active radio frequency card and dolly is connected.
It is preferred that, the dolly management system includes client and the wireless module being connected respectively with server, the clothes
Business device is used to storing and managing data, and the scan data of the client process radio frequency sensing node carries out determining in real time to dolly
Position and navigation, plan the path of dolly, control the movement and stopping of dolly.
Electric energy is to produce external signal needed for active radio frequency card supplies internal IC by power supply, with longer reading
Distance and larger memory capacity, can transmit some appended messages come, while having faster for storage reader
Reaction speed and more preferable efficiency, meet the running fix of dolly.
Embodiment 2
The management method of the management system of intelligent repository AGV dollies, comprises the following steps：
Multiple radio frequency sensing nodes are distributed in the surface in the crosspoint of shelf passage by S1 with grid form, form a covering
The dolly sensing region of all shelf passages in warehouse, the radio frequency reader of each radio frequency sensing node and four directional aerials have
Independent numbering and defined location；
The orientation radio-frequency antenna of S2 radio frequency sensing nodes is respectively aligned to four shelf passages, small on shelf passage for scanning
The dolly radio frequency card information of car, scan data is by wireless network transmission to server；
The data of S3 client reading service devices, the real time position of counting of carriers, and distance is found out according to the position for treating picking thing
Nearest dolly, plans the operating path of dolly；
S4 dollies are automatically moved to according to operating path and stopped after behind the position of picking thing, and loading treats picking thing；
S5 installs dolly after goods and continued to move to according to operating path, according to path to next if the car need picking thing
It is individual to treat picking object point, move directly to break bulk point if without continuing to load goods.
Wherein, the method for the real time position of counting of carriers is described in step S3：
When dolly is moved on shelf passage, dolly radio-frequency card is determined against radio frequency sensing node nearest on the shelf passage
Continuous positioning signal is sent to radio-frequency antenna, the radio frequency reader of radio frequency sensing node receives the dolly by qualitative antenna and penetrated
The continuous positioning signal of frequency card transmission, client changes according to transmission signal with receiving the time difference of signal, or utilizes reception
Judge the distance of the dolly and this radio frequency sensing node to the changed power of dolly radio frequency card signal；When trolley travelling to should
During radio frequency sensing node, dolly radio-frequency card sends continuous positioning signal to another nearest radio frequency sensing node, continue into
Row positioning；If dolly needs to turn round, turn signal is sent in the radio frequency sensing node for needing to turn round, when dolly reaches the turn
Turn signal is received during radio frequency sensing node, is turned left or is turned right as requested, then dolly radio-frequency card is to another goods
The nearest radio frequency sensing node of frame passage sends continuous positioning signal, is persistently positioned.
Anti-knocking function is also needed in order to carry out effective positioning, due to being communicated using wireless mode, in reader
Efficient communication in the range of, it is understood that there may be the problem of multiple readers read a dolly radio-frequency card, this is accomplished by reading utensil
There is the ability that Anti-knocking is handled.When there is dolly radio frequency card to be within the working range of the antenna of multiple readers, read
The Anti-knocking function of the Anti-knocking module of device will be activated.Under the control of Anti-knocking processing routine, judging distance penetrating recently
Frequency reader, then receives the data of nearest radio frequency reader, and other radio frequency sensing nodes are waited for.
Claims (9)
1. the management system of intelligent repository AGV dollies, it is characterised in that including dolly radio-frequency card, radio frequency sensing node and dolly
Management system, the radio frequency sensing node scan dolly radio-frequency card, and be connected by wireless network with dolly management system；It is described small
Car radio-frequency card is arranged on one end of dolly；The radio frequency sensing node installation is swept in the top of shelf passage, radio frequency sensing node
Dolly radio-frequency card is retouched, radio frequency sensing node is equipped with wireless module, give small by wireless network transmission by scan data by wireless module
Car management system；The position of the dolly management system counting of carriers, realizes the real-time positioning of dolly, plans the path of dolly,
Control the movement and stopping of dolly.
2. the management system of intelligent repository AGV dollies according to claim 1, it is characterised in that the radio frequency sensing section
Point includes radio frequency reader and radio-frequency antenna, and the radio frequency reader is connected with radio-frequency antenna and wireless module respectively；It is described to penetrate
Frequency sensing node is placed in the surface in the crosspoint of shelf passage, adjacent multiple radio frequency sensing nodes neighbor node each other,
In node communication radius, the wireless communication signal of other nodes is relayed.
3. the management system of intelligent repository AGV dollies according to claim 2, it is characterised in that the radio frequency sensing section
The need for point is monitored with positioning according to dolly, all installed in the surface in the crosspoint of shelf passage.
4. the management system of intelligent repository AGV dollies according to claim 2, it is characterised in that the radio-frequency antenna is
Radio-frequency antenna is oriented, and provided with four, is respectively aligned to four shelf passages.
5. the management system of intelligent repository AGV dollies according to claim 1, it is characterised in that the wireless module is
Wireless router.
6. the management system of intelligent repository AGV dollies according to claim 1, it is characterised in that the dolly radio-frequency card
For active radio-frequency card, the power supply of the active radio frequency card and dolly is connected.
7. the management system of intelligent repository AGV dollies according to claim 1, it is characterised in that the dolly management system
System includes client and the wireless module being connected respectively with server, and the server is used to storing and managing data, the visitor
Family end handles the scan data of radio frequency sensing node, and dolly is carried out to position and navigate in real time, the path of dolly is planned, controls small
The movement and stopping of car.
8. the management method of the management system of intelligent repository AGV dollies according to claim 1, it is characterised in that including
Following steps：
Multiple radio frequency sensing nodes are distributed in the surface in the crosspoint of shelf passage by S1 with grid form, form a covering
The dolly sensing region of all shelf passages in warehouse, the radio frequency reader of each radio frequency sensing node and four directional aerials have
Independent numbering and defined location；
The orientation radio-frequency antenna of S2 radio frequency sensing nodes is respectively aligned to four shelf passages, small on shelf passage for scanning
The dolly radio frequency card information of car, scan data is by wireless network transmission to server；
The data of S3 client reading service devices, the real time position of counting of carriers, and distance is found out according to the position for treating picking thing
Nearest dolly, plans the operating path of dolly；
S4 dollies are automatically moved to according to operating path and stopped after behind the position of picking thing, and loading treats picking thing；
S5 installs dolly after goods and continued to move to according to operating path, according to path to next if the car need picking thing
It is individual to treat picking object point, move directly to break bulk point if without continuing to load goods.
9. the management method of the management system of intelligent repository AGV dollies according to claim 8, it is characterised in that step
The method of the real time position of counting of carriers described in S3 is：
When dolly is moved on shelf passage, dolly radio-frequency card is determined against radio frequency sensing node nearest on the shelf passage
Continuous positioning signal is sent to radio-frequency antenna, the radio frequency reader of radio frequency sensing node receives the dolly by qualitative antenna and penetrated
The continuous positioning signal of frequency card transmission, client changes according to transmission signal with receiving the time difference of signal, or utilizes reception
Judge the distance of the dolly and this radio frequency sensing node to the changed power of dolly radio frequency card signal；When trolley travelling to should
During radio frequency sensing node, dolly radio-frequency card sends continuous positioning signal to another nearest radio frequency sensing node, continue into
Row positioning；If dolly needs to turn round, turn signal is sent in the radio frequency sensing node for needing to turn round, when dolly reaches the turn
Turn signal is received during radio frequency sensing node, is turned left or is turned right as requested, then dolly radio-frequency card is to another goods
The nearest radio frequency sensing node of frame passage sends continuous positioning signal, is persistently positioned.
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| CN201710328420.6A CN107194442A (en) | 2017-05-11 | 2017-05-11 | The management system and management method of intelligent repository AGV dollies |
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| CN201710328420.6A CN107194442A (en) | 2017-05-11 | 2017-05-11 | The management system and management method of intelligent repository AGV dollies |
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Cited By (10)
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| CN107618803A (en) * | 2017-09-25 | 2018-01-23 | 芜湖智久机器人有限公司 | A kind of quick storehouse management AGV trolley control systems for quickly taking cargo transport thing |
| CN108415437A (en) * | 2018-04-09 | 2018-08-17 | 重庆东渝中能实业有限公司 | Control method for movement and device |
| WO2018205198A1 (en) * | 2017-05-11 | 2018-11-15 | 深圳市柘叶红实业有限公司 | Management system and management method for intelligent warehouse agv |
| TWI668644B (en) * | 2018-09-03 | 2019-08-11 | 財團法人工業技術研究院 | Picking system and picking method |
| CN110751334A (en) * | 2019-10-21 | 2020-02-04 | 兰剑智能科技股份有限公司 | AGV (automatic guided vehicle) scheduling method and device based on intersection region prediction |
| CN111994593A (en) * | 2020-08-24 | 2020-11-27 | 南京华捷艾米软件科技有限公司 | Logistics equipment and logistics processing method |
| CN112465219A (en) * | 2020-11-25 | 2021-03-09 | 北京化工大学 | Method for constructing airplane general assembly material distribution network based on near field communication |
| CN112735116A (en) * | 2020-12-17 | 2021-04-30 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on infrared communication |
| CN112862041A (en) * | 2021-03-09 | 2021-05-28 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on RFID (radio frequency identification device) |
| CN113992665A (en) * | 2020-11-09 | 2022-01-28 | 天易智能车库(深圳)有限公司 | Intelligent garage operation system based on 5G edge calculation |
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| CN111994593A (en) * | 2020-08-24 | 2020-11-27 | 南京华捷艾米软件科技有限公司 | Logistics equipment and logistics processing method |
| CN113992665A (en) * | 2020-11-09 | 2022-01-28 | 天易智能车库(深圳)有限公司 | Intelligent garage operation system based on 5G edge calculation |
| CN112465219A (en) * | 2020-11-25 | 2021-03-09 | 北京化工大学 | Method for constructing airplane general assembly material distribution network based on near field communication |
| CN112735116A (en) * | 2020-12-17 | 2021-04-30 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on infrared communication |
| CN112862041A (en) * | 2021-03-09 | 2021-05-28 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on RFID (radio frequency identification device) |
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Application publication date: 20170922 |