CN207423201U - A kind of trackless automatic Guided Vehicle system based on RFID arrays - Google Patents
A kind of trackless automatic Guided Vehicle system based on RFID arrays Download PDFInfo
- Publication number
- CN207423201U CN207423201U CN201721310116.0U CN201721310116U CN207423201U CN 207423201 U CN207423201 U CN 207423201U CN 201721310116 U CN201721310116 U CN 201721310116U CN 207423201 U CN207423201 U CN 207423201U
- Authority
- CN
- China
- Prior art keywords
- rfid
- car body
- control module
- arrays
- floor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of trackless automatic Guided Vehicle systems based on RFID arrays, control device including car body and for controlling car body, further include the RFID arrays floor as car body operation place, RFID arrays floor is mainly laid with successively by M block RFID floor tiles, each piece of RFID floor tile is correspondingly provided with an identification number and G*H block RFID cards is mounted in each piece of RFID floor tile in order, it is equipped with to read the RFID Card Reader array modules of RFID card in the vehicle head end of car body, RFID Card Readers array module is connected with from control module；Main control module memory contains the RFID label tag code of each piece of RFID card on RFID arrays floor, wherein, M, G, H are >=1 integers.The utility model need not install the Track equipments such as magnetic stripe, and the maintenance cost of system is low, have the characteristics that system stability height, strong antijamming capability, setting accuracy are high；Can Reroute within the specific limits be needed according to operation, be suitble to the places such as Solid Warehouse in Flexible Manufacturing Workshop, supermarket, warehouse.
Description
Technical field
The utility model is related to a kind of intelligence machine control devices, and in particular to a kind of trackless based on RFID arrays is automatic
Navigate cart system.
Background technology
Automatic Guided Vehicle (Automatic Guided Vehicle, AGV) system be belong to industrial robot branch it
One, trolley is generally driven using battery, in certain running environment can autonomous operation, be widely used in logistics, soft
The fields such as property manufacturing industry, automated warehousing, are the intelligentized important components of manufacturing industry.At present, automatic Guided Vehicle is led
The technology of drawing can be divided into rail guiding and trackless guides two big types.Wherein rail guiding needs to be laid on the path of trolley travelling
Magnetic stripe or color lump etc. guide object, and trolley travels in fixed operating path, and easy to control, positioning is relatively accurate, it can be achieved that Centimeter Level
Positioning accuracy, be the main guide modes of current AGV.But the path of trolley Yi Dan be laid with once be difficult to change, track laying into
This height, the easy abrasion of color lump；Another trackless guiding is such generally by las er-guidance, ultrasonic wave guiding, infrared ray guiding etc.
Guidance technology is guided by signal transmission distance and the range measurement principle of the relation of time, although without arranging operation rail
Road, but there are the defects of position error is big, positioning is not accurate, market application is not yet ripe.
With the development and progress of science and technology, occur in the prior art it is various guiding it is more accurate, system operation is more steady
Fixed automatic Guided Vehicle, such as the Chinese utility model patent that Authorization Notice No. is CN 201494328U disclose one kind certainly
Dynamic navigation trolley, comprising trolley part and leader, trolley part is by car body, electric cabinet, central controller, battery pack, drive
The structures such as motivation structure, suspension mechanism, road surface magnetic stripe signal transducer, road surface RFID RFID tags card reader, anticollision mechanism
Into.Leader is made of the magnetic stripe and RFID RFID tag cards being laid on road surface, installs road surface magnetic stripe on the car body
Signal transducer installs road surface RFID RFID tag card readers, road surface magnetic stripe signal transducer and center on the car body
The A/D module of controller is directly connected to, and the analog signal that road surface magnetic stripe signal transducer exports is handled.The structure
Trolley by the magnetic stripe being laid on road surface be used as trolley travel track and the RFID radio frequencies by being set on road surface know
Distinguishing label card acts trolley traveling to realize the navigation of (such as acceleration, deceleration, left-hand rotation, right-hand rotation, wait, avoidance, stopping etc.),
Although trolley auto-navigation is more accurate, still need the installation Track equipments such as magnetic stripe, track laying cost is big and railway maintenance into
This height, while trolley track is difficult to change once being laid with and completing.
Utility model content
For above-mentioned deficiency, the technical problem to be solved by the utility model is to provide a kind of nothings based on RFID arrays
Rail automatic Guided Vehicle system, when in use without installation carriage running track, operating cost is cheap, running route is flexible.
To achieve the above object, the utility model is achieved through the following technical solutions：
A kind of trackless automatic Guided Vehicle system based on RFID arrays, including car body and for the control of car body to be controlled to fill
It puts, the both sides of the car body are equipped with wheel, are equipped with the driving device that car body is driven to travel, the control on the car body
Device is included from control module, main control module, for the electronic compass that senses car body current driving direction and mounted on car body
Vehicle head end anticollision module, electronic compass installation is connected on the car body and with the input terminal from control module, described
Anticollision module is connected with the input terminal from control module, described to be installed on the car body from control module and pass through radio communication mold
Block is connected with main control module, further includes the RFID arrays floor as car body operation place,
The RFID arrays floor is mainly laid with successively by M block RFID floor tiles, and each piece of RFID floor tile is by suitable
Sequence is correspondingly provided with an identification number and G*H block RFID cards is mounted in each piece of RFID floor tile, is set in the vehicle head end of car body
It is useful for reading the RFID Card Reader array modules of RFID card, the RFID Card Readers array module is connected with from control module；It is described
Main control module memory contains the RFID label tag code of each piece of RFID card on RFID arrays floor, wherein, M, G, H are >=1
Integer.
In said program, in order to ensure that RFID Card Readers array module can at least read a RFID card each time
On RFID label tag code, make main control module more accurate to the navigator fix of car body, the RFID Card Reader array modules are main
It is arranged in order by I*J RFID card reader, wherein I, J are >=1 integer.
In said program, each piece of RFID floor tile includes floor tile bottom and floor tile top layer, in floor tile bottom and
The RFID card is installed between floor tile top layer.
In said program, the driving device can include direct current generator and direct current generator drive module, the direct current
The input terminal of machine drive module is connected with from control module, its output terminal is connected with direct current generator, and the direct current generator passes through axis
It holds and is connected with rotation shaft of wheel.
In said program, it is described from control module can be 51 microcontrollers, MSP430 microcontrollers or arm processor in appoint
Meaning is a kind of.
In said program, the main control module is host computer.
The beneficial effects of the utility model are：
1) running track of the utility model trolley is open RFID arrays floor, and the RFID arrays floor is by polylith
The RFID floor tiles that inside is equipped with RFID card are laid with successively, and obtaining car body in real time by RFID Card Readers array module is passed through
It crosses the RFID label tag code of RFID card in the RFID floor tiles of position and is sent to from control module, wirelessly passed again from control module
Be defeated by host computer, the RFID label tag code is compared host computer with the data of storage inside, handle after, quickly obtain trolley
Changing coordinates, in combination with the trolley travelling direction that electronic compass is sent, the walking road for the trolley next step rapidly cooked up
Footpath, and send control signals in real time from control module, then by from control module control car body traveling, realizing the automatic of trolley
Navigation traveling.Compared with prior art, the utility model need not install the Track equipments such as magnetic stripe, and the maintenance cost of system is significantly
It reduces；Simultaneously according to operation need can random Reroute in a specific range, be very suitable for Solid Warehouse in Flexible Manufacturing Workshop, supermarket,
The places such as warehouse.
2) RFID technique mode, the stability height of system, strong antijamming capability, for reading are used to the positioning of car body
RFID Card Readers array module is made of multiple RFID card readers, can ensure read RFID card in real time during car body operation,
The positioning accuracy of trolley traveling is high.
Description of the drawings
Fig. 1 is the cross-sectional view inside each piece of RFID floor tile.
Fig. 2 is a kind of arrangement scheme of installation of the RFID card in each piece of RFID floor tile.
Fig. 3 is fractional hardware mounting structure schematic diagram when this trackless automatic Guided Vehicle system uses.
Fig. 4 is a kind of arrangement architecture schematic diagram of RFID card reader in RFID Card Reader array modules.
Fig. 5 is a kind of laying structure schematic diagram of RFID array floor tiles.
Fig. 6 is a kind of configuration state schematic diagram when the trackless automatic Guided Vehicle system based on RFID arrays uses.
Fig. 7 is another configuration state schematic diagram when trackless automatic Guided Vehicle system based on RFID arrays uses.
Figure label is：1st, RFID floor tiles, 1-1, floor tile bottom, 1-2, floor tile top layer, 2, RFID card, 3, RFID
Array floor, 4, car body, 5, wheel, 6, direct current generator, 7, electronic compass, 8, direct current generator drive module, 9, from control module,
10th, battery, 11, anticollision module, 12, wireless communication module, 13, RFID Card Reader array modules, 14, host computer, 15, RFID reads
Card device.
Specific embodiment
As shown in Fig. 3, Fig. 6, Fig. 7, a kind of trackless automatic Guided Vehicle system based on RFID arrays including car body 4, is used
In control car body 4 control device and as car body 4 operation place RFID arrays floor 3.The both sides of the car body 4 are equipped with
Wheel 5 is equipped with the driving device that car body 4 is driven to travel on car body 4.
The control device is included from control module 9, main control module, the electricity for sensing 4 current driving direction of car body
The anticollision module 11 of sub- compass 7 and vehicle head end mounted on car body 4.In the present embodiment, the anticollision module 11 is specially
Ultrasonic distance measuring module.The electronic compass 7 is mounted on car body 4 and is connected with from the input terminal of control module 9, the present embodiment
In, the electronic compass 7 selects HMC5883L modules.The anticollision module 11 is connected with from the input terminal of control module 9.Institute
It states to be mounted on car body 4 from control module 9 and pass through wireless communication module 12 and be connected with main control module.The main control module
Memory contains the RFID label tag code of each piece of RFID card 2 on RFID arrays floor 3.
The driving device includes direct current generator 6 and direct current generator drive module 8, the direct current generator drive module 8
Input terminal is connected with from control module 9, its output terminal is connected with direct current generator 6, and the direct current generator 6 passes through bearing and wheel 5
Shaft connects.I.e. described direct current generator drive module 8, which is received, sends out direct current generator 6 after the control signal that control module 9 is sent
Right-hand rotation, left-hand rotation, advance, retrogressing etc. is sent to perform control signal.It is also equipped on car body 4 for powering from control module 9
Battery 10.
It is described to be sent out from control module 9 for receiving electronic compass 7, ultrasonic distance measuring module and RFID Card Readers array module 13
The data message come, and main control module is timely transmitted to, while the control that main control module is sent also is received from control module 9
Signal controls 4 traffic direction of wheel 5 and car body on car body 4 in real time.It is described specific optional from control module 9 in the present embodiment
With for any one in 51 microcontrollers, MSP430 microcontrollers or arm processor, naturally it is also possible to select the insertion of other models
Formula processor.The powerful host computer of processing data capability can be selected in the control core that the main control module navigates as car body 4
14, can be specifically computer, PC machine, mobile equipment etc..The host computer 14 is previously stored the RFID floors battle array of RFID card 2
The RFID label tag code of each RFID card 2 on row, in trolley travelling process, processing is read from what control module 9 was sent in real time
RFID label tag code, and handle and obtain the current position of trolley, while planning is made for the traveling of trolley next step, and send small
Vehicle turns left, and specifically traveling acts for right-hand rotation, forward-reverse etc..
As shown in figure 5, the RFID arrays floor 3 is mainly laid with successively by M block RFID floor tiles 1.Wherein, M is
>=1 integer, certainly according to the size of selected floor tile (such as 30cm*30cm, 30cm*60cm, 60cm*60cm,
80cm*80cm equal-specifications) and run place demand and the number of RFID floor tiles 1 is made choice.In addition, by RFID floor tiles
Shape, the size on the 1 RFID arrays floor 3 being laid with successively are laid with according to actual needs, can be rectangles, are such as schemed
Shown in 6；Can also be other shapes, as shown in Figure 7.
Each piece of RFID floor tile 1 is correspondingly provided with an identification number and is respectively mounted in each piece of RFID floor tile 1 in order
There is G*H blocks RFID card 2, wherein G, H is >=1 integer.The value of G and H is according to the size of one piece of RFID floor tile 1 and required
Positioning accuracy and selected：1 area of RFID floor tiles, one RFID card 2 of small optional installation, due to desired positioning accurate
The higher RFID card more than 2 to be set of degree.As shown in Fig. 2, the RFID floor tiles 1 are the specification of 60*60, internal
RFID card 2 is mounted on by the specification of 3*3 in RFID floor tiles 1.As shown in Figure 1, each piece of RFID floor tile 1 includes floor tile bottom
Layer 1-1 and floor tile top layer 1-2, installs the RFID card 2 between floor tile bottom 1-1 and floor tile top layer 1-2.In order to prolong
The service life of long RFID card 2 and the sensitivity for ensureing RFID card 2 are coated with transparent watertight film on the RFID card 2.
It is equipped with to read the RFID Card Readers array module 13 of RFID card 2, the RFID Card Readers battle array in the vehicle head end of car body 4
Row module 13 is connected with from control module 9.RFID Card Readers array module 13 is specifically to be connected in RS-485 buses, and passes through TTL/
485 modular converters are connected with from the serial ports of control module 9.The RFID Card Readers array module 13 is mainly by I*J RFID Card Reader
Device 15 is arranged in order, and wherein I, J are >=1 integer.In the present embodiment, as shown in figure 4, the value of the I and J is 2.
The RFID Card Readers array module 13 specifically mounted on car body 4 vehicle head end lower section, and with the height on RFID arrays floor 3 away from
From not super 5cm, to ensure that RFID card reader 15 can read the RFID label tag code on RFID card 2.
It these are only the embodiment for illustrating the utility model, be not intended to limit the utility model, for this field
For technical staff, within the spirit and principle of the utility model, any modifications, equivalent replacements and improvements are made,
It should be included within the scope of protection of this utility model.
Claims (6)
1. a kind of trackless automatic Guided Vehicle system based on RFID arrays, the control including car body (4) and for controlling car body (4)
Device processed, the both sides of the car body (4) are equipped with wheel (5), are equipped with to drive what car body (4) travelled on car body (4)
Driving device, the control device are included from control module (9), main control module, for sensing car body (4) current driving direction
Electronic compass (7) and vehicle head end mounted on car body (4) anticollision module (11), the electronic compass (7) is mounted on vehicle
It is connected on body (4) and with from the input terminal of control module (9), the anticollision module (11) and the input from control module (9)
End connection, it is described to be mounted on from control module (9) on car body (4) and pass through wireless communication module (12) and main control module company
It connects, it is characterised in that：The RFID arrays floor (3) as car body (4) operation place is further included,
The RFID arrays floor (3) is mainly laid with successively by M block RFID floor tiles (1), each piece of RFID floor tile (1)
An identification number is correspondingly provided in order and is mounted on G*H blocks RFID card (2) in each piece of RFID floor tile (1), in car body
(4) vehicle head end is equipped with to read the RFID Card Readers array module (13) of RFID card (2), the RFID Card Readers array module
(13) it is connected with from control module (9)；The main control module memory contains each piece of RFID card on RFID arrays floor (3)
(2) RFID label tag code, wherein M, G, H are >=1 integers.
2. the trackless automatic Guided Vehicle system according to claim 1 based on RFID arrays, it is characterised in that：It is described
RFID Card Readers array module (13) is mainly arranged in order by I*J RFID card reader (15), wherein I, J be >=1 it is whole
Number.
3. the trackless automatic Guided Vehicle system according to claim 1 or 2 based on RFID arrays, it is characterised in that：Often
One piece of RFID floor tile (1) includes floor tile bottom (1-1) and floor tile top layer (1-2), on floor tile bottom (1-1) and floor
The RFID card (2) is installed between brick top layer (1-2).
4. the trackless automatic Guided Vehicle system according to claim 3 based on RFID arrays, it is characterised in that：The drive
Dynamic device includes direct current generator (6) and direct current generator drive module (8), the input terminal of the direct current generator drive module (8) and
It is connected from control module (9) connection, its output terminal with direct current generator (6), the direct current generator (6) passes through bearing and wheel (5)
Shaft connects.
5. the trackless automatic Guided Vehicle system according to claim 1 based on RFID arrays, it is characterised in that：It is described from
Control module (9) is any one in 51 microcontrollers, MSP430 microcontrollers or arm processor.
6. the trackless automatic Guided Vehicle system according to claim 5 based on RFID arrays, it is characterised in that：The master
Control module is host computer (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721310116.0U CN207423201U (en) | 2017-10-12 | 2017-10-12 | A kind of trackless automatic Guided Vehicle system based on RFID arrays |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721310116.0U CN207423201U (en) | 2017-10-12 | 2017-10-12 | A kind of trackless automatic Guided Vehicle system based on RFID arrays |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207423201U true CN207423201U (en) | 2018-05-29 |
Family
ID=62310964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721310116.0U Expired - Fee Related CN207423201U (en) | 2017-10-12 | 2017-10-12 | A kind of trackless automatic Guided Vehicle system based on RFID arrays |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207423201U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107764256A (en) * | 2017-10-12 | 2018-03-06 | 钦州学院 | A kind of trackless automatic Guided Vehicle system and its implementation based on RFID arrays |
-
2017
- 2017-10-12 CN CN201721310116.0U patent/CN207423201U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107764256A (en) * | 2017-10-12 | 2018-03-06 | 钦州学院 | A kind of trackless automatic Guided Vehicle system and its implementation based on RFID arrays |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105045268B (en) | A kind of AGV laser tape hybrid navigation system | |
| CN106325270B (en) | Intelligent vehicle air navigation aid based on perception and from host computer location navigation | |
| CN107764256A (en) | A kind of trackless automatic Guided Vehicle system and its implementation based on RFID arrays | |
| CN108388245B (en) | AGV trolley indoor positioning navigation system and control method thereof | |
| CN2823983Y (en) | Double magnetic nail guiding device for automatic transport vehicle | |
| CN107516143A (en) | A kind of preferred AGV handling systems in path based on dijkstra's algorithm | |
| CN106708027A (en) | On-line graphical real-time navigation and control system of unmanned navigation intelligent electric flat vehicle | |
| CN106650873B (en) | Identification code, and quick navigation method and system of automatic guided vehicle | |
| CN109906415B (en) | Method and system for detecting the position of a vehicle relative to a track on which it is travelling | |
| CN106774335A (en) | Guiding device based on multi-vision visual and inertial navigation, terrestrial reference layout and guidance method | |
| CN106681321A (en) | RFID-based online scheduling control system of automatic guided vehicle | |
| CN107422735A (en) | A kind of trackless navigation AGV laser and visual signature hybrid navigation method | |
| CN203038110U (en) | Automatic guided vehicle based on radio frequency identification and system thereof | |
| CN111538337B (en) | Routing planning method and system for transformer substation rail-mounted robot inspection route | |
| CN103048996A (en) | Automatic guided vehicle based on laser scanning distance meter, and system and navigation method of automatic guided vehicle | |
| CN105739508A (en) | Multi-node navigation system based on electromagnetic navigation | |
| CN107421518A (en) | A kind of trackless navigation AGV passes in and out lorry method automatically | |
| Vale et al. | Assessment of navigation technologies for automated guided vehicle in nuclear fusion facilities | |
| CN107305386A (en) | A kind of intelligent optical guidance system | |
| CN107037815A (en) | Intelligent carriage logistics system | |
| CN111273667A (en) | Navigation control method and system for unmanned carrying vehicle | |
| CN104097916A (en) | Double-layer intelligent channel multi-station automatic conveying control system | |
| CN207423201U (en) | A kind of trackless automatic Guided Vehicle system based on RFID arrays | |
| CN205880661U (en) | Automatic navigation and have this automation navigation's navigation car | |
| CN202166895U (en) | Laser navigation system of intelligent patrol robot at transformer substation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180529 Termination date: 20191012 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |