CN104089623A - System and method for generating driving state and path of transportation vehicle - Google Patents

Abstract

The invention discloses a system for detecting a driving state and generating a path of an AGV (Automatic Guided Vehicle) based on RFID (Radio Frequency Identification). Passive RFID tag arrays are embedded in a container wharf and a storage yard and used for establishing position coordinate systems of the wharf and the storage yard; by virtue of RGID reading antennas mounted under the front and the back of an AGV body, RFID tags, which are embedded in the storage yard, in a sensing range of the antennas are read in the driving process of the AGV, so that state information such as the current position, speed and direction of the driving AGV can be obtained; then a real-time driving path of the AGV is generated according to the current position of the AGV and an AGV driving instruction (target position) from a central control system, thereby achieving the path driving control of the AGV through a driving controller of the AGV. The system is simple to implement, reliable in performance, practical and free from influence of the environment, can be applied to unmanned automatic navigation of the AGV at the intelligent container wharf and also can be applied to the unmanned automatic navigation of a cargo carrying vehicle at a large automatic logistics warehouse.

Description

A kind of generation system for carrier loader transport condition and path and method

Technical field

The present invention relates to a kind of generation system and method, relate in particular to a kind of transport condition detection of self-navigation carrier loader and path generating system and method that radio frequency sets that be exclusively used in.

Background technology

A new generation can realize large-size intelligentized container wharf unattended full-automatic container handling transport, can greatly improve the handling conevying efficiency of container hargour.In container handling transportation, the container plane transport task between wharf apron and stockyard, rear is mainly completed by unmanned self-navigation carrier loader (AGV, Automated Guided Vehicle);

In AGV haul container process, the driving path of AGV presets the situation such as road, barrier according to pier storage yard, and can revise by detecting the motion state of AGV in the process of moving the driving path of AGV.Among this, the traveling-position of AGV detects very important, only fast, is accurately detecting under AGV traveling-position prerequisite, could automatically generate safe and reliable AGV driving path planning;

The traveling-position of AGV detects can be by Global Positioning System (GPS) (GPS, Global Positioning System) realize, but in the time that weather inclement condition or AGV are blocked by barrier, it is unstable that gps signal becomes, and this is by the driving safety that has influence on the reliability of positioning of AGV and have influence on AGV;

The traveling-position of AGV detects also and can be realized by total powerstation (ETS, Electronic Total Station), sets up reference point at pier storage yard, and each AGV above installs a set of ETS, accurately detects the traveling-position of AGV by ETS.But the AGV traveling-position detection system of being set up by ETS is expensive, and AGV environment of living in is severe, travel jolt, all the performance to ETS and life-span bring adverse effect for blowing and raining etc.;

The traveling-position of AGV detects also can, by detecting rotating speed and the steering angle of AGV front and back wheel, on definite AVG initial position basis, through circulation Iterative calculation method, and then calculate that (estimation) goes out the current position state of AGV; But this method mainly depends on model and calculates, the cumulative errors producing may be brought impact to the driving safety of AGV.

Summary of the invention

The present invention is in order to make up the deficiencies in the prior art, provide a kind of novel self-navigation carrier loader transport condition setting with radio frequency to detect and path generating system, this system realizes simple, dependable performance, practicality, not affected by environment, not only can be used for the unmanned self-navigation of AGV of intelligent container wharf, also can be applied to the unmanned self-navigation of load-carrying vehicle of large automatic logistics warehouse; Meanwhile, the present invention also provides and utilizes this system to carry out the method that transport condition detects and path generates, and the method is simple to operate, and stable performance can farthest realize the control of self-navigation;

For achieving the above object, the technical scheme that the present invention takes is:

For the generation system in carrier loader transport condition and path, it is characterized in that: comprise buried RFID tag array, transport condition detection module, driving path generation module, the central control system being arranged in Container Yard and the AGV driving governor being connected with AGV;

Described buried RFID tag array, for generation of electromagnetic induction signal, carries out location, position to the AGV travelling on pier storage yard;

Described transport condition detection module is electrically connected with central control system, driving path generation module, receive electromagnetic induction signal and this signal is processed to rear generation position signalling flow to driving path generation module, simultaneously by AGV traveling-position feedback of status to central control system;

Described driving path generation module is connected with central control system, AGV driving governor, receive the AGV driving instruction that sends of central control system, and flow to AGV driving governor after producing travel route instruction after this instruction and the position signalling fusion treatment receiving;

Described AGV driving governor is for driving the motion of travelling of controlling AGV car;

Further improve, described transport condition detection module comprises AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna and the AGV absolute position detection unit that travels; Described AGV travels, and antenna is read and write with AGV car front lower place RFID respectively in absolute position detection unit, AGV car back lower place RFID read-write antenna electric is connected; Described AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna be all for read the current coordinate information of the stockyard RFID label within the scope of its antenna induction within each scan period, and this coordinate information is flowed to the AGV absolute position detection unit that travels; The described AGV absolute position detection unit that travels is connected with driving path generation module, central control system respectively, to receive coordinate confidence, after the judgement of the calculating of traveling-position and travel speed, travel direction, form the transport condition signal of current AGV car, and this status signal is flowed to driving path generation module, central control system;

Further improve, the distance of described AGV car front lower place RFID read-write antenna and AGV car back lower place RFID read-write antenna is 12m;

Further improve, described driving path generation module comprises AGV driving path MAP figure, stockyard RFID tag array reflection MAP figure; Described AGV driving path MAP figure and stockyard RFID tag array reflection MAP figure; Described AGV driving path MAP figure is for generating the real time running path of AGV; Described stockyard RFID tag array reflection MAP figure is a logical image figure of the buried RFID tag array in stockyard, is used to AGV driving path to generate reference by location is provided;

Further improve, in described buried RFID tag array, be provided with reference mark and deceleration point; Described reference mark is for the control that turns to of AGV; Described deceleration point arrives the deceleration control before target location for AGV;

Further improve, described buried RFID tag array is passive RFID tags;

The invention still further relates to the method for utilizing above-mentioned this system to carry out transport condition detection and driving path generation, concrete step is as follows:

The first step, by AGV car as in buried RFID tag array; AGV car receives the steering order of central control system, the motion of travelling;

Second step, AGV transport condition detection module detects AGV car current state in buried RFID tag array by its inner AGV car front lower place RFID read-write antenna and AGV car back lower place RFID read-write antenna, utilize AGV in this module traveling-position, the travel speed of absolute position detection unit to AGV car of travelling to calculate simultaneously, and carry out the judgement of travel direction; Produce AGV vehicle travelling state signal, this transport condition signal is transported to driving path generation module, central control system simultaneously;

The 3rd step, driving path generation module receives the transport condition signal of AGV transport condition detection module output, this signal and the driving instruction obtained are carried out obtaining after fusion treatment the current driving position of AGV car simultaneously from central control system, generate the MAP figure of AGV driving path; The AGV real time running path that AGV driving path MAP figure generates, gives AGV driving governor, the control thereby travel in the path of realizing AGV;

The 4th step, AGV car arrives behind target location, just finish the generation of a driving path, video MAP figure to AGV driving path MAP figure zero clearing initialization by stockyard RFID tag array, receiving after the AGV driving instruction that central control system is new (target location that AGV is new), carrying out AGV real time running path planning next time;

Further improve, in step 2, form the process of AGV vehicle travelling state signal, concrete steps are as follows:

A, positional information sensing: the current coordinate information that reads the stockyard RFID label within the scope of its antenna induction by AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna in each scan period, for antenna before car, current (up-to-date) coordinate position data is X _fNand Y _fN; For car aft antenna, current (up-to-date) coordinate position data is X _bNand Y _bN; AGV coordinate position data (the X getting _fNand Y _fN; X _bNand Y _bN), be sent to the AGV absolute position detection link of travelling;

B, current location detect: by the AGV AGV coordinate position data (X that absolute position detection unit gets that travels _fNand Y _fN; X _bNand Y _bN) further calculate and process, obtain the status information of current driving position, speed, direction of AGV etc.;

C, AGV export to AGV driving path generation module by result of calculation at the absolute position detection unit that travels, and send to harbour central control system by wireless network simultaneously, thereby can be at the transport condition of harbour central control room remote monitoring AGV;

Further improve, in step 2, the current driving position (X of the calculating of AGV car current driving position: AGV _n, Y _n) be by AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna detection to the mean value calculation of RFID label position obtain; Its computing formula is:

X _n=(X _fN+ X _bN)/2 formula (1)

Y _n=(Y _fN+ Y _bN)/2 formula (2)

Further improve, in step 2, the current driving speed (V of the calculating of AGV car current driving speed: AGV _n) be to calculate and obtain by the calculated value of current (N) position calculation value and front once (N-1) position, its computing formula is:

$V_N=\frac{1}{T}\sqrt{{(X_N-X_{N-1})}^2+{(Y_N-Y_{N-1})}^2}$ Formula (3)

In formula, T is the position probing link cycle calculations cycle, i.e. time difference when N and between when N-1;

Further improve, in step 2, the current driving direction (Ψ of the judgement of AGV car current line travel direction: AGV _n) be to calculate and obtain by the calculated value of current (N) position calculation value and front once (N-1) position, its computing formula is:

When taking X-axis as reference direction, the current driving direction of AGV is:

${\mathrm{\ψ}}_{\mathrm{XN}}={\tan }^{-1}\left(\frac{Y_N-Y_{N-1}}{X_N-X_{N-1}}\right)$ Formula (4)

When taking Y-axis as reference direction, the current driving direction of AGV is:

${\mathrm{\ψ}}_{\mathrm{YN}}={\tan }^{-1}\left(\frac{X_N-X_{N-1}}{Y_N-Y_{N-1}}\right)$ Formula (5)

AGV transport condition detection module is by the current driving position (X of AGV _n, Y _n), current driving speed (V _n) and current driving direction (Ψ _n) etc. status information give the path generation module of native system; Meanwhile, be sent to the central control system of container wharf by wireless network, for the remote monitoring to AGV;

Further improve, in step 3, the process that driving path generates, concrete steps are as follows:

1), obtain the driving instruction of AGV car: driving path generation module is connected with central control system by wireless network, and from central control system, obtains the driving instruction of AGV car;

2), obtain the current position signal of AGV car: the current form position of sailing path generation module and obtain AGV car from AGV travels absolute position detection unit;

3), taking described stockyard RFID tag array reflection MAP figure as reference, in buried RFID tag array, reference mark and deceleration point are set; Control the change of the transport condition of AGV car;

4), the AGV real time running path that generates of AGV driving path MAP figure, give AGV driving governor, the control thereby travel in the path of realizing AGV;

Further improve, in step 3) in, the process that AGV vehicle travelling state changes, concrete steps are as follows:

1. according to static-obstacle district, stockyard situation, 4 reference mark are set, are respectively the first reference mark, the second reference mark, the 3rd reference mark and the 4th reference mark and implement the enforcement of changing its course of the secondary of AGV;

2. the first reference mark and the second reference mark are used for hiding barrier 1, according to the end points RFID coordinate (X of barrier 1 _z1, Y _z1), select reference mark 1 (X _z1-2, Y _n) and reference mark 2 (X _z1, Y _z1+2), AGV will turn between reference mark 1 and reference mark 2, implement to change its course for the first time;

3. the 3rd reference mark and the 4th reference mark are used for hiding barrier 2, according to the end points RFID coordinate (X of barrier 2 _z2, Y _z2), select reference mark 3 (X _z2, Y _z2-2) and reference mark 4 (X _z2+2, Y _t), AGV will turn between reference mark 3 and reference mark 4, implement to change its course for the second time;

4. deceleration point arrives the deceleration before target location for AGV, according to target location (X _t, Y _t), select deceleration point (X _t-2, Y _t);

Compared with prior art, adopt such scheme, the invention has the beneficial effects as follows: the present invention in container wharf and stockyard bury passive RFID tags array underground, set up pier storage yard position coordinates system, by being arranged on the RFID read-write antenna of AGV vehicle body (before car and after car) below, in AGV driving process, read the buried RFID label in stockyard within the scope of antenna induction, obtain the status informations such as the AGV current location of travelling, speed, direction.According to the current location of AGV, and from the AGV driving instruction (target location) of central control system, generate the real time running path of AGV, thereby by the path that the driving governor of AGV the is realized AGV control of travelling; The present invention realizes simply, and dependable performance, practicality are not affected by environment, not only can be used for the unmanned self-navigation of AGV of intelligent container wharf, also can be applied to the unmanned self-navigation of load-carrying vehicle of large automatic logistics warehouse.

Brief description of the drawings

Fig. 1 is structural representation of the present invention;

Fig. 2 is the buried RFID tag array in stockyard structural representation in the present invention;

Fig. 3 is that the path of AGV of the present invention generates schematic diagram;

Embodiment

Below in conjunction with drawings and Examples, the present invention is further described.

As shown in Figure 1, Figure 2, Figure 3 shows, for the generation system in carrier loader transport condition and path, it is characterized in that: comprise buried RFID tag array 000, transport condition detection module 001, driving path generation module 002, the central control system being arranged in Container Yard and the AGV driving governor being connected with AGV; Described buried RFID tag array 000, for generation of electromagnetic induction signal, carries out location, position to the AGV travelling on pier storage yard; Described transport condition detection module 001 is electrically connected with central control system, driving path generation module 002, receive electromagnetic induction signal and this signal is processed to rear generation position signalling flow to driving path generation module 002, simultaneously by AGV traveling-position feedback of status to central control system; Described driving path generation module 002 is connected with central control system, AGV driving governor, receive the AGV driving instruction that sends of central control system, and flow to AGV driving governor after producing travel route instruction after this instruction and the position signalling fusion treatment receiving; Described AGV driving governor is for driving the motion of travelling of controlling AGV car;

Described transport condition detection module 001 comprises AGV car front lower place RFID read-write antenna 101, AGV car back lower place RFID read-write antenna 102 and the AGV absolute position detection unit 103 that travels; Described AGV travels, and antenna 101 is read and write with AGV car front lower place RFID respectively in absolute position detection unit 103, AGV car back lower place RFID read-write antenna 102 is electrically connected; Described AGV car front lower place RFID read-write antenna 101, AGV car back lower place RFID read-write antenna 102 be all for read the current coordinate information of the stockyard RFID label within the scope of its antenna induction within each scan period, and this coordinate information is flowed to the AGV absolute position detection unit 103 that travels; The described AGV absolute position detection unit 103 that travels is connected with driving path generation module 002, central control system respectively, to receive coordinate confidence, after the judgement of the calculating of traveling-position and travel speed, travel direction, form the transport condition signal of current AGV car, and this status signal is flowed to driving path generation module 002, central control system; Described driving path generation module 002 comprises AGV driving path MAP Figure 21 0, stockyard RFID tag array reflection MAP Figure 22 0; Described AGV driving path MAP Figure 21 0 and stockyard RFID tag array reflection MAP Figure 22 0; Described AGV driving path MAP Figure 21 0 is for generating the real time running path of AGV; Described stockyard RFID tag array reflection MAP Figure 22 0 is a logical image figure of the buried RFID tag array 000 in stockyard, is used to AGV driving path to generate reference by location is provided;

Preferably, described AGV car front lower place RFID read-write antenna 101 is 12m with the distance of AGV car back lower place RFID read-write antenna 102;

Further, in described buried RFID tag array 000, be provided with reference mark and deceleration point; Described reference mark is for the control that turns to of AGV; Described deceleration point arrives the deceleration control before target location for AGV;

Preferably,, described buried RFID tag array 000 is passive RFID tags;

The invention still further relates to the method for utilizing above-mentioned this system to carry out transport condition detection and driving path generation, concrete step is as follows:

The first step, by AGV car as in buried RFID tag array 000; AGV car receives the steering order of central control system, the motion of travelling;

Second step, AGV transport condition detection module 001 detects AGV car current state in buried RFID tag array 000 by its inner AGV car front lower place RFID read-write antenna 101 and AGV car back lower place RFID read-write antenna 102, utilize AGV in this AGV transport condition detection module 001 traveling-position, the travel speed of absolute position detection unit 103 to AGV car of travelling to calculate simultaneously, and carry out the judgement of travel direction; Produce AGV vehicle travelling state signal, this transport condition signal is transported to driving path generation module 002, central control system simultaneously;

Form the process of AGV vehicle travelling state signal, concrete steps are as follows: A, positional information sensing: the current coordinate information that reads the stockyard RFID label within the scope of its antenna induction by AGV car front lower place RFID read-write antenna 101, AGV car back lower place RFID read-write antenna 102 in each scan period, for antenna before car, current (up-to-date) coordinate position data is X _fNand Y _fN; For car aft antenna, current (up-to-date) coordinate position data is X _bNand Y _bN; AGV coordinate position data (the X getting _fNand Y _fN; X _bNand Y _bN), be sent to the AGV absolute position detection link of travelling; B, current location detect: by the AGV AGV coordinate position data (X that absolute position detection unit 103 gets that travels _fNand Y _fN; X _bNand Y _bN) further calculate and process, obtain the status information of current driving position, speed, direction of AGV etc.; C, AGV export to AGV driving path generation module 002 by result of calculation at the absolute position detection unit 103 that travels, and send to harbour central control system by wireless network simultaneously, thereby can be at the transport condition of harbour central control room remote monitoring AGV;

In this step, in AGV driving process, before its car/RFID of car back lower place read-write antenna (101 and 102) reads the current coordinate information of the stockyard RFID label within the scope of its antenna induction in each scan period; Thereby obtain the residing stockyard of AGV coordinate position corresponding to RFID label; For antenna before car, current (up-to-date) coordinate position data is X _fNand Y _fN; For car aft antenna, current (up-to-date) coordinate position data is X _bNand Y _bN; AGV coordinate position data (the X getting _fNand Y _fN; X _bNand Y _bN), be sent to the AGV absolute position detection unit (110) that travels, positional data (X _fNand Y _fN; X _bNand Y _bN) be further processed, carry out AGV current driving position calculation, travel speed calculating and travel direction and judge;

(1), the current driving position (X of the calculating of AGV car current driving position: AGV _n, Y _n) be that the mean value calculation of the RFID label position that detected by AGV car front lower place RFID read-write antenna 101, AGV car back lower place RFID read-write antenna 102 obtains; Its computing formula is:

X _n=(X _fN+ X _bN)/2 formula (1)

Y _n=(Y _fN+ Y _bN)/2 formula (2)

(2), the current driving speed (V of the calculating of AGV car current driving speed: AGV _n) be to calculate and obtain by the calculated value of current (N) position calculation value and front once (N-1) position, its computing formula is:

$V_N=\frac{1}{T}\sqrt{{(X_N-X_{N-1})}^2+{(Y_N-Y_{N-1})}^2}$ Formula (3)

In formula, T is the position probing link cycle calculations cycle, i.e. time difference when N and between when N-1;

(3), the current driving direction (Ψ of the judgement of AGV car current line travel direction: AGV _n) be to calculate and obtain by the calculated value of current (N) position calculation value and front once (N-1) position, its computing formula is:

When taking X-axis as reference direction, the current driving direction of AGV is:

${\mathrm{\ψ}}_{\mathrm{XN}}={\tan }^{-1}\left(\frac{Y_N-Y_{N-1}}{X_N-X_{N-1}}\right)$ Formula (4)

When taking Y-axis as reference direction, the current driving direction of AGV is:

${\mathrm{\ψ}}_{\mathrm{YN}}={\tan }^{-1}\left(\frac{X_N-X_{N-1}}{Y_N-Y_{N-1}}\right)$ Formula (5)

AGV transport condition detection module 001 is by the current driving position (X of AGV _n, Y _n), current driving speed (V _n) and current driving direction (Ψ _n) etc. status information give the path generation module of native system; Meanwhile, be sent to the central control system of container wharf by wireless network, for the remote monitoring to AGV;

The 3rd step, driving path generation module 002 receives the transport condition signal that AGV transport condition detection module 001 is exported, this signal and the driving instruction obtained are carried out obtaining after fusion treatment the current driving position of AGV car simultaneously from central control system, generate the MAP figure of AGV driving path; The AGV real time running path that AGV driving path MAP Figure 21 0 generates, gives AGV driving governor, the control thereby travel in the path of realizing AGV;

In this step, to consider for safety traffic, the rule predetermining that travels of AGV is two kinds: straight-line travelling and turning driving; Straight-line travelling is for being parallel to X-axis or Y direction is travelled; Turning driving is 90 degree turnings left or 90 degree turnings to the right;

AGV driving path MAP Figure 21 0 is for generating AGV real time running path; It obtains the driving instruction (AGV target location (X of AGV from central control system _t, Y _t)), and obtain the current location (X of AGV from the position probing link 110 of AGV transport condition detection module (001) _n, Y _n);

The process that driving path generates, concrete steps are as follows:

1), obtain the driving instruction of AGV car: driving path generation module 002 is connected with central control system by wireless network, and from central control system, obtains the driving instruction of AGV car;

2), obtain the current position signal of AGV car: the current form position of sailing path generation module and obtain AGV car from AGV travels absolute position detection unit 103;

3), taking described stockyard RFID tag array reflection MAP Figure 22 0 as reference, in buried RFID tag array 000, reference mark and deceleration point are set; Control the change of the transport condition of AGV car;

With stockyard RFID tag array reflection MAP Figure 22 0 as a reference, according to AGV current location (X _n, Y _n) and target location, for avoiding static-obstacle district, stockyard (or barrier), rational position control point and deceleration point need be set; Reference mark is for the control that turns to of AGV, and deceleration point arrives the deceleration control before target location for AGV; Specific rules is: in barrier, (or barrier) front 2 RFID label positions are turned or change its course, and in target location, front 2 RFID label positions slow down; The concrete steps of this process are as follows:

1. according to static-obstacle district, stockyard situation, 4 reference mark are set, are respectively the first reference mark, the second reference mark, the 3rd reference mark and the 4th reference mark and implement the enforcement of changing its course of the secondary of AGV;

2. the first reference mark and the second reference mark are used for hiding barrier 1, according to the end points RFID coordinate (X of barrier 1 _z1, Y _z1), select reference mark 1 (X _z1-2, Y _n) and reference mark 2 (X _z1, Y _z1+2), AGV will turn between reference mark 1 and reference mark 2, implement to change its course for the first time;

3. the 3rd reference mark and the 4th reference mark are used for hiding barrier 2, according to the end points RFID coordinate (X of barrier 2 _z2, Y _z2), select reference mark 3 (X _z2, Y _z2-2) and reference mark 4 (X _z2+2, Y _t), AGV will turn between reference mark 3 and reference mark 4, implement to change its course for the second time;

4. deceleration point arrives the deceleration before target location for AGV, according to target location (X _t, Y _t), select deceleration point (X _t-2, Y _t);

4), the AGV real time running path that generates of AGV driving path MAP Figure 21 0, give AGV driving governor, the control thereby travel in the path of realizing AGV;

The 4th step, AGV car arrives behind target location, just finish the generation of a driving path, video MAP Figure 22 0 to AGV driving path MAP Figure 21 0 zero clearing initialization by stockyard RFID tag array, receiving after the AGV driving instruction that central control system is new (target location that AGV is new), carrying out AGV real time running path planning next time;

The present invention in container wharf and stockyard bury passive RFID tags array underground, set up pier storage yard position coordinates system, by being arranged on the RFID read-write antenna of AGV vehicle body (before car and after car) below, in AGV driving process, read the buried RFID label in stockyard within the scope of antenna induction, obtain the status informations such as the AGV current location of travelling, speed, direction; According to the current location of AGV, and from the AGV driving instruction (target location) of central control system, generate the real time running path of AGV, thereby by the path that the driving governor of AGV the is realized AGV control of travelling; The present invention realizes simply, and dependable performance, practicality are not affected by environment, not only can be used for the unmanned self-navigation of AGV of intelligent container wharf, also can be applied to the unmanned self-navigation of load-carrying vehicle of large automatic logistics warehouse;

The present invention is not limited to above-mentioned concrete embodiment, and those of ordinary skill in the art is from above-mentioned design, and without performing creative labour, all conversion of having done, within all dropping on protection scope of the present invention.

Claims (13)

1. for the generation system in carrier loader transport condition and path, it is characterized in that: comprise buried RFID tag array, transport condition detection module, driving path generation module, the central control system being arranged in Container Yard and the AGV driving governor being connected with AGV;

Described buried RFID tag array, for generation of electromagnetic induction signal, carries out location, position to the AGV travelling on pier storage yard;

Described transport condition detection module is electrically connected with central control system, driving path generation module, receive electromagnetic induction signal and this signal is processed to rear generation position signalling flow to driving path generation module, simultaneously by AGV traveling-position feedback of status to central control system;

Described driving path generation module is connected with central control system, AGV driving governor, receive the AGV driving instruction that sends of central control system, and flow to AGV driving governor after producing travel route instruction after this instruction and the position signalling fusion treatment receiving;

Described AGV driving governor is for driving the motion of travelling of controlling AGV car.

2. a kind of generation system for carrier loader transport condition and path according to claim 1, is characterized in that: described transport condition detection module comprises AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna and the AGV absolute position detection unit that travels; Described AGV travels, and antenna is read and write with AGV car front lower place RFID respectively in absolute position detection unit, AGV car back lower place RFID read-write antenna electric is connected; Described AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna be all for read the current coordinate information of the stockyard RFID label within the scope of its antenna induction within each scan period, and this coordinate information is flowed to the AGV absolute position detection unit that travels; The described AGV absolute position detection unit that travels is connected with driving path generation module, central control system respectively, to receive coordinate confidence, after the judgement of the calculating of traveling-position and travel speed, travel direction, form the transport condition signal of current AGV car, and this status signal is flowed to driving path generation module, central control system.

3. a kind of generation system for carrier loader transport condition and path according to claim 2, is characterized in that: the distance of described AGV car front lower place RFID read-write antenna and AGV car back lower place RFID read-write antenna is 12m.

4. a kind of generation system for carrier loader transport condition and path according to claim 1, is characterized in that: described driving path generation module comprises AGV driving path MAP figure, stockyard RFID tag array reflection MAP figure; Described AGV driving path MAP figure and stockyard RFID tag array reflection MAP figure; Described AGV driving path MAP figure is for generating the real time running path of AGV; Described stockyard RFID tag array reflection MAP figure is a logical image figure of the buried RFID tag array in stockyard, is used to AGV driving path to generate reference by location is provided.

5. a kind of generation system for carrier loader transport condition and path according to claim 1, is characterized in that: in described buried RFID tag array, be provided with reference mark and deceleration point; Described reference mark is for the control that turns to of AGV; Described deceleration point arrives the deceleration control before target location for AGV.

6. a kind of generation system for carrier loader transport condition and path according to claim 1, is characterized in that: described buried RFID tag array is passive RFID tags.

7. utilize the system as claimed in claim 1 to carry out the method for transport condition detection and driving path generation, concrete step is as follows:

The first step, by AGV car as in buried RFID tag array; AGV car receives the steering order of central control system, the motion of travelling;

Second step, AGV transport condition detection module detects AGV car current state in buried RFID tag array by its inner AGV car front lower place RFID read-write antenna and AGV car back lower place RFID read-write antenna, utilize AGV in this module traveling-position, the travel speed of absolute position detection unit to AGV car of travelling to calculate simultaneously, and carry out the judgement of travel direction; Produce AGV vehicle travelling state signal, this transport condition signal is transported to driving path generation module, central control system simultaneously;

The 3rd step, driving path generation module receives the transport condition signal of AGV transport condition detection module output, this signal and the driving instruction obtained are carried out obtaining after fusion treatment the current driving position of AGV car simultaneously from central control system, generate the MAP figure of AGV driving path; The AGV real time running path that AGV driving path MAP figure generates, gives AGV driving governor, the control thereby travel in the path of realizing AGV;

The 4th step, AGV car arrives behind target location, just finish the generation of a driving path, video MAP figure to AGV driving path MAP figure zero clearing initialization by stockyard RFID tag array, receiving after the AGV driving instruction that central control system is new (target location that AGV is new), carrying out AGV real time running path planning next time.

8. method according to claim 7, is characterized in that: in step 2, form the process of AGV vehicle travelling state signal, concrete steps are as follows:

A, positional information sensing: the current coordinate information that reads the stockyard RFID label within the scope of its antenna induction by AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna in each scan period, for antenna before car, current (up-to-date) coordinate position data is X _fNand Y _fN; For car aft antenna, current (up-to-date) coordinate position data is XbN and YbN; AGV coordinate position data (the X getting _fNand Y _fN; X _bNand Y _bN), be sent to the AGV absolute position detection link of travelling;

B, current location detect: by the AGV AGV coordinate position data (X that absolute position detection unit gets that travels _fNand Y _fN; X _bNand Y _bN) further calculate and process, obtain the status information of current driving position, speed, direction of AGV etc.;

C, AGV export to AGV driving path generation module by result of calculation at the absolute position detection unit that travels, and send to harbour central control system by wireless network simultaneously, thereby can be at the transport condition of harbour central control room remote monitoring AGV.

9. method according to claim 7, is characterized in that: in step 2, and the current driving position (X of the calculating of AGV car current driving position: AGV _n, Y _n) be by AGV car front lower place RFID read-write antenna, AGV car back lower place RFID read-write antenna detection to the mean value calculation of RFID label position obtain; Its computing formula is:

X _n=(X _fN+ X _bN)/2 formula (1)

Y _n=(Y _fN+ Y _bN)/2 formula (2)

10. method according to claim 7, is characterized in that: in step 2, and the current driving speed (V of the calculating of AGV car current driving speed: AGV _n) be to calculate and obtain by the calculated value of current (N) position calculation value and front once (N-1) position, its computing formula is:

$V_N=\frac{1}{T}\sqrt{{(X_N-X_{N-1})}^2+{(Y_N-Y_{N-1})}^2}$ Formula (3)

In formula, T is the position probing link cycle calculations cycle, i.e. time difference when N and between when N-1.

11. methods according to claim 7, is characterized in that:, in step 2, the current driving direction (Ψ of the judgement of AGV car current line travel direction: AGV _n) be to calculate and obtain by the calculated value of current (N) position calculation value and front once (N-1) position, its computing formula is:

When taking X-axis as reference direction, the current driving direction of AGV is:

${\mathrm{\ψ}}_{\mathrm{XN}}={\tan }^{-1}\left(\frac{Y_N-Y_{N-1}}{X_N-X_{N-1}}\right)$ Formula (4)

When taking Y-axis as reference direction, the current driving direction of AGV is:

${\mathrm{\ψ}}_{\mathrm{YN}}={\tan }^{-1}\left(\frac{X_N-X_{N-1}}{Y_N-Y_{N-1}}\right)$ Formula (5)

AGV transport condition detection module is by the current driving position (X of AGV _n, Y _n), current driving speed (V _n) and current driving direction (Ψ _n) etc. status information give the path generation module of native system; Meanwhile, be sent to the central control system of container wharf by wireless network, for the remote monitoring to AGV.

12. methods according to claim 7, is characterized in that: in step 3, and the process that driving path generates, concrete steps are as follows:

1), obtain the driving instruction of AGV car: driving path generation module is connected with central control system by wireless network, and from central control system, obtains the driving instruction of AGV car;

2), obtain the current position signal of AGV car: the current form position of sailing path generation module and obtain AGV car from AGV travels absolute position detection unit;

3), taking described stockyard RFID tag array reflection MAP figure as reference, in buried RFID tag array, reference mark and deceleration point are set; Control the change of the transport condition of AGV car;

4), the AGV real time running path that generates of AGV driving path MAP figure, give AGV driving governor, the control thereby travel in the path of realizing AGV.

13. methods according to claim 12, is characterized in that: in step 3) in, the process that AGV vehicle travelling state changes, concrete steps are as follows:

1. according to static-obstacle district, stockyard situation, 4 reference mark are set, are respectively the first reference mark, the second reference mark, the 3rd reference mark and the 4th reference mark and implement the enforcement of changing its course of the secondary of AGV;

2. the first reference mark and the second reference mark are used for hiding barrier 1, according to the end points RFID coordinate (X of barrier 1 _z1, Y _z1), select reference mark 1 (X _z1-2, Y _n) and reference mark 2 (X _z1, Y _z1+2), AGV will turn between reference mark 1 and reference mark 2, implement to change its course for the first time;

3. the 3rd reference mark and the 4th reference mark are used for hiding barrier 2, according to the end points RFID coordinate (X of barrier 2 _z2, Y _z2), select reference mark 3 (X _z2, Y _z2-2) and reference mark 4 (X _z2+2, Y _t), AGV will turn between reference mark 3 and reference mark 4, implement to change its course for the second time;

4. deceleration point arrives the deceleration before target location for AGV, according to target location (X _t, Y _t), select deceleration point (X _t-2, Y _t).