CN109144055A - The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID - Google Patents
The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The present invention provides the implementation methods of the two-way simultaneous tracking robot branch road device for meeting based on RFID, the MCU in tracking robot and communicated is arranged in the device for meeting, what is connect simultaneously with MCU is used for the RFID module to MCU transmission tracking robot landmark information, for the first detection of obstacles sensor to MCU feedback tracking robot front end barrier situation, for the second detection of obstacles sensor to MCU feedback tracking robot rear end barrier situation, and the first RFID tag for marking tracking robot point information is connect with RFID module, second RFID tag, third RFID tag；First RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font.The present invention still further there is provided five kinds in the case of meeting situation and process.The present invention solves the problems, such as that tracking robot working efficiency is not high, flexibility is poor, meets the demand of practical application, therefore, the present invention is suitable for popularization and application by reasonable design of hardware and software.
Description
Technical field
The present invention relates to tracking robot and its technical field of automation in industry, and in particular to a kind of based on the two-way of RFID
The implementation method of parallel tracking robot branch road device for meeting.
Background technique
Tracking robot is that one kind can be automatically according to given route (usually using different colours or other signals
Label is to guide) mobile robot is carried out, it is one with sensor, signal processing, motor driven and automatic control etc.
Technology come realize road surface detection, information feedback and automatic running technological synthesis body.Tracking robot is military, civilian and scientific
Research etc. has had been widely used.Such as the material of AGV (i.e. automatic guided vehicle), automatic production line escorts machine
People, the bionic nurse of hospital, the guide robot etc. in market.
Currently, in practical applications, traditional tracking robot, such as AGV generallys use unidirectional path guidance and serial
The mode of Route guiding, i.e. AGV are towards travelling in single fixed-direction or oneself independent interval range.And it heads on phase for AGV
The case where chance, then main pass course management and traffic control avoid the prior art, but such AGV control mode, show
Right working efficiency is low, and the flexibility of scheduling is also poor, and limitation is more prominent, cannot be right well when especially facing branch road
The problem of congestion occurs on the line in AGV to be taken precautions against.Therefore, it is necessary to which the use situation for tracking robot carries out technology
On improvement.
Summary of the invention
In view of the above shortcomings of the prior art, the two-way simultaneous tracking robot trouble based on RFID that the present invention provides a kind of
The implementation method of road device for meeting, be directed to branch road tracking robot meeting the case where, the work of tracking robot can be improved
Preferably there is the problem of congestion to tracking robot on the line and take precautions against in efficiency and flexibility.
To achieve the above object, the present invention is based under same total inventive concept, following several technical solutions are used:
Scheme one
The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID, the device for meeting setting
In tracking robot and the MCU that communicates, at the same connect with the MCU for MCU transmission tracking robot terrestrial reference letter
The RFID module of breath, is used for the first detection of obstacles sensor for feeding back tracking robot front end barrier situation to MCU
To the second detection of obstacles sensor of MCU feedback tracking robot rear end barrier situation, and it is connect with RFID module
For marking the first RFID tag, the second RFID tag, third RFID tag of tracking robot point information；Described first
RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag,
Third RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and R1 and R2 are respectively
Device for meeting be detected simultaneously by front when having barrier, into can car state, R1 has passed sequentially through A, B point at this time；
(2) MCU on R1 controls it and is successively back to B, A point and receives point information by RFID module；
(3) RFID module transmits tracking robot landmark information to MCU, and when R1 reaches A point, MCU controls it toward the point side C
To movement；R2 is detected in B point, stops movement by MCU control thereon；
(4) R1 is reached and C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A point direction running, while R1
Stop movement；
(5) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A point direction running, R2 meeting
Terminate；
(6) R1 reaches A point and is detected, and continues toward B point direction running, R1 meeting terminates.
Scheme two
The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID, the device for meeting setting
In tracking robot and the MCU that communicates, at the same connect with the MCU for MCU transmission tracking robot terrestrial reference letter
The RFID module of breath, is used for the first detection of obstacles sensor for feeding back tracking robot front end barrier situation to MCU
To the second detection of obstacles sensor of MCU feedback tracking robot rear end barrier situation, and it is connect with RFID module
For marking the first RFID tag, the second RFID tag, third RFID tag of tracking robot point information；Described first
RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag,
Third RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and R1 and R2 are respectively
Device for meeting be detected simultaneously by front when having barrier, into can car state, R1 has passed sequentially through B, A point at this time；
(2) MCU on R1 controls it and is back to A point and receives point information by RFID module；
(3) RFID module transmits tracking robot landmark information to MCU, and when R1 reaches A point, MCU controls it toward the point side C
To movement；
(4) R1 reaches C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A, B point direction running, simultaneously
R1 stops movement, and R2 meeting terminates；
(5) it is detected when R2 reaches B point, feeds back to the MCU on R1, MCU controls R1 toward A point direction running, R1 meeting
Terminate.
Scheme three
The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID, the device for meeting setting
In tracking robot and the MCU that communicates, at the same connect with the MCU for MCU transmission tracking robot terrestrial reference letter
The RFID module of breath, is used for the first detection of obstacles sensor for feeding back tracking robot front end barrier situation to MCU
To the second detection of obstacles sensor of MCU feedback tracking robot rear end barrier situation, and it is connect with RFID module
For marking the first RFID tag, the second RFID tag, third RFID tag of tracking robot point information；Described first
RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag,
Third RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and R1 and R2 are respectively
Device for meeting be detected simultaneously by front when having barrier, into can car state, R1 reaches A point at this time, and R2 reaches B point；
(2) it is mobile toward the point direction C to control it by the MCU on R1；
(3) R1 is reached and C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A point direction running, while R1
Stop movement, R2 meeting terminates；
(4) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A, B point direction running, R1 meeting
Vehicle terminates.
Scheme four
The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID, the device for meeting setting
In tracking robot and the MCU that communicates, at the same connect with the MCU for MCU transmission tracking robot terrestrial reference letter
The RFID module of breath, is used for the first detection of obstacles sensor for feeding back tracking robot front end barrier situation to MCU
To the second detection of obstacles sensor of MCU feedback tracking robot rear end barrier situation, and it is connect with RFID module
For marking the first RFID tag, the second RFID tag, third RFID tag of tracking robot point information；Described first
RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag,
Third RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and R1 and R2 are respectively
Device for meeting be detected simultaneously by front when having barrier, into can car state, R1 reaches A point at this time；
(2) it is mobile toward the point direction C to control it by the MCU on R1；R2 is detected in B point, stops moving by MCU control thereon
It is dynamic；
(3) R1 is reached and C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A point direction running, while R1
Stop movement, R2 meeting terminates；
(4) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A, B point direction running, R1 meeting
Vehicle terminates.
Scheme five
The implementation method of two-way simultaneous tracking robot branch road device for meeting based on RFID, the device for meeting setting
In tracking robot and the MCU that communicates, at the same connect with the MCU for MCU transmission tracking robot terrestrial reference letter
The RFID module of breath, is used for the first detection of obstacles sensor for feeding back tracking robot front end barrier situation to MCU
To the second detection of obstacles sensor of MCU feedback tracking robot rear end barrier situation, and it is connect with RFID module
For marking the first RFID tag, the second RFID tag, third RFID tag of tracking robot point information；Described first
RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag,
Third RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and R1 and R2 are respectively
Device for meeting be detected simultaneously by front when having barrier, into can car state, R1 reaches B point at this time；
(2) R2 reaches A point and is detected, and is controlled from MCU thereon mobile toward the point direction C；
(3) R2 is reached and C point and is detected, and feeds back to the MCU on R1, and MCU controls R1 toward A point direction running, while R2
Stop movement, R1 meeting terminates；
(4) it is detected when R1 reaches A point, feeds back to the MCU on R2, MCU controls R2 toward A, B point direction running, R2 meeting
Vehicle terminates.
Further, in the above scheme, the MCU is realized using RS232 serial ports and tracking robot and is communicated.
Preferably, the first detection of obstacles sensor and the second detection of obstacles sensor are infrared or ultrasonic wave
Keep in obscurity sensor.
Compared with prior art, the invention has the following advantages:
(1) present invention is applied in tracking robot, Use barriers quality testing survey technology, designs in conjunction with MCU software flow, can
Confirmed for whether tracking robot enters meeting car state, and is designed by RFID and corresponding control technology, then it can be true
Protect the normal meeting of tracking robot.It should say, the present invention is by designing a kind of tracking robot branch road device for meeting, bonding machine
The design of device people's meeting process can realize evacuation to fast and flexible for the various scenes that tracking robot branch road is met,
Normal meeting is completed, so that not only avoid tracking robot congestion occurs on the line, guarantees the efficiency of work, and
Ensure the safety of tracking robot operation.
(2) present invention is ingenious in design, and applicability is very strong, high reliablity, and being applied in tracking robot can be very big
Pressure in terms of ground alleviation route management and traffic control, therefore, the present invention is suitable for large-scale promotion application.
Detailed description of the invention
Fig. 1 is the system schematic of device for meeting of the invention.
Fig. 2 is the schematic diagram of a scenario of the present invention-embodiment 1.
Fig. 3 is the schematic diagram of a scenario of the present invention-embodiment 2.
Fig. 4 is the schematic diagram of a scenario of the present invention-embodiment 3.
Fig. 5 is the schematic diagram of a scenario of the present invention-embodiment 4.
Fig. 6 is the schematic diagram of a scenario of the present invention-embodiment 5.
Specific embodiment
The invention will be further described with embodiment for explanation with reference to the accompanying drawing, and mode of the invention includes but not only limits
In following embodiment.
It mainly include setting as shown in Figure 1, being applied in tracking robot the present invention provides a kind of device for meeting
In tracking robot and the MCU of (using RS232 serial ports) is communicated, while what is connect with the MCU follows for transmitting to MCU
The RFID module of mark robot landmark information, the first barrier for feeding back tracking robot front end barrier situation to MCU
Detection sensor, the second detection of obstacles sensor for feeding back tracking robot rear end barrier situation to MCU, Yi Jijun
The first RFID tag, the second RFID tag, the 3rd RFID for marking tracking robot point information are connect with RFID module
Label.The first detection of obstacles sensor in the present invention and the second detection of obstacles sensor is infrared or ultrasonic wave keeps in obscurity
Sensor.
First RFID tag, the second RFID tag, the setting of third RFID tag (are placed on the ground) in branch road,
And be distributed in " people " font, form meeting region.
Below by taking AGV as an example, describe in detail to application mode of the invention.
Embodiment 1
The present invention is in practical application, will appear scene shown in Fig. 2, meeting region is present among major trunk roads, when two
When AGV goes in the same direction, the meeting process of the present embodiment is as follows:
(1) two AGV are expressed as R1, R2, the first RFID tag, the second RFID tag, third RFID tag institute
Being expressed as 3 points of A, B, C in position, (for A, B point in major trunk roads, C point is in branch road point, A, B point and the connection of A, C point, and B, C point are not
Connection)；When R1, R2 are travelled in same a road section, and when the respective device for meeting of R1 and R2 is detected simultaneously by front and has barrier,
Into meeting car state, R1 has passed sequentially through A, B point (scene namely shown in Fig. 2) at this time；
(2) MCU on R1 controls it and is successively back to B, A point and receives point information by RFID module；
(3) RFID module transmits AGV landmark information to MCU, and when R1 reaches A point, it is mobile toward the point direction C that MCU controls it；
R2 is detected in B point, stops movement by MCU control thereon；
(4) R1 is reached and C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A point direction running, while R1
Stop movement；
(5) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A point direction running, R2 meeting
Terminate；
(6) R1 reaches A point and is detected, and continues toward B point direction running, R1 meeting terminates.
Embodiment 2
In practical applications, it there is also scene shown in Fig. 3, the AGV difference table that we still go in the same direction two
It is shown as R1, R2, the first RFID tag, the second RFID tag, third RFID tag position are expressed as 3 points of A, B, C.
In scene shown in Fig. 3, when R1 and the respective device for meeting of R2 are detected simultaneously by front and have barrier, into can car state,
R1 has passed sequentially through B, A point at this time.The meeting process of two AGV is as follows:
(1) MCU on R1 controls it and is back to A point and receives point information by RFID module；
(2) RFID module transmits AGV landmark information to MCU, and when R1 reaches A point, it is mobile toward the point direction C that MCU controls it；
(3) R1 reaches C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A, B point direction running, simultaneously
R1 stops movement, and R2 meeting terminates；
(4) it is detected when R2 reaches B point, feeds back to the MCU on R1, MCU controls R1 toward A point direction running, R1 meeting
Terminate.
Embodiment 3
In practical applications, it there is also scene shown in Fig. 4, the AGV difference table that we still go in the same direction two
It is shown as R1, R2, the first RFID tag, the second RFID tag, third RFID tag position are expressed as 3 points of A, B, C.
In scene shown in Fig. 4, when R1 and the respective device for meeting of R2 are detected simultaneously by front and have barrier, into can car state,
R1 reaches A point at this time, and R2 reaches B point.The meeting process of two AGV is as follows:
(1) it is mobile toward the point direction C to control it by the MCU on R1；
(2) R1 is reached and C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A point direction running, while R1
Stop movement, R2 meeting terminates；
(3) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A, B point direction running, R1 meeting
Vehicle terminates.
Embodiment 4
In practical applications, it there is also scene shown in fig. 5, the AGV difference table that we still go in the same direction two
It is shown as R1, R2, the first RFID tag, the second RFID tag, third RFID tag position are expressed as 3 points of A, B, C.
In scene shown in Fig. 5, when R1 and the respective device for meeting of R2 are detected simultaneously by front and have barrier, into can car state,
R1 reaches A point at this time.The meeting process of two AGV is as follows:
(1) it is mobile toward the point direction C to control it by the MCU on R1；R2 is detected in B point, stops moving by MCU control thereon
It is dynamic；
(2) R1 is reached and C point and is detected, and feeds back to the MCU on R2, and MCU controls R2 toward A point direction running, while R1
Stop movement, R2 meeting terminates；
(3) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A, B point direction running, R1 meeting
Vehicle terminates.
Embodiment 5
In practical applications, it there is also scene shown in fig. 5, the AGV difference table that we still go in the same direction two
It is shown as R1, R2, the first RFID tag, the second RFID tag, third RFID tag position are expressed as 3 points of A, B, C.
In scene shown in Fig. 5, when R1 and the respective device for meeting of R2 are detected simultaneously by front and have barrier, into can car state,
R1 reaches B point at this time.The meeting process of two AGV is as follows:
(1) R2 reaches A point and is detected, and is controlled from MCU thereon mobile toward the point direction C；
(2) R2 is reached and C point and is detected, and feeds back to the MCU on R1, and MCU controls R1 toward A point direction running, while R2
Stop movement, R1 meeting terminates；
(3) it is detected when R1 reaches A point, feeds back to the MCU on R2, MCU controls R2 toward A, B point direction running, R2 meeting
Vehicle terminates.
The present invention is conducted in-depth research for tracking robot branch road meeting situation, and is had devised accordingly based on this
Device for meeting and meeting mode tracking robot can be solved perfectly using unidirectional by using scheme designed by the present invention
The problem that working efficiency is low and flexibility is poor present in Route guiding and serial path guidance.The present invention comes compared with prior art
It says, technological progress is fairly obvious, with substantive distinguishing features outstanding and significant progress.
Above-described embodiment is only one of the preferred embodiment of the present invention, should not be taken to limit protection model of the invention
It encloses, as long as that in body design thought of the invention and mentally makes has no the change of essential meaning or polishing, is solved
The technical issues of it is still consistent with the present invention, should all be included within protection scope of the present invention.
Claims (7)
1. the implementation method of the two-way simultaneous tracking robot branch road device for meeting based on RFID, which is characterized in that the meeting
The MCU in tracking robot and communicated is arranged in vehicle device, while what is connect with the MCU is used to transmit tracking machine to MCU
The RFID module of device people's landmark information, the first detection of obstacles for feeding back tracking robot front end barrier situation to MCU
Sensor, for MCU feedback tracking robot rear end barrier situation the second detection of obstacles sensor, and with
RFID module is connected for marking the first RFID tag, the second RFID tag, the 3rd RFID of tracking robot point information to mark
Label；First RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag, third
RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and the respective meeting of R1 and R2
Vehicle device is detected simultaneously by front when having barrier, into can car state, R1 has passed sequentially through A, B point at this time；
(2) MCU on R1 controls it and is successively back to B, A point and receives point information by RFID module；
(3) RFID module transmits tracking robot landmark information to MCU, and when R1 reaches A point, MCU controls it and moves toward the point direction C
It is dynamic；R2 is detected in B point, stops movement by MCU control thereon；
(4) R1 reaches C point and is detected, and feeds back to the MCU on R2, MCU controls R2 toward A point direction running, while R1 stops
It is mobile；
(5) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A point direction running, and R2 meeting terminates；
(6) R1 reaches A point and is detected, and continues toward B point direction running, R1 meeting terminates.
2. the implementation method of the two-way simultaneous tracking robot branch road device for meeting based on RFID, which is characterized in that the meeting
The MCU in tracking robot and communicated is arranged in vehicle device, while what is connect with the MCU is used to transmit tracking machine to MCU
The RFID module of device people's landmark information, the first detection of obstacles for feeding back tracking robot front end barrier situation to MCU
Sensor, for MCU feedback tracking robot rear end barrier situation the second detection of obstacles sensor, and with
RFID module is connected for marking the first RFID tag, the second RFID tag, the 3rd RFID of tracking robot point information to mark
Label；First RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag, third
RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and the respective meeting of R1 and R2
Vehicle device is detected simultaneously by front when having barrier, into can car state, R1 has passed sequentially through B, A point at this time；
(2) MCU on R1 controls it and is back to A point and receives point information by RFID module；
(3) RFID module transmits tracking robot landmark information to MCU, and when R1 reaches A point, MCU controls it and moves toward the point direction C
It is dynamic；
(4) R1 reaches C point and is detected, and feeds back to the MCU on R2, MCU controls R2 toward A, B point direction running, while R1 stops
It only moves, R2 meeting terminates；
(5) it is detected when R2 reaches B point, feeds back to the MCU on R1, MCU controls R1 toward A point direction running, and R1 meeting terminates.
3. the implementation method of the two-way simultaneous tracking robot branch road device for meeting based on RFID, which is characterized in that the meeting
The MCU in tracking robot and communicated is arranged in vehicle device, while what is connect with the MCU is used to transmit tracking machine to MCU
The RFID module of device people's landmark information, the first detection of obstacles for feeding back tracking robot front end barrier situation to MCU
Sensor, for MCU feedback tracking robot rear end barrier situation the second detection of obstacles sensor, and with
RFID module is connected for marking the first RFID tag, the second RFID tag, the 3rd RFID of tracking robot point information to mark
Label；First RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag, third
RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and the respective meeting of R1 and R2
Vehicle device is detected simultaneously by front when having barrier, into can car state, R1 reaches A point at this time, and R2 reaches B point；
(2) it is mobile toward the point direction C to control it by the MCU on R1；
(3) R1 reaches C point and is detected, and feeds back to the MCU on R2, MCU controls R2 toward A point direction running, while R1 stops
Mobile, R2 meeting terminates；
(4) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A, B point direction running, R1 meeting knot
Beam.
4. the implementation method of the two-way simultaneous tracking robot branch road device for meeting based on RFID, which is characterized in that the meeting
The MCU in tracking robot and communicated is arranged in vehicle device, while what is connect with the MCU is used to transmit tracking machine to MCU
The RFID module of device people's landmark information, the first detection of obstacles for feeding back tracking robot front end barrier situation to MCU
Sensor, for MCU feedback tracking robot rear end barrier situation the second detection of obstacles sensor, and with
RFID module is connected for marking the first RFID tag, the second RFID tag, the 3rd RFID of tracking robot point information to mark
Label；First RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag, third
RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and the respective meeting of R1 and R2
Vehicle device is detected simultaneously by front when having barrier, into can car state, R1 reaches A point at this time；
(2) it is mobile toward the point direction C to control it by the MCU on R1；R2 is detected in B point, stops movement by MCU control thereon；
(3) R1 reaches C point and is detected, and feeds back to the MCU on R2, MCU controls R2 toward A point direction running, while R1 stops
Mobile, R2 meeting terminates；
(4) it is detected when R2 reaches A point, feeds back to the MCU on R1, MCU controls R1 toward A, B point direction running, R1 meeting knot
Beam.
5. the implementation method of the two-way simultaneous tracking robot branch road device for meeting based on RFID, which is characterized in that the meeting
The MCU in tracking robot and communicated is arranged in vehicle device, while what is connect with the MCU is used to transmit tracking machine to MCU
The RFID module of device people's landmark information, the first detection of obstacles for feeding back tracking robot front end barrier situation to MCU
Sensor, for MCU feedback tracking robot rear end barrier situation the second detection of obstacles sensor, and with
RFID module is connected for marking the first RFID tag, the second RFID tag, the 3rd RFID of tracking robot point information to mark
Label；First RFID tag, the second RFID tag, third RFID tag are distributed to form meeting region in " people " font；
The implementation method then the following steps are included:
(1) two robot that tracks goes in the same direction, and is expressed as R1, R2, the first RFID tag, the second RFID tag, third
RFID tag position is expressed as 3 points of A, B, C；When R1, R2 are travelled in same a road section, and the respective meeting of R1 and R2
Vehicle device is detected simultaneously by front when having barrier, into can car state, R1 reaches B point at this time；
(2) R2 reaches A point and is detected, and is controlled from MCU thereon mobile toward the point direction C；
(3) R2 reaches C point and is detected, and feeds back to the MCU on R1, MCU controls R1 toward A point direction running, while R2 stops
Mobile, R1 meeting terminates；
(4) it is detected when R1 reaches A point, feeds back to the MCU on R2, MCU controls R2 toward A, B point direction running, R2 meeting knot
Beam.
6. the two-way simultaneous tracking robot branch road device for meeting described in any one based on RFID according to claim 1~5
Implementation method, which is characterized in that the MCU is realized using RS232 serial ports and tracking robot and is communicated.
7. the implementation method of the two-way simultaneous tracking robot branch road device for meeting according to claim 6 based on RFID,
It is characterized in that, the first detection of obstacles sensor and the second detection of obstacles sensor is infrared or ultrasonic wave keeps in obscurity
Sensor.
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