CN204440164U - A kind of automatic vehicle based on RFID and guidance system - Google Patents
A kind of automatic vehicle based on RFID and guidance system Download PDFInfo
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- CN204440164U CN204440164U CN201520010692.8U CN201520010692U CN204440164U CN 204440164 U CN204440164 U CN 204440164U CN 201520010692 U CN201520010692 U CN 201520010692U CN 204440164 U CN204440164 U CN 204440164U
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- 230000004888 barrier function Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 18
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
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- 230000005622 photoelectricity Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
Abstract
The utility model discloses a kind of automatic vehicle based on RFID and guidance system, comprise: trolley, trolley is provided with driving wheel and follower, driving wheel is connected to speed-down servo motor and driver element, and speed-down servo motor and driver element are connected to main control unit again, also be provided with RFID card reader, described RFID card reader is connected to described main control unit, when automatic vehicle moves to the bifurcation place of operating path, described RFID card reader reads the RFID label tag being located at the bifurcation place of operating path, and the guidance information in RFID label tag is passed to main control unit, described main control unit controls driver element according to described guidance information, move according to guidance information to make automatic vehicle, described guidance information is for accelerating, slow down, stop, turn left, turn right, the guidance information turned around.
Description
Technical field
The utility model belongs to photoelectricity automatic field, relates to a kind of automatic vehicle based on RFID and guidance system, can realize the robotization such as logistics, transport.
Background technology
Automatic vehicle (Automatic Guided Vehicle; AGV); it is a kind of unmanned Automatic Guided Vehicle with places such as warehouse, harbour, workshops that can extensively run; be equipped with the homing device such as electromagnetism or optics; can travel along the guide path of regulation, there is the haulage vehicle installing protection and various transplanting function.One of its gordian technique realizes location and guiding automatically.
At present, domestic conventional AGV mainly adopts electromagnetism guide mode, and this guide mode belongs to conventional lead mode, Technical comparing is ripe, the cost of AGV itself is low, reliable operation, and its shortcoming needs to bury cable on the earth's surface of working line, the engineering time is long, costly, not easily Reroute.
New pattern laser guide mode, compared with electromagnetism guide mode, has automatic detection, automatic addressing, and the advantages such as stopping accuracy is high, intelligence degree is high, dirigibility is strong, its shortcoming is AGV high cost, and later maintenance expense is large.
Utility model content
Technical problem to be solved in the utility model is the shortcoming overcoming the guiding of existing electromagnetism, for this reason, provides a kind of automatic vehicle based on RFID and guidance system.
It is as follows that the utility model solves the problems of the technologies described above taked technical scheme:
A kind of automatic vehicle, specifically comprises:
Trolley, trolley is provided with driving wheel and follower, driving wheel is connected to speed-down servo motor and driver element, and speed-down servo motor and driver element are connected to main control unit again, also be provided with RFID card reader, described RFID card reader is connected to described main control unit, when automatic vehicle moves to the bifurcation place of operating path, described RFID card reader reads the RFID label tag being located at the bifurcation place of operating path, and the guidance information in RFID label tag is passed to main control unit, described main control unit controls driver element according to described guidance information, move according to guidance information to make automatic vehicle.
Further, preferably, the front and back of described automatic vehicle are respectively equipped with two and keep away barrier sensor, and described two keep away barrier sensor be connected to main control unit.
Further, preferably, automatic vehicle is also provided with Magnetic Sensor; The magnetic signal that magnetic stripe on Magnetic Sensor collection operating path or other magnetic devices produce, and this magnetic signal is passed to main control unit, described main control unit controls the motion of the driver element of automatic vehicle, travels along operating path to make automatic vehicle.
Further, preferably, described guidance information is the guidance information accelerating, slow down, stop, turn left, turn right, turn around.
Based on an automatic vehicle guidance system of RFID, comprising: trolley and operating path, RFID label tag is set at the bifurcation place of the operating path of automatic vehicle, there is in this RFID label tag the guidance information of this bifurcation, trolley is provided with driving wheel and follower, driving wheel is connected to speed-down servo motor and driver element, and speed-down servo motor and driver element are connected to main control unit again, also be provided with RFID card reader, described RFID card reader is connected to described main control unit, when automatic vehicle moves to the bifurcation place of operating path, described RFID card reader reads the RFID label tag being located at the bifurcation place of operating path, and the guidance information in RFID label tag is passed to main control unit, described main control unit controls driver element according to described guidance information, move according to guidance information to make automatic vehicle.
After the utility model takes such scheme, RFID technique is adopted to realize the key point location in movement locus and guide, the auxiliary Magnetic Sensor that uses realizes automatic guided vehicle motion control, adopts task control mode to realize automatic running function, has extraordinary technique effect.
Other features and advantages of the utility model will be set forth in the following description, and, partly become apparent from instructions, or understand by implementing the utility model.The purpose of this utility model and other advantages realize by structure specifically noted in write instructions, claims and accompanying drawing and obtain.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is described in detail, to make above-mentioned advantage of the present utility model definitely.Wherein,
Fig. 1 is the schematic flow sheet of the guidance method of automatic vehicle based on RFID;
Fig. 2 is the structural representation of the utility model automatic vehicle;
Fig. 3 is the schematic diagram of the utility model based on the orbit of the automatic vehicle guidance system of RFID.
Embodiment
Describe embodiment of the present utility model in detail below with reference to drawings and Examples, to the utility model, how application technology means solve technical matters whereby, and the implementation procedure reaching technique effect can fully understand and implement according to this.It should be noted that, only otherwise form conflict, each embodiment in the utility model and each feature in each embodiment can be combined with each other, and the technical scheme formed is all within protection domain of the present utility model.
Embodiment one:
The purpose of this utility model is for overcoming the deficiencies in the prior art, provide a kind of AGV magnetic guidance method based on RFID and device, RFID technique is adopted to realize the key point location in movement locus and guide, the auxiliary Magnetic Sensor that uses realizes automatic guided vehicle motion control, adopts task control mode to realize automatic running function.
The technical solution of the utility model is:
Magnetic stripe is laid in the path that AGV runs, and stick RFID label tag in key point (such as: AGV needs parking, turns left, swims and turn and turn around), AGV is provided with Magnetic Sensor and RFID card reader, and AGV carries out tracking by Magnetic Sensor to track.
And, in an embodiment, Magnetic Sensor needs perception magnetic signal just can tracking mark, sensor gathers the magnetic signal that current path magnetic stripe produces, and by this signal transmission to main control unit, undertaken controlling driver element after judgement processes by main control unit and carry out associative operation to ensure that AGV travels along predefined paths.
Further, in an embodiment, station recognition unit, be mainly the radio-frequency card reader (RFID card reader) that is contained in car body front end, this card reader reads and comprises that station judges, divergence paths judges and the relevant information such as acceleration and deceleration judgement in the radio-frequency card being set in advance on path, and this information is passed to main control unit, by main control unit, relevant treatment is carried out to ensure the normal execution of current task to this.
As shown in Figure 1, a kind of automatic vehicle guidance method based on RFID, comprising:
Step 1: RFID label tag is set at the bifurcation place of the operating path of automatic vehicle, there is in this RFID label tag the guidance information of this bifurcation;
Step 2: be installed on RFID card reader on automatic vehicle;
Step 3: when automatic vehicle moves to the bifurcation place of operating path,
Described RFID card reader initiatively reads RFID label tag, and the guidance information in RFID label tag is passed to main control unit, and described main control unit controls the driver element of dolly according to described guidance information, moves according to guidance information to make automatic vehicle.
Further, preferably, automatic vehicle is also provided with Magnetic Sensor;
The described operating path of automatic vehicle is also provided with magnetic stripe or other magnetic devices;
The magnetic signal that magnetic stripe on described Magnetic Sensor active acquisition operating path or other magnetic devices produce, this magnetic signal is passed to main control unit, described main control unit controls the motion of the driver element of automatic vehicle, travels along operating path to make automatic vehicle.
Further, preferably, described guidance information is the guidance information accelerating, slow down, stop, turn left, turn right, turn around.
Further, preferably, the bifurcation of described operating path is the logistics station of operating path, the acceleration and deceleration path point of dividing fork in the road or operating path of operating path.
After the utility model takes such scheme, adopt RFID technique realize the key point location in movement locus and guide, the auxiliary Magnetic Sensor that uses realizes automatic guided vehicle motion control, has extraordinary technique effect.
Embodiment two:
Based on an automatic vehicle guidance method of RFID, comprising:
Step 1: RFID label tag is set at the bifurcation place of the operating path of automatic vehicle, there is in this RFID label tag the guidance information of this bifurcation;
Step 2: be installed on RFID card reader on automatic vehicle;
Step 3: when automatic vehicle moves to the bifurcation place of operating path,
Described RFID card reader initiatively reads RFID label tag, and the guidance information in RFID label tag is passed to main control unit, and described main control unit controls the driver element of dolly according to described guidance information, moves according to guidance information to make automatic vehicle.
Further, preferably, automatic vehicle is also provided with Magnetic Sensor; The described operating path of automatic vehicle is also provided with magnetic stripe or other magnetic devices; The magnetic signal that magnetic stripe on described Magnetic Sensor active acquisition operating path or other magnetic devices produce, this magnetic signal is passed to main control unit, described main control unit controls the motion of the driver element of automatic vehicle, travels along operating path to make automatic vehicle.
Further, in this embodiment, further, path planning is carried out to the operating path of automatic vehicle at control you and preserves in advance; Described main control unit reads the operating path planning information controlled in you, moves according to described operating path planning information.
Further, preferably, described guidance information is the guidance information accelerating, slow down, stop, turn left, turn right, turn around.
Further, preferably, the bifurcation of described operating path is the logistics station of operating path, the acceleration and deceleration path point of dividing fork in the road or operating path of operating path.
After the utility model takes such scheme, RFID technique is adopted to realize the key point location in movement locus and guide, the auxiliary Magnetic Sensor that uses realizes automatic guided vehicle motion control, adopts task control mode to realize automatic running function, has extraordinary technique effect.
Embodiment three:
As shown in Figure 2, a kind of automatic vehicle, specifically comprises:
Trolley, trolley is provided with driving wheel and follower, driving wheel is connected to speed-down servo motor and driver element, and speed-down servo motor and driver element are connected to main control unit again, also be provided with RFID card reader, described RFID card reader is connected to described main control unit, when automatic vehicle moves to the bifurcation place of operating path, described RFID card reader reads the RFID label tag being located at the bifurcation place of operating path, and the guidance information in RFID label tag is passed to main control unit, described main control unit controls driver element according to described guidance information, move according to guidance information to make automatic vehicle.
Further, preferably, the front and back of described automatic vehicle are respectively equipped with two and keep away barrier sensor, and described two keep away barrier sensor be connected to main control unit.
Further, preferably, automatic vehicle is also provided with Magnetic Sensor; The magnetic signal that magnetic stripe on Magnetic Sensor collection operating path or other magnetic devices produce, and this magnetic signal is passed to main control unit, described main control unit controls the motion of the driver element of automatic vehicle, travels along operating path to make automatic vehicle.
Further, preferably, described guidance information is the guidance information accelerating, slow down, stop, turn left, turn right or turn around.
Wherein, main control unit chooses conventional single-chip microcomputer, and its driver element controlling automatic vehicle by guidance information also can be considered conventional type of drive, namely all chooses universal component.
Embodiment four:
Based on an automatic vehicle guidance system of RFID, comprising: trolley and operating path 1, RFID label tag 101 is set at the bifurcation place of the operating path of automatic vehicle, there is in this RFID label tag the guidance information of this bifurcation, trolley is provided with driving wheel and follower, driving wheel is connected to speed-down servo motor and driver element, and speed-down servo motor and driver element are connected to main control unit again, also be provided with RFID card reader, described RFID card reader is connected to described main control unit, when automatic vehicle moves to the bifurcation place of operating path, described RFID card reader reads the RFID label tag being located at the bifurcation place of operating path, and the guidance information in RFID label tag is passed to main control unit, described main control unit controls driver element according to described guidance information, move according to guidance information to make automatic vehicle.
Wherein, as shown in Figure 3, this Path Connection 6 stations. be equipped with RFID label tag at each station and node.Magnetic orbital and RFID Integrated guidance mode can reduce costs, keep ground clean and tidy, improve the dirigibility that path is laid.
After the utility model takes such scheme, RFID technique is adopted to realize the key point location in movement locus and guide, the auxiliary Magnetic Sensor that uses realizes automatic guided vehicle motion control, adopts task control mode to realize automatic running function, has extraordinary technique effect.
This programme and device have good adaptive capacity to environment and guidance capability, and can press certain rule action in larger regional extent, flexible, guidance accuracy is high.
Last it is noted that the foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, although be described in detail the utility model with reference to previous embodiment, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (4)
1. an automatic vehicle, it is characterized in that, specifically comprise: trolley, trolley is provided with driving wheel and follower, driving wheel is connected to speed-down servo motor and driver element, and speed-down servo motor and driver element are connected to main control unit again, also be provided with RFID card reader, described RFID card reader is connected to described main control unit, when automatic vehicle moves to the bifurcation place of operating path, described RFID card reader reads the RFID label tag being located at the bifurcation place of operating path, and the guidance information in RFID label tag is passed to main control unit, described main control unit controls driver element according to described guidance information, move according to guidance information to make automatic vehicle, described guidance information is for accelerating, slow down, stop, turn left, turn right, the guidance information turned around.
2. automatic vehicle according to claim 1, is characterized in that, the front and back of described automatic vehicle are respectively equipped with two and keep away barrier sensor, and described two keep away barrier sensor be connected to main control unit.
3. automatic vehicle according to claim 1, is characterized in that, automatic vehicle is also provided with Magnetic Sensor; The magnetic signal that magnetic stripe on Magnetic Sensor collection operating path or other magnetic devices produce, and this magnetic signal is passed to main control unit, described main control unit controls the motion of the driver element of automatic vehicle, travels along operating path to make automatic vehicle.
4. based on an automatic vehicle guidance system of RFID, comprising: trolley and operating path, is characterized in that, RFID label tag is set at the bifurcation place of the operating path of automatic vehicle, there is in this RFID label tag the guidance information of this bifurcation;
Trolley is provided with driving wheel and follower, driving wheel is connected to speed-down servo motor and driver element, and speed-down servo motor and driver element are connected to main control unit again, also be provided with RFID card reader, described RFID card reader is connected to described main control unit, when automatic vehicle moves to the bifurcation place of operating path, described RFID card reader reads the RFID label tag being located at the bifurcation place of operating path, and the guidance information in RFID label tag is passed to main control unit, described main control unit controls driver element according to described guidance information, move according to guidance information to make automatic vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520010692.8U CN204440164U (en) | 2015-01-08 | 2015-01-08 | A kind of automatic vehicle based on RFID and guidance system |
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| CN201520010692.8U CN204440164U (en) | 2015-01-08 | 2015-01-08 | A kind of automatic vehicle based on RFID and guidance system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571110A (en) * | 2015-01-08 | 2015-04-29 | 北京印刷学院 | RFID-based automatic trolley guiding method and system |
| CN105468005A (en) * | 2016-02-03 | 2016-04-06 | 天津市乐图软件科技有限公司 | Automatic trolley guiding system and method based on RFID and CCD |
| CN105867388A (en) * | 2016-06-15 | 2016-08-17 | 天津通广集团专用设备有限公司 | Magnetic navigation AGV (Automated Guided Vehicle) control system and method |
| CN106097848A (en) * | 2016-07-27 | 2016-11-09 | 厦门石湾科技有限公司 | A kind of entity programming dolly and programmed method |
-
2015
- 2015-01-08 CN CN201520010692.8U patent/CN204440164U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571110A (en) * | 2015-01-08 | 2015-04-29 | 北京印刷学院 | RFID-based automatic trolley guiding method and system |
| CN105468005A (en) * | 2016-02-03 | 2016-04-06 | 天津市乐图软件科技有限公司 | Automatic trolley guiding system and method based on RFID and CCD |
| CN105867388A (en) * | 2016-06-15 | 2016-08-17 | 天津通广集团专用设备有限公司 | Magnetic navigation AGV (Automated Guided Vehicle) control system and method |
| CN106097848A (en) * | 2016-07-27 | 2016-11-09 | 厦门石湾科技有限公司 | A kind of entity programming dolly and programmed method |
| CN106097848B (en) * | 2016-07-27 | 2019-04-19 | 厦门石湾科技有限公司 | A kind of entity programming trolley and programmed method |
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Granted publication date: 20150701 Termination date: 20160108 |