CN107992041A - A kind of AGV trolleies means of communication - Google Patents
A kind of AGV trolleies means of communication Download PDFInfo
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- CN107992041A CN107992041A CN201711274442.5A CN201711274442A CN107992041A CN 107992041 A CN107992041 A CN 107992041A CN 201711274442 A CN201711274442 A CN 201711274442A CN 107992041 A CN107992041 A CN 107992041A
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- 238000004891 communication Methods 0.000 title claims abstract description 29
- 238000000060 site-specific infrared dichroism spectroscopy Methods 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 230000004044 response Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 3
- 230000000052 comparative effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003012 network analysis Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to automation equipment control field, and in particular to a kind of AGV trolleies means of communication.The present invention above-mentioned technical purpose technical scheme is that：A kind of AGV trolleies means of communication, comprise the following steps；Label configuration step, by the corresponding network information configuration of wireless network on web tab, and is located among the corresponding physical extent of the wireless network；Scanning step；AGV trolleies read the corresponding network information using visual scanning device scanning web tab；Network enters step；Include the corresponding SSID of wireless network in the network information, the network communication module on the AGV trolleies enters the corresponding networks of the SSID.The object of the present invention is to provide a kind of AGV trolleies means of communication, avoid the netconfig job for realizing that workload is huge, but arrangement includes the web tab of the network information in region, and web tab is scanned using AGV itself vision modules, achievees the purpose that automatic switching radio network.
Description
Technical field
The present invention relates to automation equipment control field, and in particular to a kind of AGV trolleies means of communication.
Background technology
With the development of information technology and the maturation of mechanical technique, in recent years, space automatic navigation technology has obtained extensively
Application and quickly progressive.Space automatic navigation technology can be industrial vehicle such as AGV, or robot, in designated space
It is interior that positioning and route guiding are provided.By taking AGV as an example, in AGV work in addition to needing positioner and guider, also need
Communication module is wanted to keep real-time communication, receiving and transmitting data signals with control system.In the prior art, it is real by WIFI communication technology
The communication connection of existing AGV and control system is a kind of common technical solution, but with the development of society, AGV is more and more
Apply in large-scale warehousing system, correspondingly, the scope of AGV operations also progressively expands, single wireless WIFI is in workspace
In domain, it can not already meet the coverage of AGV operations, at this time, radio roaming technology be introduced in many technical solutions.
In the technical solution of radio roaming, network environment is there are the AP of multiple identical SSID, and their micro unit is mutual
When mutually having a certain range of coincidence, wireless user can move in whole WLAN coverage, near wireless network card can detect
The AP of signal strength maximum, and by this AP transceiving data, keep continual network connection.But domestic type wireless routing
Device does not support radio roaming function, although and enterprise-level wireless router can realize radio roaming function, it is costly.
Chinese patent document if public step number is 105704717 A of CN discloses a kind of AGV means of communication, just uses
Above-mentioned radio roaming technology, specifically, AGV is equipped with wireless communication module, sets multiple AP, in AGV again in storage environment
Wireless communication module scans in moving process, selects the stronger wireless access points of current position signal to be attached, works as AGV
When moving to the signal of the next position and a upper wireless access points less than the threshold value set, AGV connects with the accessing wirelessly
Access point disconnects, and is then attached with the stronger wireless access points of signal.Such technical solution is except institute above
State there are it is costly the defects of outside, it is also necessary to substantial amounts of network connection configuration is carried out to each AGV trolleies.And general storehouse
AGV trolleies number is more existing for storage system, is more than 300 in practical operation, it is larger that this configures scanning work amount.
The content of the invention
The object of the present invention is to provide a kind of AGV trolleies means of communication, the network configuration for realizing that workload is huge is avoided
Work, but arrangement includes the web tab of the network information in region, using AGV itself vision modules to web tab into
Row scanning, achievees the purpose that automatic switching radio network, cost is controllable, and network switching is convenient.
The present invention above-mentioned technical purpose technical scheme is that：A kind of AGV trolleies means of communication,
It is characterized in that, comprise the following steps；
S01, label configuration step,
By the corresponding network information configuration of wireless network on web tab, and it is located at the corresponding physical extent of the wireless network
Among；
S02, scanning step；
AGV trolleies read the corresponding network information using visual scanning device scanning web tab；
S03, network enter step；
Include the corresponding SSID of wireless network in the network information, the network communication module on the AGV trolleies enters institute
State the corresponding networks of SSID.
As a preference of the present invention, corresponded in region there are two or more wireless networks in each wireless network
Physical extent among place corresponding web tab.
As a preference of the present invention, there are the physical extent overlapping region of two neighboring network, in the overlapping region,
The web tab of setting includes the corresponding network information of two networks.
As a preference of the present invention, in the overlapping region, a web tab, the corresponding net of two networks are only set
Network information is all contained in this web tab.
As a preference of the present invention, in S03, will also be new there are comparison step, the AGV trolleies during network enters step
The network information scanned is compared with the network of currently used wireless network, when comparative result is identical, does not change current
Network connection state, if result is different, then selection with the new network information scanned enters corresponding network.
As a preference of the present invention, the network information included in the web tab include the corresponding SSID data of network and
Corresponding code data.
As a preference of the present invention, the web tab is Quick Response Code, the visual scanning device on AGV trolleies is to take the photograph
As head, the Quick Response Code note is located at ground, and the camera is located at the bottom surface of the AGV trolleies.
As a preference of the present invention, also comprising positioning storing step, in this step, the AGV trolleies are recorded every time
Into or the corresponding positional information of switching wireless network.
As a preference of the present invention, also including automatic switchover step, network analysis goes out the AGV trolleies, and switching is wireless every time
The probability of positional information during network, sets high probability position, when the AGV trolleies again pass by the high probability position,
Automatically switch to corresponding wireless network.
As a preference of the present invention, when the AGV trolleies are traveling in the overlapping region, read two neighboring wireless
The network information of network, meeting presence signal intensity judgment step, in this step, the AGV trolleies detect current wireless network
The signal strength of network progressively decays, and the signal strength of another wireless network progressively strengthens, when decaying to a certain predetermined threshold value, institute
State AGV trolleies and connect another wireless network of access automatically.
In conclusion the present invention has the advantages that：
1st, reduced without using expensive radio roaming router, whole network system cost.
2nd, without carrying out overall network configuration, the complexity drop of netconfig job one by one to the AGV trolleies of substantial amounts
It is low.
3rd, by setting the SSID and encrypted message of wireless network on Quick Response Code, scanned for AGV trolleies and enter or cut
Switching network, network switching are convenient.
4th, judging to carry out the seamless switching of network for signal strength can be supported.
Brief description of the drawings
Fig. 1 is the flow diagram of embodiment 1；
Fig. 2 is the flow diagram of embodiment 2.
The present invention is described in further detail below in conjunction with attached drawing.
This specific embodiment is only explanation of the invention, it is not limitation of the present invention, people in the art
Member as needed can make the present embodiment the modification of no creative contribution after this specification is read, but as long as at this
All protected in the right of invention be subject to Patent Law.
Embodiment 1, a kind of AGV trolleies means of communication, in the working environment of AGV trolleies, there are multiple wireless WIFI nets
Network, such as WIFI1, there are the corresponding network information, the common network information by WIFI2, WIFI3 ... WIFI N, each WIFI
Include its SSID and corresponding password.Then, SSID information and code data are all encrypted, and write Quick Response Code,
Quick Response Code is both the web tab in the technical program.
According to the situation of WIFI signal intensity, whole region is divided into isolated area and overlapping region.Isolated area refers to
A WIFI signal, such as region 1, region 2, region 3 ... region N are only existed in some region, correspond to respectively
The wireless signal independence overlay area of WIFI1, WIFI2, WIFI3 ... WIFI N, in that region, such as region 1, Zhi Nengshou
To the wireless network signal of WIFI1.And overlapping region refers to, in neighbouring wireless networks, the overlapping region of presence signal.Such as
Overlapping region A, between WIFI1 and WIFI2, in this region, can receive the wireless signal of WIFI1, can also receive
The wireless signal of WIFI2.
AGV trolleies in the technical program use common AGV mechanical structures, and comprising walking structure, brake structure, turns to
Structure, additionally it contained visual scanning device, such as camera, for scanning the two-dimensional code.User can set each Quick Response Code note
On place ground, and camera may be provided at AGV trolleies bottom surface, easy to scan.
In the part of isolated area, the corresponding network information of the network only is included on the Quick Response Code of setting, and in overlay region
In domain, the network information of two neighboring network is contained in the Quick Response Code of setting.Such as above, the Quick Response Code in isolated area 1,
Only include the network information of WIFI1, and the Quick Response Code in the A of overlapping region, then contain the information of WIFI1 and WIFI2.
In the present embodiment, AGV trolleies scan the Quick Response Code of ground, it is corresponding to obtain WIFI during traveling
The network information.AGV trolleies can be judged, the network information for judging to scan and itself the network information used whether
It is identical, if identical, do not change, if differing, be directly switch to the network corresponding to the network information newly scanned.
Such as AGV trolleies travel in isolated area 1, the wireless network of user WIFI1.When trolley operation back and forth, then
During secondary two-dimension code label corresponding by WIFI1, the corresponding network information of the label is detected and from the network letter used
Manner of breathing is same, is not altered at this time.
When AGV trolleies continue to travel, drive in the A of overlapping region, WIFI1 has been arrived by the two-dimensional code scanning of ground at this time
With the information of WIFI2, by comparing, the network information of WIFI2 is different from the network information that is just using now, then automatically according to
SSID and code data on WIFI2 enter the network of WIFI2.
Embodiment 2, as different from Example 1, there are the comparison procedure of a signal strength.
In the present embodiment, when the scanning of AGV trolleies is to corresponding Quick Response Code, corresponding WIFI information is not only obtained, also
Detect the corresponding network signal intensity of the network.And when trolley is in overlapping region, two network informations have been scanned, have been needed
When wanting handover network, there is also the process that a signal compares.
Specifically, when AGV trolleies from isolated area 1 into overlapping region A, pass through the two-dimensional code scanning of ground at this time
The information of WIFI1 and WIFI2 have been arrived, has subsequently entered signal strength judgement, during AGV trolleies continue traveling, WIFI1's
Signal strength is gradually strengthening in continuous decrement, the signal strength of WIFI2, when the signal strength weakening of WIFI1 is to a certain threshold value,
And the enhancing of WIFI2 signal strengths is to a certain threshold value etc., wireless network switches to WIFI2 at this time, completes the mistake of network seamless switching
Journey.This threshold value can be preset by user.
Embodiment 3, positioning memory function is the increase in the difference of embodiment 2.Carried out in each AGV trolleies according to signal strength
When network switching, while record the positional information corresponding to network switching.Since AGV trolleies use homing guidance skill
Art, itself usually carries positioner and guider, by positioner can be readily available corresponding positional information or
Indoor coordinate information.Corresponding positional information stored record, is periodically counted when system is by network switching, such as is with one day
One cycle carried out data statistics, obtains each handover network and usually occurs in which or which position, is then programmed and sets
It is fixed, when AGV trolleies come predeterminated position afterwards, without carrying out the judgement of signal strength, directly carry out corresponding network switching.
Claims (10)
1. a kind of AGV trolleies means of communication, it is characterised in that comprise the following steps；S01, label configuration step, by wireless network
The corresponding network information configuration of network is located among the corresponding physical extent of the wireless network on web tab；
S02, scanning step；
AGV trolleies read the corresponding network information using visual scanning device scanning web tab；
S03, network enter step；
Include the corresponding SSID of wireless network in the network information, the network communication module access institute on the AGV trolleies
State the corresponding networks of SSID.
A kind of 2. AGV trolleies means of communication according to claim 1, it is characterised in that：There are two or two in region
Above wireless network, corresponding web tab is placed among the corresponding physical extent of each wireless network.
A kind of 3. AGV trolleies means of communication according to claim 2, it is characterised in that：There are the thing of two neighboring network
Overlapping ranges region is managed, in the overlapping region, the web tab of setting includes the corresponding network information of two networks.
A kind of 4. AGV trolleies means of communication according to claim 3, it is characterised in that：In the overlapping region, only set
A web tab is put, the corresponding network information of two networks is all contained in this web tab.
A kind of 5. AGV trolleies means of communication according to Claims 2 or 3 or 4, it is characterised in that：In S03, network enters
In step, also there are comparison step, the AGV trolleies are by new network information scan and the net of currently used wireless network
Network is compared, and when comparative result is identical, does not change current network connection state, if result is different, is then selected newly to sweep
The network information retouched enters corresponding network.
A kind of 6. AGV trolleies means of communication according to claim 1 or 2 or 3 or 4, it is characterised in that：The web tab
In the network information include the corresponding SSID data of network and corresponding code data.
A kind of 7. AGV trolleies means of communication according to claim 1 or 2 or 3 or 4, it is characterised in that：The web tab
For Quick Response Code, the visual scanning device on AGV trolleies is camera, and the Quick Response Code is located at ground, the camera position
In the bottom surface of the AGV trolleies.
A kind of 8. AGV trolleies means of communication according to claim 1 or 2 or 3 or 4, it is characterised in that：Also deposited comprising positioning
Step is stored up, in this step, the AGV trolleies are recorded enters or switch the corresponding positional information of wireless network every time.
A kind of 9. AGV trolleies means of communication according to claim 8, it is characterised in that：Automatic switchover step is also included, is
System analyzes the probability of the positional information when AGV trolleies switch wireless network every time, high probability position is set, when described
When AGV trolleies again pass by the high probability position, corresponding wireless network is automatically switched to.
A kind of 10. AGV trolleies means of communication according to claim 3 or 4, it is characterised in that：The AGV trolleies are traveling in
When in the overlapping region, the network information of two neighboring wireless network, meeting presence signal intensity judgment step, at this are read
In step, the AGV trolleies detect that the signal strength of active wireless network progressively decays, the signal strength of another wireless network
Progressively strengthen, when decaying to a certain predetermined threshold value, the AGV trolleies connect another wireless network of access automatically.
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| CN201711274442.5A CN107992041A (en) | 2017-12-06 | 2017-12-06 | A kind of AGV trolleies means of communication |
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| CN201711274442.5A CN107992041A (en) | 2017-12-06 | 2017-12-06 | A kind of AGV trolleies means of communication |
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Cited By (2)
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| CN109561139A (en) * | 2018-11-20 | 2019-04-02 | 上海交大智邦科技有限公司 | AGV basic point formula communication system, the means of communication and computer readable storage medium |
| WO2020038348A1 (en) * | 2018-08-21 | 2020-02-27 | 新华三技术有限公司 | Establishing connection |
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