CN109556624A - AGV trolley Position Fixing Navigation System and method based on Bluetooth technology - Google Patents
AGV trolley Position Fixing Navigation System and method based on Bluetooth technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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Abstract
The present invention relates to AGV trolley Position Fixing Navigation Systems and method based on Bluetooth technology comprising several Bluetooth signal transmitters, PC the and AGV trolley terminal with network communicating function module；Bluetooth signal transmitter is based on 4.0 standard of bluetooth, uses iBeacon agreement with specific frequency broadcast singal；AGV trolley terminal and terminal positioning navigation system；PC includes the end PC scheduling system；It includes visualized operation interface and database that system is dispatched at the end PC, and office operation environmental map and its coordinatograph information and bluetooth transmitters layout information are stored in database；The end PC scheduling system receives the motion vector information that AGV trolley terminal is sent and is stored in database；The present invention has rational design, compact-sized and easy to use.
Description
Technical field
The present invention relates to AGV trolley Position Fixing Navigation Systems and method based on Bluetooth technology.
Background technique
Existing AGV location navigation mainly passes through the modes such as electromagnetism, tape, vision and laser.Electromagnetism: at present application than
More, more traditional one of mode, its principle are that metal wire and bootload frequency are laid on the predefined paths of AGV trolley
Rate, disadvantage are also obvious: being laid with the fixed not malleable of conducting wire rear path.Tape: principle is similar to electromagnetic mode, predetermined
Tape is sticked on path, is guided by magnetic induction, disadvantage: needing to safeguard.Vision: visual sensor identification path and ring are utilized
The principle of the color difference in border, disadvantage: operand is big, there is certain requirement to hardware.Laser: by capture the reflected beams principle come
Determine position and direction.Disadvantage: it is at high cost, it is easy to be interfered.
Summary of the invention
The technical problems to be solved by the invention be generally speaking to provide it is a kind of based on Bluetooth technology AGV trolley positioning lead
Navigate system and method；The technical issues of solving in detail and acquirement beneficial effect in aftermentioned content and combine specific embodiment
Middle content specifically describes.
To solve the above problems, the technical solution used in the present invention is:
The present invention for the disadvantage in aforesaid way, propose a kind of AGV trolley based on Bluetooth technology Position Fixing Navigation System and
Method realizes the accurate positioning and navigation of AGV trolley.
The present invention is solved the above problems using following technical scheme:
A kind of Position Fixing Navigation System of the AGV trolley based on Bluetooth technology of the present invention, including several Bluetooth signal transmitters, have
PC the and AGV trolley terminal of network communicating function module；
Bluetooth signal transmitter is based on 4.0 standard of bluetooth, uses iBeacon agreement with specific frequency broadcast singal；
AGV trolley terminal and terminal positioning navigation system；
PC includes the end PC scheduling system；It includes visualized operation interface and database that system is dispatched at the end PC, is stored in database
Office operation environmental map and its coordinatograph information and bluetooth transmitters layout information；It dispatches system and receives AGV trolley end in the end PC
It holds the motion vector information sent and is stored in database；When the end PC, scheduling system obtains AGV vehicle dispatching task requests, PC
The position for holding scheduling system current to available free AGV trolley and scheduler task carry out shortest path planning, and select most
Excellent AGV trolley is scheduled, and shortest path planning information is sent to the terminal positioning navigation system of optimal AGV trolley terminal
Execution task；
Bluetooth signal transmitter is laid out according to the interior space, to guarantee that signal covering whole region is disposed as principle；
AGV trolley terminal is that have the mobile device of Bluetooth function and be equipped with AGV trolley Position Fixing Navigation System；
AGV trolley Position Fixing Navigation System passes through the signal of identification surrounding Bluetooth signal transmitter and is calculated and indigo plant according to signal strength
The distance of tooth signal projector recycles location algorithm to be positioned on pre-stored cartographic information, obtain it is current itself
Location information；AGV trolley Position Fixing Navigation System includes visualized graph interface and database；Interior is stored in database
Operating environment map and its coordinatograph information and bluetooth transmitters layout information；AGV trolley Position Fixing Navigation System is according to continuous
The positional information calculation of timing node goes out the motion vector of AGV trolley, and is sent to the end the PC scheduling system in real time；
The positioning navigation method of AGV trolley based on Bluetooth technology, by means of Position Fixing Navigation System, this method following steps:
Step 1, on condition that, according to the space layout portion of office operation environment, to guarantee that working space is believed by least three bluetooths
The be covered as principle of signal of number transmitter arranges several bluetooth transmitters, multiple installs the mobile device for having bluetooth module
AGV trolley；Firstly, bluetooth transmitters are according to setpoint frequency to surrounding broadcast signal；Then, all AGV trolley terminals are real-time
Itself current location and motion vector information that Bluetooth signal transmitter obtains are received, the position and motion vector information are sent
System is dispatched to the end PC；Secondly, after the end PC scheduling system receives the position and motion vector information, by the position and displacement
Vector information is stored in database and the position and direction by coordinate in visualized map interface real-time update AGV trolley are believed
Breath；
Step 2, firstly, creating scheduler task, and input scheduling task request message content in the end PC scheduling system；Then, PC
Hold scheduling system by cartographic information gridding；Secondly, according to step 1 available free AGV trolley position and direction information with
Scheduler task solicited message carries out shortest path planning；Again, the end PC scheduling system selects most according to the shortest path planning
Excellent AGV trolley sends shortest path and scheduler task solicited message to the optimal AGV trolley；
Step 3, firstly, the received shortest path of Position Fixing Navigation System and task request message of optimal AGV trolley, deposit
Database；Then, optimal AGV trolley executes scheduler task, meanwhile, optimal AGV trolley is by real-time position information and path
Information comparison, when deviation route is to carry out path correction.
In step 1, calculating the current seat calibration method of AGV trolley terminal is, firstly, AGV trolley terminal receives surrounding
The signal of bluetooth transmitters is simultaneously identified；Then, the distance that bluetooth transmitters are calculated by signal strength RSSI, is successively selected
The distance d1, d2, d3 of three nearest bluetooth transmitters and the coordinate (x1, y1, z1) using its corresponding data road are taken, (x2,
y2,z2),(x3,y3,z3)；Secondly, calculating the current coordinate of AGV trolley by triangle polyester fibre algorithm:
(x-x1) ^2+ (y-y1) ^2+ (z-z1) ^2=d1^2,
(x-x2) ^2+ (y-y2) ^2+ (z-z2) ^2=d2^2,
(x-x3)^2+(y-y3)^2+(z-z3)^2=d3^2；
Again, the coordinate (x, y, z) of AGV trolley is sought using Newton iteration method are as follows:
Obj=0.5sum (fi (x, y, z) ^2),
fi(x,y,z)=sqrt((x-xi)^2+(y-yi)^2+(z-zi)^2)-di；
To obtain, location information of the AGV trolley terminal when a signal is broadcasted are as follows: formula (1.1), ft (xt, yt, zt)；
The position of signal broadcast next time are as follows: formula (1.2), ft (xt+1, yt+1, zt+1)；
Still later, using formula (1.1), formula (1.2) is calculated between AGV trolley direction of travel and map reference axis x
Angle information:
And then, the current location of trolley and spatial displacement vectors are sent to the end PC tune by network protocol by AGV trolley terminal
Degree system.
In step 2, system is dispatched at the end PC has visualization human-computer interaction interface.
The present invention does not need bootload frequency no need to reserve metal wire is laid on path, and path is adjustable, route
It does not need to safeguard, operand is small, low to hardware requirement.It is at low cost, it is not easy to be interfered.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More detailed description is gone.
Specific embodiment
The present invention proposes a kind of location navigation system of AGV trolley based on Bluetooth technology for the disadvantage in aforesaid way
System and method realize the accurate positioning and navigation of AGV trolley.
The present invention is solved the above problems using following technical scheme:
A kind of Position Fixing Navigation System of the AGV trolley based on Bluetooth technology of the present invention, including several Bluetooth signal transmitters, have
PC the and AGV trolley terminal of network communicating function module；
Bluetooth signal transmitter is based on 4.0 standard of bluetooth, uses iBeacon agreement with specific frequency broadcast singal；
AGV trolley terminal and terminal positioning navigation system；
PC includes the end PC scheduling system；It includes visualized operation interface and database that system is dispatched at the end PC, is stored in database
Office operation environmental map and its coordinatograph information and bluetooth transmitters layout information；It dispatches system and receives AGV trolley end in the end PC
It holds the motion vector information sent and is stored in database；When the end PC, scheduling system obtains AGV vehicle dispatching task requests, PC
The position for holding scheduling system current to available free AGV trolley and scheduler task carry out shortest path planning, and select most
Excellent AGV trolley is scheduled, and shortest path planning information is sent to the terminal positioning navigation system of optimal AGV trolley terminal
Execution task；
Bluetooth signal transmitter is laid out according to the interior space, to guarantee that signal covering whole region is disposed as principle；
AGV trolley terminal is that have the mobile device of Bluetooth function and be equipped with AGV trolley Position Fixing Navigation System；
AGV trolley Position Fixing Navigation System passes through the signal of identification surrounding Bluetooth signal transmitter and is calculated and indigo plant according to signal strength
The distance of tooth signal projector recycles location algorithm to be positioned on pre-stored cartographic information, obtain it is current itself
Location information；AGV trolley Position Fixing Navigation System includes visualized graph interface and database；Interior is stored in database
Operating environment map and its coordinatograph information and bluetooth transmitters layout information；AGV trolley Position Fixing Navigation System is according to continuous
The positional information calculation of timing node goes out the motion vector of AGV trolley, and is sent to the end the PC scheduling system in real time；
The positioning navigation method of AGV trolley based on Bluetooth technology, by means of Position Fixing Navigation System, this method following steps:
Step 1, on condition that, according to the space layout portion of office operation environment, to guarantee that working space is believed by least three bluetooths
The be covered as principle of signal of number transmitter arranges several bluetooth transmitters, multiple installs the mobile device for having bluetooth module
AGV trolley；Firstly, bluetooth transmitters are according to setpoint frequency to surrounding broadcast signal；Then, all AGV trolley terminals are real-time
Itself current location and motion vector information that Bluetooth signal transmitter obtains are received, the position and motion vector information are sent
System is dispatched to the end PC；Secondly, after the end PC scheduling system receives the position and motion vector information, by the position and displacement
Vector information is stored in database and the position and direction by coordinate in visualized map interface real-time update AGV trolley are believed
Breath；
Step 2, firstly, creating scheduler task, and input scheduling task request message content in the end PC scheduling system；Then, PC
Hold scheduling system by cartographic information gridding；Secondly, according to step 1 available free AGV trolley position and direction information with
Scheduler task solicited message carries out shortest path planning；Again, the end PC scheduling system selects most according to the shortest path planning
Excellent AGV trolley sends shortest path and scheduler task solicited message to the optimal AGV trolley；
Step 3, firstly, the received shortest path of Position Fixing Navigation System and task request message of optimal AGV trolley, deposit
Database；Then, optimal AGV trolley executes scheduler task, meanwhile, optimal AGV trolley is by real-time position information and path
Information comparison, when deviation route is to carry out path correction.
In step 1, calculating the current seat calibration method of AGV trolley terminal is, firstly, AGV trolley terminal receives surrounding
The signal of bluetooth transmitters is simultaneously identified；Then, the distance that bluetooth transmitters are calculated by signal strength RSSI, is successively selected
The distance d1, d2, d3 of three nearest bluetooth transmitters and the coordinate (x1, y1, z1) using its corresponding data road are taken, (x2,
y2,z2),(x3,y3,z3)；Secondly, calculating the current coordinate of AGV trolley by triangle polyester fibre algorithm:
(x-x1) ^2+ (y-y1) ^2+ (z-z1) ^2=d1^2,
(x-x2) ^2+ (y-y2) ^2+ (z-z2) ^2=d2^2,
(x-x3)^2+(y-y3)^2+(z-z3)^2=d3^2；
Again, the coordinate (x, y, z) of AGV trolley is sought using Newton iteration method are as follows:
Obj=0.5sum (fi (x, y, z) ^2),
fi(x,y,z)=sqrt((x-xi)^2+(y-yi)^2+(z-zi)^2)-di；
To obtain, location information of the AGV trolley terminal when a signal is broadcasted are as follows: formula (1.1), ft (xt, yt, zt)；
The position of signal broadcast next time are as follows: formula (1.2), ft (xt+1, yt+1, zt+1)；
Still later, using formula (1.1), formula (1.2) is calculated between AGV trolley direction of travel and map reference axis x
Angle information:
And then, the current location of trolley and spatial displacement vectors are sent to the end PC tune by network protocol by AGV trolley terminal
Degree system.
In step 2, system is dispatched at the end PC has visualization human-computer interaction interface.
The present invention has rational design, it is low in cost, durable, safe and reliable, easy to operate, time saving and energy saving, save fund,
It is compact-sized and easy to use.
It is to disclose in order to more clear, and the prior art is just no longer enumerated that the present invention, which fully describes,.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious for being combined for those skilled in the art to multiple technical solutions of the invention.And these are modified or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. a kind of AGV trolley Position Fixing Navigation System based on Bluetooth technology, it is characterised in that: emit including several Bluetooth signals
Device, PC the and AGV trolley terminal with network communicating function module；
Bluetooth signal transmitter is based on 4.0 standard of bluetooth, uses iBeacon agreement with specific frequency broadcast singal；
AGV trolley terminal and terminal positioning navigation system；
PC includes the end PC scheduling system；It includes visualized operation interface and database that system is dispatched at the end PC, is stored in database
Office operation environmental map and its coordinatograph information and bluetooth transmitters layout information；It dispatches system and receives AGV trolley end in the end PC
It holds the motion vector information sent and is stored in database；When the end PC, scheduling system obtains AGV vehicle dispatching task requests, PC
The position for holding scheduling system current to available free AGV trolley and scheduler task carry out shortest path planning, and select most
Excellent AGV trolley is scheduled, and shortest path planning information is sent to the terminal positioning navigation system of optimal AGV trolley terminal
Execution task；
Bluetooth signal transmitter is laid out according to the interior space, to guarantee that signal covering whole region is disposed as principle；
AGV trolley terminal is that have the mobile device of Bluetooth function and be equipped with AGV trolley Position Fixing Navigation System；
AGV trolley Position Fixing Navigation System passes through the signal of identification surrounding Bluetooth signal transmitter and is calculated and indigo plant according to signal strength
The distance of tooth signal projector recycles location algorithm to be positioned on pre-stored cartographic information, obtain it is current itself
Location information；AGV trolley Position Fixing Navigation System includes visualized graph interface and database；Interior is stored in database
Operating environment map and its coordinatograph information and bluetooth transmitters layout information；AGV trolley Position Fixing Navigation System is according to continuous
The positional information calculation of timing node goes out the motion vector of AGV trolley, and is sent to the end the PC scheduling system in real time.
2. a kind of positioning navigation method of the AGV trolley based on Bluetooth technology, it is characterised in that: by means of Position Fixing Navigation System,
This method following steps:
Step 1, on condition that, according to the space layout portion of office operation environment, to guarantee that working space is believed by least three bluetooths
The be covered as principle of signal of number transmitter arranges several bluetooth transmitters, multiple installs the mobile device for having bluetooth module
AGV trolley；Firstly, bluetooth transmitters are according to setpoint frequency to surrounding broadcast signal；Then, all AGV trolley terminals are real-time
Itself current location and motion vector information that Bluetooth signal transmitter obtains are received, the position and motion vector information are sent
System is dispatched to the end PC；Secondly, after the end PC scheduling system receives the position and motion vector information, by the position and displacement
Vector information is stored in database and the position and direction by coordinate in visualized map interface real-time update AGV trolley are believed
Breath；
Step 2, firstly, creating scheduler task, and input scheduling task request message content in the end PC scheduling system；Then, PC
Hold scheduling system by cartographic information gridding；Secondly, according to step 1 available free AGV trolley position and direction information with
Scheduler task solicited message carries out shortest path planning；Again, the end PC scheduling system selects most according to the shortest path planning
Excellent AGV trolley sends shortest path and scheduler task solicited message to the optimal AGV trolley；
Step 3, firstly, the received shortest path of Position Fixing Navigation System and task request message of optimal AGV trolley, deposit
Database；Then, optimal AGV trolley executes scheduler task, meanwhile, optimal AGV trolley is by real-time position information and path
Information comparison, when deviation route is to carry out path correction.
3. the positioning navigation method of the AGV trolley according to claim 2 based on Bluetooth technology, it is characterised in that: in step
In rapid one, calculating the current seat calibration method of AGV trolley terminal is, firstly, AGV trolley terminal receives surrounding bluetooth transmitters
Signal is simultaneously identified；Then, the distance of bluetooth transmitters is calculated by signal strength RSSI, successively chooses nearest three
The distance d1, d2, d3 of bluetooth transmitters and the coordinate (x1, y1, z1) for using its corresponding data road, (x2, y2, z2), (x3, y3,
z3)；Secondly, calculating the current coordinate of AGV trolley by triangle polyester fibre algorithm:
(x-x1) ^2+ (y-y1) ^2+ (z-z1) ^2=d1^2,
(x-x2) ^2+ (y-y2) ^2+ (z-z2) ^2=d2^2,
(x-x3)^2+(y-y3)^2+(z-z3)^2=d3^2；
Again, the coordinate (x, y, z) of AGV trolley is sought using Newton iteration method are as follows:
Obj=0.5sum (fi (x, y, z) ^2),
fi(x,y,z)=sqrt((x-xi)^2+(y-yi)^2+(z-zi)^2)-di；
To obtain, location information of the AGV trolley terminal when a signal is broadcasted are as follows: formula (1.1), ft (xt, yt, zt)；
The position of signal broadcast next time are as follows: formula (1.2), ft (xt+1, yt+1, zt+1)；
Still later, using formula (1.1), formula (1.2) is calculated between AGV trolley direction of travel and map reference axis x
Angle information:
；
And then, the current location of trolley and spatial displacement vectors are sent to the end PC tune by network protocol by AGV trolley terminal
Degree system.
4. the positioning navigation method of the AGV trolley according to claim 3 based on Bluetooth technology, it is characterised in that: in step
In rapid two, system is dispatched at the end PC has visualization human-computer interaction interface.
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| CN110174642A (en) * | 2019-04-29 | 2019-08-27 | 黄长兵 | One kind being used for particular patients ' intelligent positioning system and method |
| CN111060901A (en) * | 2019-11-05 | 2020-04-24 | 安徽工程大学 | AGV (automatic guided vehicle) distance measuring system based on low-power consumption |
| CN111913465A (en) * | 2020-06-19 | 2020-11-10 | 广东工业大学 | Fault real-time monitoring method and device for multi-intelligent-trolley system |
| CN116954235A (en) * | 2023-09-21 | 2023-10-27 | 深圳大工人科技有限公司 | AGV trolley navigation control method and system |
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