CN109144055B - Method for realizing two-way parallel tracking robot turnout car crossing device based on RFID - Google Patents

Method for realizing two-way parallel tracking robot turnout car crossing device based on RFID Download PDF

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CN109144055B
CN109144055B CN201810866808.6A CN201810866808A CN109144055B CN 109144055 B CN109144055 B CN 109144055B CN 201810866808 A CN201810866808 A CN 201810866808A CN 109144055 B CN109144055 B CN 109144055B
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mcu
point
rfid label
tracking robot
rfid
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CN109144055A (en
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钱志明
杨文军
张思剑
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Creative Password (Chengdu) Industrial Design Co.,Ltd.
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Chengdu Turing Times Technology Co ltd
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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
    • 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
    • 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
    • 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 invention provides a method for realizing a turnout meeting device of a two-way parallel tracking robot based on RFID, wherein the meeting device is arranged on the tracking robot and is communicated with an MCU (microprogrammed control Unit), and is simultaneously connected with the MCU and used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor used for feeding back the obstacle condition at the front end of the tracking robot to the MCU, a second obstacle detection sensor used for feeding back the obstacle condition at the rear end of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a vehicle meeting area. The invention also provides the meeting condition and the meeting process under five conditions. The invention solves the problems of low working efficiency and poor flexibility of the tracking robot through reasonable software and hardware design, and meets the requirements of practical application, therefore, the invention is suitable for popularization and application.

Description

Method for realizing two-way parallel tracking robot turnout car crossing device based on RFID
Technical Field
The invention relates to a tracking robot and the technical field of industrial automation thereof, in particular to a method for realizing a bidirectional parallel tracking robot turnout car crossing device based on RFID.
Background
The tracking robot is a robot capable of automatically moving according to a given route (generally guided by different colors or other signal marks), and is a technical complex which realizes road surface detection, information feedback and automatic driving by using technologies such as sensors, signal processing, motor driving, automatic control and the like. Tracking robots have gained wide use in military, civilian and scientific research applications. Such as AGVs (i.e., automated guided vehicles), material delivery robots for automated production lines, robotic nurses in hospitals, tour guide robots in shopping malls, etc.
Currently, in practical applications, a conventional tracking robot, such as an AGV, generally adopts a one-way path guidance mode and a serial path guidance mode, that is, the AGV travels in a single fixed direction or in an independent interval range. And to the condition that AGV meets head-on, prior art then mainly avoids through route management and traffic control, but such AGV control mode, obviously work efficiency is low, and the flexibility of scheduling is also poor, and the limitation is comparatively outstanding, especially when facing the fork, can not take precautions against the problem that AGV appears blocking up on the line well. Therefore, there is a need for technical improvements in the state of the art of the tracking robot.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the method for realizing the bidirectional parallel tracking robot turnout car crossing device based on the RFID, aiming at the situation that the turnout tracking robot crosses, the working efficiency and the flexibility of the tracking robot can be improved, and the problem that the tracking robot is blocked on a line can be better prevented.
In order to achieve the purpose, the invention adopts the following technical schemes based on the same general inventive concept:
scheme one
The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID comprises the following steps that the car crossing device is arranged on the tracking robot and is communicated with an MCU, and meanwhile, the MCU is connected with an RFID module used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor used for feeding back the front end obstacle condition of the tracking robot to the MCU, a second obstacle detection sensor used for feeding back the rear end obstacle condition of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the vehicles are driven on the same road segment by the R1 and the R2 and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 sequentially passes through the A, B point;
(2) the MCU on the R1 controls the point to sequentially return to point B, A and the RFID module receives point location information;
(3) the RFID module transmits the landmark information of the tracking robot to the MCU, and when the R1 reaches the point A, the MCU controls the tracking robot to move towards the point C; r2 is detected at point B, and the MCU on the R2 is controlled to stop moving;
(4) r1 reaches the point C and is detected, the feedback is carried out to the MCU on the R2, the MCU controls the R2 to drive towards the point A, and meanwhile, the R1 stops moving;
(5) when the R2 is detected when reaching the point A, the feedback is carried out to the MCU on the R1, the MCU controls the R1 to drive towards the point A, and the R2 meeting is ended;
(6) and when the R1 reaches the point A and is detected, the vehicle continues to drive in the direction of the point B, and the R1 meeting is ended.
Scheme two
The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID comprises the following steps that the car crossing device is arranged on the tracking robot and is communicated with an MCU, and meanwhile, the MCU is connected with an RFID module used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor used for feeding back the front end obstacle condition of the tracking robot to the MCU, a second obstacle detection sensor used for feeding back the rear end obstacle condition of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the vehicles are driven on the same road segment by the R1 and the R2 and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 sequentially passes through the B, A point;
(2) the MCU on the R1 controls the point to return to the point A and the RFID module receives point location information;
(3) the RFID module transmits the landmark information of the tracking robot to the MCU, and when the R1 reaches the point A, the MCU controls the tracking robot to move towards the point C;
(4) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive in the direction of point A, B, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(5) when the R2 reaches the point B, the feedback is carried out to the MCU on the R1, the MCU controls the R1 to drive towards the point A, and the R1 meeting is finished.
Scheme three
The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID comprises the following steps that the car crossing device is arranged on the tracking robot and is communicated with an MCU, and meanwhile, the MCU is connected with an RFID module used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor used for feeding back the front end obstacle condition of the tracking robot to the MCU, a second obstacle detection sensor used for feeding back the rear end obstacle condition of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the vehicles meet the road in the same road section, R1 and R2 drive in the same road section, and the vehicle meet devices of R1 and R2 simultaneously detect that an obstacle exists in the front of the road, the vehicle meet state is entered, at the moment, R1 reaches a point A, and R2 reaches a point B;
(2) the MCU on the R1 controls the MCU to move towards the direction of the point C;
(3) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive towards the point A, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(4) when the R2 is detected when reaching the point A, the feedback is sent to the MCU on the R1, the MCU controls the R1 to drive in the direction of point A, B, and the R1 meeting is finished.
Scheme four
The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID comprises the following steps that the car crossing device is arranged on the tracking robot and is communicated with an MCU, and meanwhile, the MCU is connected with an RFID module used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor used for feeding back the front end obstacle condition of the tracking robot to the MCU, a second obstacle detection sensor used for feeding back the rear end obstacle condition of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the R1 and the R2 run on the same road section and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 reaches the point A;
(2) the MCU on the R1 controls the MCU to move towards the direction of the point C; r2 is detected at point B, and the MCU on the R2 is controlled to stop moving;
(3) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive towards the point A, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(4) when the R2 is detected when reaching the point A, the feedback is sent to the MCU on the R1, the MCU controls the R1 to drive in the direction of point A, B, and the R1 meeting is finished.
Scheme five
The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID comprises the following steps that the car crossing device is arranged on the tracking robot and is communicated with an MCU, and meanwhile, the MCU is connected with an RFID module used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor used for feeding back the front end obstacle condition of the tracking robot to the MCU, a second obstacle detection sensor used for feeding back the rear end obstacle condition of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the R1 and the R2 run in the same road section and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 reaches the point B;
(2) r2 reaches the point A and is detected, and the MCU on the R2 is controlled to move towards the point C;
(3) when the R2 reaches the point C and is detected, the feedback is made to the MCU on the R1, the MCU controls the R1 to drive towards the point A, meanwhile, the R2 stops moving, and the R1 meeting is ended;
(4) when the R1 is detected when reaching the point A, the feedback is sent to the MCU on the R2, the MCU controls the R2 to drive in the direction of point A, B, and the R2 meeting is finished.
Further, in the above scheme, the MCU adopts an RS232 serial port to communicate with the tracking robot.
Preferably, the first obstacle detection sensor and the second obstacle detection sensor are both infrared or ultrasonic barrier sensors.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention is applied to the tracking robot, can confirm whether the tracking robot enters the meeting state by utilizing the barrier detection technology and combining the MCU software flow design, and can ensure the normal meeting of the tracking robot through the RFID and the corresponding control technology design. It should be noted that by designing the tracking robot turnout car meeting device and combining the design of the robot car meeting process, the invention can quickly and flexibly realize avoidance aiming at various scenes that the tracking robot turnout ways meet and complete normal car meeting, thereby not only avoiding the tracking robot from being blocked on the line and ensuring the working efficiency, but also ensuring the running safety of the tracking robot.
(2) The invention has the advantages of ingenious design, very strong applicability and high reliability, and can greatly relieve the pressure in the aspects of route management and traffic control when being applied to the tracking robot, so the invention is suitable for large-scale popularization and application.
Drawings
Fig. 1 is a system diagram of the vehicle crossing device of the present invention.
Fig. 2 is a scene diagram of embodiment 1 of the present invention.
Fig. 3 is a scene diagram of embodiment 2 of the present invention.
Fig. 4 is a scene diagram of embodiment 3 of the present invention.
Fig. 5 is a scene diagram of embodiment 4 of the present invention.
Fig. 6 is a scene diagram of embodiment 5 of the present invention.
Detailed Description
The present invention will be further described with reference to the following description and examples, which include but are not limited to the following examples.
As shown in fig. 1, the present invention provides a car crossing apparatus, which is applied to a tracking robot, and mainly includes an MCU disposed on the tracking robot and communicating with the tracking robot (using an RS232 serial port), an RFID module connected to the MCU and used for transmitting tracking robot landmark information to the MCU, a first obstacle detection sensor used for feeding back a front-end obstacle condition of the tracking robot to the MCU, a second obstacle detection sensor used for feeding back a rear-end obstacle condition of the tracking robot to the MCU, and a first RFID tag, a second RFID tag, and a third RFID tag connected to the RFID module and used for marking tracking robot point location information. The first obstacle detection sensor and the second obstacle detection sensor in the invention are both infrared or ultrasonic barrier sensors.
The first RFID tag, the second RFID tag and the third RFID tag are arranged on a turnout (placed on the ground) and distributed in a herringbone shape to form a vehicle crossing area.
The following describes the application of the present invention in detail by taking AGV as an example.
Example 1
In practical application, the present invention will appear in the scene shown in fig. 2, the meeting area exists in the main road, and when two AGVs are going in the opposite direction, the meeting process of the present embodiment is as follows:
(1) the two AGVs are respectively represented as R1 and R2, and the positions of the first RFID tag, the second RFID tag and the third RFID tag are respectively represented as A, B, C three points (point A, B is on a trunk, point C is on a branch point, point A, B and point A, C are communicated, and point B, C is not communicated); when the vehicles meet the vehicle in front are detected by the vehicle meet devices of R1 and R2 simultaneously while the vehicles 1 and R2 are driven on the same road segment, the vehicle meet state is entered, and then the vehicles R1 sequentially pass through A, B points (namely, the scene shown in fig. 2);
(2) the MCU on the R1 controls the point to sequentially return to point B, A and the RFID module receives point location information;
(3) the RFID module transmits AGV landmark information to the MCU, and when the R1 reaches the point A, the MCU controls the AGV to move towards the point C; r2 is detected at point B, and the MCU on the R2 is controlled to stop moving;
(4) r1 reaches the point C and is detected, the feedback is carried out to the MCU on the R2, the MCU controls the R2 to drive towards the point A, and meanwhile, the R1 stops moving;
(5) when the R2 is detected when reaching the point A, the feedback is carried out to the MCU on the R1, the MCU controls the R1 to drive towards the point A, and the R2 meeting is ended;
(6) and when the R1 reaches the point A and is detected, the vehicle continues to drive in the direction of the point B, and the R1 meeting is ended.
Example 2
In actual practice, the scenario shown in FIG. 3 also appears, where two AGVs traveling in opposite directions are respectively represented as R1 and R2, and the positions of the first RFID tag, the second RFID tag and the third RFID tag are respectively represented as A, B, C three points. In the scenario shown in fig. 3, when the vehicle-crossing devices of R1 and R2 simultaneously detect an obstacle in front of the vehicle, the vehicle-crossing state is entered, and then R1 has passed through point B, A in sequence. The meeting flow of the two AGVs is as follows:
(1) the MCU on the R1 controls the point to return to the point A and the RFID module receives point location information;
(2) the RFID module transmits AGV landmark information to the MCU, and when the R1 reaches the point A, the MCU controls the AGV to move towards the point C;
(3) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive in the direction of point A, B, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(4) when the R2 reaches the point B, the feedback is carried out to the MCU on the R1, the MCU controls the R1 to drive towards the point A, and the R1 meeting is finished.
Example 3
In actual practice, the scenario shown in fig. 4 also appears, where two AGVs traveling in opposite directions are respectively represented as R1 and R2, and the positions of the first RFID tag, the second RFID tag, and the third RFID tag are respectively represented as A, B, C three points. In the scenario shown in fig. 4, when the vehicle-crossing devices of R1 and R2 simultaneously detect an obstacle in front of the vehicle, the vehicle-crossing state is entered, where R1 reaches point a and R2 reaches point B. The meeting flow of the two AGVs is as follows:
(1) the MCU on the R1 controls the MCU to move towards the direction of the point C;
(2) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive towards the point A, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(3) when the R2 is detected when reaching the point A, the feedback is sent to the MCU on the R1, the MCU controls the R1 to drive in the direction of point A, B, and the R1 meeting is finished.
Example 4
In actual practice, the scenario shown in fig. 5 also appears, where two AGVs traveling in opposite directions are respectively represented as R1 and R2, and the positions of the first RFID tag, the second RFID tag, and the third RFID tag are respectively represented as A, B, C three points. In the scenario shown in fig. 5, when the vehicle-crossing devices of R1 and R2 simultaneously detect an obstacle in front of the vehicle, the vehicle-crossing state is entered, and then R1 reaches point a. The meeting flow of the two AGVs is as follows:
(1) the MCU on the R1 controls the MCU to move towards the direction of the point C; r2 is detected at point B, and the MCU on the R2 is controlled to stop moving;
(2) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive towards the point A, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(3) when the R2 is detected when reaching the point A, the feedback is sent to the MCU on the R1, the MCU controls the R1 to drive in the direction of point A, B, and the R1 meeting is finished.
Example 5
In actual practice, the scenario shown in fig. 5 also appears, where two AGVs traveling in opposite directions are respectively represented as R1 and R2, and the positions of the first RFID tag, the second RFID tag, and the third RFID tag are respectively represented as A, B, C three points. In the scenario shown in fig. 5, when the vehicle-crossing devices of R1 and R2 simultaneously detect an obstacle in front of the vehicle, the vehicle-crossing state is entered, and then R1 reaches point B. The meeting flow of the two AGVs is as follows:
(1) r2 reaches the point A and is detected, and the MCU on the R2 is controlled to move towards the point C;
(2) when the R2 reaches the point C and is detected, the feedback is made to the MCU on the R1, the MCU controls the R1 to drive towards the point A, meanwhile, the R2 stops moving, and the R1 meeting is ended;
(3) when the R1 is detected when reaching the point A, the feedback is sent to the MCU on the R2, the MCU controls the R2 to drive in the direction of point A, B, and the R2 meeting is finished.
The invention carries out deep research aiming at the turnout vehicle crossing condition of the tracking robot, designs a corresponding vehicle crossing device and a corresponding vehicle crossing mode based on the turnout vehicle crossing condition, and can perfectly solve the problems of low working efficiency and poor flexibility of the tracking robot adopting one-way path guidance and serial path guidance by adopting the scheme designed by the invention. Compared with the prior art, the invention has obvious technical progress, and has outstanding substantive characteristics and remarkable progress.
The above-mentioned embodiment is only one of the preferred embodiments of the present invention, and should not be used to limit the scope of the present invention, but all the insubstantial modifications or changes made within the spirit and scope of the main design of the present invention, which still solve the technical problems consistent with the present invention, should be included in the scope of the present invention.

Claims (7)

1. The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID is characterized in that the car crossing device is arranged on the tracking robot and is communicated with an MCU (microprogrammed control Unit), the RFID module which is connected with the MCU and is used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor which is used for feeding back the obstacle condition of the front end of the tracking robot to the MCU, a second obstacle detection sensor which is used for feeding back the obstacle condition of the rear end of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and are used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the vehicles are driven on the same road segment by the R1 and the R2 and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 sequentially passes through the A, B point;
(2) the MCU on the R1 controls the point to sequentially return to point B, A and the RFID module receives point location information;
(3) the RFID module transmits the landmark information of the tracking robot to the MCU, and when the R1 reaches the point A, the MCU controls the tracking robot to move towards the point C; r2 is detected at point B, and the MCU on the R2 is controlled to stop moving;
(4) r1 reaches the point C and is detected, the feedback is carried out to the MCU on the R2, the MCU controls the R2 to drive towards the point A, and meanwhile, the R1 stops moving;
(5) when the R2 is detected when reaching the point A, the feedback is carried out to the MCU on the R1, the MCU controls the R1 to drive towards the point A, and the R2 meeting is ended;
(6) and when the R1 reaches the point A and is detected, the vehicle continues to drive in the direction of the point B, and the R1 meeting is ended.
2. The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID is characterized in that the car crossing device is arranged on the tracking robot and is communicated with an MCU (microprogrammed control Unit), the RFID module which is connected with the MCU and is used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor which is used for feeding back the obstacle condition of the front end of the tracking robot to the MCU, a second obstacle detection sensor which is used for feeding back the obstacle condition of the rear end of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and are used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the vehicles are driven on the same road segment by the R1 and the R2 and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 sequentially passes through the B, A point;
(2) the MCU on the R1 controls the point to return to the point A and the RFID module receives point location information;
(3) the RFID module transmits the landmark information of the tracking robot to the MCU, and when the R1 reaches the point A, the MCU controls the tracking robot to move towards the point C;
(4) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive in the direction of point A, B, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(5) when the R2 reaches the point B, the feedback is carried out to the MCU on the R1, the MCU controls the R1 to drive towards the point A, and the R1 meeting is finished.
3. The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID is characterized in that the car crossing device is arranged on the tracking robot and is communicated with an MCU (microprogrammed control Unit), the RFID module which is connected with the MCU and is used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor which is used for feeding back the obstacle condition of the front end of the tracking robot to the MCU, a second obstacle detection sensor which is used for feeding back the obstacle condition of the rear end of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and are used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the vehicles meet the road in the same road section, R1 and R2 drive in the same road section, and the vehicle meet devices of R1 and R2 simultaneously detect that an obstacle exists in the front of the road, the vehicle meet state is entered, at the moment, R1 reaches a point A, and R2 reaches a point B;
(2) the MCU on the R1 controls the MCU to move towards the direction of the point C;
(3) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive towards the point A, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(4) when the R2 is detected when reaching the point A, the feedback is sent to the MCU on the R1, the MCU controls the R1 to drive in the direction of point A, B, and the R1 meeting is finished.
4. The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID is characterized in that the car crossing device is arranged on the tracking robot and is communicated with an MCU (microprogrammed control Unit), the RFID module which is connected with the MCU and is used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor which is used for feeding back the obstacle condition of the front end of the tracking robot to the MCU, a second obstacle detection sensor which is used for feeding back the obstacle condition of the rear end of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and are used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the R1 and the R2 run on the same road section and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 reaches the point A;
(2) the MCU on the R1 controls the MCU to move towards the direction of the point C; r2 is detected at point B, and the MCU on the R2 is controlled to stop moving;
(3) when the R1 reaches the point C and is detected, the feedback is made to the MCU on the R2, the MCU controls the R2 to drive towards the point A, meanwhile, the R1 stops moving, and the R2 meeting is ended;
(4) when the R2 is detected when reaching the point A, the feedback is sent to the MCU on the R1, the MCU controls the R1 to drive in the direction of point A, B, and the R1 meeting is finished.
5. The method for realizing the turnout car crossing device of the bidirectional parallel tracking robot based on the RFID is characterized in that the car crossing device is arranged on the tracking robot and is communicated with an MCU (microprogrammed control Unit), the RFID module which is connected with the MCU and is used for transmitting landmark information of the tracking robot to the MCU, a first obstacle detection sensor which is used for feeding back the obstacle condition of the front end of the tracking robot to the MCU, a second obstacle detection sensor which is used for feeding back the obstacle condition of the rear end of the tracking robot to the MCU, and a first RFID label, a second RFID label and a third RFID label which are connected with the RFID module and are used for marking the point location information of the tracking robot; the first RFID label, the second RFID label and the third RFID label are distributed in a herringbone shape to form a meeting area;
the implementation method comprises the following steps:
(1) the two tracing robots are opposite and respectively represented as R1 and R2, and the positions of the first RFID label, the second RFID label and the third RFID label are respectively represented as A, B, C three points; when the R1 and the R2 run in the same road section and the front obstacles are simultaneously detected by the vehicle meeting devices of the R1 and the R2, the vehicle meeting state is entered, and the R1 reaches the point B;
(2) r2 reaches the point A and is detected, and the MCU on the R2 is controlled to move towards the point C;
(3) when the R2 reaches the point C and is detected, the feedback is made to the MCU on the R1, the MCU controls the R1 to drive towards the point A, meanwhile, the R2 stops moving, and the R1 meeting is ended;
(4) when the R1 is detected when reaching the point A, the feedback is sent to the MCU on the R2, the MCU controls the R2 to drive in the direction of point A, B, and the R2 meeting is finished.
6. The method for realizing the RFID-based bidirectional parallel tracking robot turnout meeting device according to any one of claims 1-5, wherein the MCU adopts an RS232 serial port to realize communication with the tracking robot.
7. The method of claim 6, wherein the first obstacle detection sensor and the second obstacle detection sensor are infrared or ultrasonic barrier sensors.
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