CN105785962A - Workshop material delivery control and manage platform based on UWB - Google Patents
Workshop material delivery control and manage platform based on UWB Download PDFInfo
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Abstract
一种基于UWB的车间物料配送控制与管理平台,它包括智能后台控制模块与自动化管理模块,其特征是:所述的智能后台控制模块包括核心路由(1)、通讯服务(2)、实时定位(3);核心路由(1)提供封装的跨模块调用接口,完成数据源与目标组间的数据路由,简化数据交叉传送复杂性;通讯服务(2)封装通讯协议与数据交换功能,实现平台与小车双向通信,并将平台控制数据和小车运行状态监测数据发送至核心路由(1),通过其转发将数据发送至数据库服务模块(5)与客户端服务模块(6)。本发明为车间物流配送小车提供了理想的数据支持,能提高配送效率。
A UWB-based workshop material distribution control and management platform, which includes an intelligent background control module and an automatic management module, characterized in that: the intelligent background control module includes core routing (1), communication service (2), real-time positioning (3); Core Routing (1) Provide encapsulated cross-module call interfaces to complete data routing between data sources and target groups, simplifying the complexity of data cross-transmission; communication services (2) Encapsulating communication protocols and data exchange functions to realize platform Two-way communication with the car, and send the platform control data and car running status monitoring data to the core router (1), and send the data to the database service module (5) and client service module (6) through its forwarding. The invention provides ideal data support for the workshop logistics distribution trolley, and can improve the distribution efficiency.
Description
技术领域 technical field
本发明涉及一种物流配送技术,尤其是一种同时对移动设备和PC客户端提供人机交互支持的生产车间小车物流配送技术,具体地说是一种高封装、自主化的,能够实现车间物料配送智能控制,自动化管理数据与面向多用户群体不同功能需求的基于UWB的车间物料配送控制与管理平台。 The invention relates to a logistics distribution technology, especially a logistics distribution technology for production workshop trolleys that simultaneously provides human-computer interaction support for mobile devices and PC clients. Intelligent control of material distribution, automatic management of data and UWB-based workshop material distribution control and management platform for different functional requirements of multi-user groups.
背景技术 Background technique
目前,计算机数字技术与网络技术在车间生产过程中得到广泛应用。易于编写的软件平台、实时高速的数据传输和强大的计算能力为控制、管理的自动化、智能化提供了强大的技术和硬件保障。在此基础上通过对相关紧耦合功能的集成、封装,建立控制平台能够进一步提升开发性和实用性。 At present, computer digital technology and network technology are widely used in the workshop production process. The easy-to-write software platform, real-time high-speed data transmission and powerful computing capabilities provide strong technical and hardware guarantees for the automation and intelligence of control and management. On this basis, through the integration and packaging of related tightly coupled functions, the establishment of a control platform can further enhance the development and practicability.
为了能够更加真实的展示车间布局,显示实时运行情况,通常需要使用诸如Unity3D、Unigine等大型3D引擎支持以渲染画面。此类引擎拥有强大的3D动画能力,但入门不易,往往需要投入大量的人力;与此同时,物料配送的控制与管理需要专业的知识和相应的人力资源投入。 In order to display the layout of the workshop more realistically and display the real-time operation, it is usually necessary to use large-scale 3D engines such as Unity3D and Unigine to render the picture. This type of engine has powerful 3D animation capabilities, but it is not easy to get started and often requires a lot of manpower; at the same time, the control and management of material distribution requires professional knowledge and corresponding human resources.
控制平台与智能小车是一组紧耦合配对:小车需要依赖控制平台完成一系列的运动,同时提交运行状态进行实时监测;控制平台需要了解小车运行过程中的各种物理、软件特性,及时准确的提取其状态数据、下发控制命令,实现软、硬件之间的高度配合。涉及嵌入式的硬件平台开发调试、控制协议编写相对繁琐,同时也需要相关知识的支持。 The control platform and the smart car are a set of tightly coupled pairs: the car needs to rely on the control platform to complete a series of movements, and at the same time submit the running status for real-time monitoring; the control platform needs to understand various physical and software characteristics during the running of the car, and timely and accurately Extract its status data and issue control commands to achieve a high degree of cooperation between software and hardware. The development and debugging of embedded hardware platforms and the writing of control protocols are relatively cumbersome, and also require the support of relevant knowledge.
企业资源管理系统(ERP)、制造执行系统(MES)、产品数据管理(PDM)系统和计算机辅助工艺过程系统(CAPP)在制造车间中得到越来越多的应用。在使用过程中,它们需要原始数据,平台可通过第三方接口,将采集数据传送至对应的接入系统 Enterprise resource management system (ERP), manufacturing execution system (MES), product data management (PDM) system and computer-aided process system (CAPP) are increasingly used in manufacturing workshops. During use, they require raw data, and the platform can transmit the collected data to the corresponding access system through a third-party interface
UWB定位作为室内无线定位的一种解决方案,可应用于多种定位环境,追踪监视人员和设备,具有低成本、抗多径干扰、穿透能力强的优势,所以可以应用于静止或者移动物体以及人的定位跟踪,能提供十分精确的定位精度。在国外,该系统已经在多个行业中得到了广泛应用。在英国的Sellafield核电站,使用有源标签(Ubtags)配合测量辐射强度的辐射度量计,可以实时的将人员位置和辐射强度传输至系统后台,极大方便了管理者对现场人员安全的监控。宝马汽车生产线上使用该系统实时感知工人的操作以及当前流程,同时监控整个操作过程,大大减少了人为操作失误带来的损失。 As a solution for indoor wireless positioning, UWB positioning can be applied to various positioning environments, tracking and monitoring personnel and equipment, and has the advantages of low cost, anti-multipath interference, and strong penetration ability, so it can be applied to stationary or moving objects As well as human positioning tracking, it can provide very precise positioning accuracy. In foreign countries, the system has been widely used in many industries. In the Sellafield nuclear power plant in the UK, active tags (Ubtags) are used together with a radiation meter to measure radiation intensity, which can transmit the location and radiation intensity of personnel to the background of the system in real time, which greatly facilitates the managers to monitor the safety of personnel on site. The BMW production line uses this system to perceive workers' operations and current processes in real time, while monitoring the entire operation process, greatly reducing losses caused by human error.
有鉴于此,在车间物料配送过程中,建立一个控制和管理平台来提高配送效率,减少出错率至关重要。 In view of this, in the process of workshop material distribution, it is very important to establish a control and management platform to improve distribution efficiency and reduce error rate.
发明内容 Contents of the invention
本发明的目的是针对现有的车间配送尚无对应的软件或平台,发明一种集成智能小车通讯控制、实时定位、数据存储、用户操作管理,易于开发和集成的基于UWB的车间物料配送控制与管理平台。 The purpose of the present invention is to invent a UWB-based workshop material distribution control that integrates intelligent car communication control, real-time positioning, data storage, and user operation management, and is easy to develop and integrate, for the existing workshop distribution that has no corresponding software or platform. and management platform.
本发明的技术方案是: Technical scheme of the present invention is:
一种基于UWB的车间物料配送控制与管理平台,它包括智能后台控制模块与自动化管理模块,其特征在于:所述的智能后台控制模块包括核心路由1、通讯服务2、实时定位3;核心路由1提供封装的跨模块调用接口,完成数据源与目标组间的数据路由,简化数据交叉传送复杂性;通讯服务2封装通讯协议与数据交换功能,实现平台与小车双向通信,并将平台控制数据和小车运行状态监测数据发送至核心路由1,通过其转发将数据发送至数据库服务模块5与客户端服务模块6;实时定位3引擎将定位数据发送至核心路由1,通过其转发将位置信息发送至通讯服务模块2、数据库服务模块5与客户端服务模块6;所述的自动化管理模块包括网页服务4、数据库服务5和客户端服务6;网页服务4实现PC端、移动端的界面化的人机交互,提供数据分析、图表生成支持;数据库服务5提供定位数据、小车控制数据及小车运行状态监测数据的保存,并对网页服务4提供数据处理支持;客户端服务6实现PC客户端下的用户接入,提供全局状态实时显示、配送控制和平台管理。 A UWB-based workshop material distribution control and management platform, which includes an intelligent background control module and an automatic management module, characterized in that: the intelligent background control module includes core routing 1, communication service 2, real-time positioning 3; core routing 1. Provide encapsulated cross-module call interface to complete data routing between data sources and target groups, simplifying the complexity of data cross-transmission; communication service 2. Encapsulate communication protocols and data exchange functions to realize two-way communication between the platform and the car, and transfer platform control data And the car running status monitoring data is sent to the core route 1, and the data is sent to the database service module 5 and the client service module 6 through its forwarding; the real-time positioning 3 engine sends the positioning data to the core route 1, and the location information is sent through its forwarding To communication service module 2, database service module 5 and client service module 6; Described automatic management module comprises webpage service 4, database service 5 and client service 6; Webpage service 4 realizes the human interface of PC terminal, mobile terminal Computer interaction, providing support for data analysis and chart generation; database service 5 provides storage of positioning data, car control data and car running status monitoring data, and provides data processing support for web service 4; client service 6 realizes User access, providing real-time display of global status, delivery control and platform management.
所述的核心路由1一方面用于将各个功能单元确立明确的责任边界,提供跨模块的一对一或一对多的调用接口,防止某个模块在使用过程中跨模块直接使用一个或多个其它模块资源;另一方面将接收到的请求分析、分解,提交至相应模块执行,并汇总结果返回至请求对象;由于存在是否需要等待请求结果的区别,因此需要根据情况使用多线程技术;建立数据订阅机制,将数据源模块将产生或捕捉到的数据,按照订阅情况分发至订阅模块。 On the one hand, the core routing 1 is used to establish a clear responsibility boundary for each functional unit, provide a one-to-one or one-to-many call interface across modules, and prevent a module from directly using one or more modules during use. On the other hand, it analyzes and decomposes the received request, submits it to the corresponding module for execution, and returns the summary result to the request object; because there is a difference between whether to wait for the request result, it is necessary to use multi-threading technology according to the situation; Establish a data subscription mechanism to distribute the data generated or captured by the data source module to the subscription module according to the subscription situation.
所述的通讯服务2用于建立基于IP节点的缓存堆与管理单元,将接收到的数据进行堆保存、内容提取、垃圾信息剔除和数据校验,并提供消息生成与内存维护功能;建立通用型数据发送器与接收响应检测器,对提交发送的消息串按照节点建立消息堆,对已发送数据进行到达性检验,由于多小车模式下并行性较差,定制事务执行器进行高并发性下的高速、大量型数据的发送与校验。 The communication service 2 is used to establish a cache heap and management unit based on an IP node, perform heap storage, content extraction, garbage information removal and data verification of received data, and provide message generation and memory maintenance functions; establish a general The type data sender and the receiving response detector establish a message heap according to the node for the submitted message string, and perform an arrival check on the sent data. Due to the poor parallelism in the multi-car mode, the custom transaction executor performs high concurrency High-speed, large-scale data transmission and verification.
所述的实时定位3以Ubisnese系统硬件为底层平台,使用固定安装的Ubisense读写器,用于接收定位标签发射的UWB信号,并上传该UWB信号到定位引擎,通过AOA和TDOA算法计算出标签的坐标,并解析出的定位坐标提交至核心路由。 The real-time positioning 3 uses the Ubisnese system hardware as the underlying platform, uses a fixedly installed Ubisense reader to receive the UWB signal emitted by the positioning tag, and uploads the UWB signal to the positioning engine, and calculates the tag by AOA and TDOA algorithms. coordinates, and submit the resolved positioning coordinates to the core routing.
所述的网页服务4用于提供高灵活性的前端界面,包括:文字显示、图表显示;访问平台包括:IOS、Android和Windows,通过网页的即用即生成的高兼容特性,自适应不同分辨率下的内容显;可提供历史数据查询、数据分析、用户管理、定位追踪对象管理、配送小车管理功能。 The web service 4 is used to provide a highly flexible front-end interface, including: text display, chart display; the access platform includes: IOS, Android and Windows, and the high compatibility feature generated by the ready-to-use of the web page can adapt to different resolutions. The content under the rate is displayed; it can provide historical data query, data analysis, user management, location tracking object management, and distribution car management functions.
所述的数据库服务5用于建立轻量级本地缓存服务器,对于实时定位3引擎提交的实时数据进行强数据筛选,定时保存至SQLServer;保存平台操作记录与小车运行状态监测数据;执行T-SQL命令执行,对网页服务4提供数据支持。 The database service 5 is used to set up a lightweight local cache server, which performs strong data screening for the real-time data submitted by the real-time positioning 3 engine, and regularly saves it to SQLServer; saves platform operation records and trolley running status monitoring data; executes T-SQL Command execution, providing data support for web service 4.
所述的客户端服务6能提供面向移动端访问用户、PC端普通操作用户和PC端管理员用户的多维度界面;移动端用户灵活性大,通过对其提供基于网页5的高灵活性屏幕分辨率适配,免除APP开发,同时提供一键式接入认证,轻松连入并控制附近的配送小车;PC端用户区分工作性质,普通用户具有一般的操作权限,仅满足基本的工作需求,管理员用户提供所有操作权限,支持历史数据查询、数据分析、用户管理、定位追踪对象管理、配送小车管理功能。 The client service 6 can provide a multi-dimensional interface for mobile terminal access users, PC terminal common operation users and PC terminal administrator users; mobile terminal users have great flexibility, by providing them with a highly flexible screen based on the webpage 5 Resolution adaptation, eliminating the need for APP development, and providing one-click access authentication to easily connect and control nearby delivery vehicles; PC-side users distinguish the nature of their work, and ordinary users have general operation rights, which only meet basic work needs. The administrator user provides all operation rights, supports historical data query, data analysis, user management, location tracking object management, and distribution car management functions.
本发明的有益效果: Beneficial effects of the present invention:
本发明融合智能小车通信控制、Ubisense实时定位、SQLServer高性能数据存储于运算、客户端与网页访问支持,提供了一个完整的物料配送控制和管理平台。平台和智能小车建立通讯协议,同时自主追踪、校验数据传送过程结果,以面向对象的形式提供方便简洁的访问接口。核心路由提供访问所有模块的公共接口,可实现多模块间同步、并行任务执行,同时为企业级应用提供第三方接口,实现数据共享。 The invention provides a complete material distribution control and management platform by integrating intelligent car communication control, Ubisense real-time positioning, SQL Server high-performance data storage in computing, client and web page access support. The platform and the smart car establish a communication protocol, and at the same time independently track and verify the results of the data transmission process, and provide a convenient and concise access interface in an object-oriented form. The core routing provides a public interface for accessing all modules, which can realize synchronization among multiple modules and parallel task execution, and provide third-party interfaces for enterprise-level applications to realize data sharing.
1)本发明提出了一种针对物料配送的控制和管理系统,通过Ubisense定位系统、SQLServer服务器、网页服务实现基于Socket实时通信的可开发的支持C/S、B/S架构的配送控制和管理平台。 1) The present invention proposes a control and management system for material distribution, through the Ubisense positioning system, SQLServer server, and web page services to realize the real-time communication based on Socket and support C/S, B/S architecture distribution control and management platform.
2)本发明对控制平台和小车的软硬件进行集成和封装,实现对使用平台的用户提供易于理解、操作的调用接口,降低入门门槛,提升可开发性。 2) The present invention integrates and packages the software and hardware of the control platform and the trolley to provide users using the platform with an easy-to-understand and operate calling interface, lowering the entry threshold and improving developability.
3)本发明采用核心路由,将显示与控制和管理分离,通过平台向显示模块仅提供显示过程中必要的动画驱动元素,能够减少开发工作量,降低专业技术要求,缩短开发周期。 3) The present invention adopts core routing, separates display from control and management, and provides only necessary animation driving elements in the display process to the display module through the platform, which can reduce the development workload, reduce professional technical requirements, and shorten the development cycle.
4)本发明针对不同用户的不同功能需求,提供不同的访问方式。通过手持工业看板可随时查看平台整体运行状况,并实现一键连入附近智能小车,直接手动控制;通过普通用户PC客户端,可实现基于3D引擎的实时车间运行状态显示,下达配送任务;通过管理员PC客户端,可进一步实现用户权限管理、历史数据查询、数据分析、用户管理、定位追踪对象管理、配送小车管理等功能。 4) The present invention provides different access methods for different functional requirements of different users. The overall operating status of the platform can be checked at any time through the handheld industrial kanban, and one-click connection to the nearby smart car can be directly controlled manually; through the PC client of ordinary users, the real-time workshop operating status display based on the 3D engine can be realized, and delivery tasks can be issued; through The administrator's PC client can further realize functions such as user authority management, historical data query, data analysis, user management, location tracking object management, and distribution car management.
附图说明 Description of drawings
图1是本发明的系统总体框架图。 Fig. 1 is the general frame diagram of the system of the present invention.
图2是本发明的系统功能图。 Fig. 2 is a system function diagram of the present invention.
其中: in:
图2-1为核心路由功能图。 Figure 2-1 is the core routing function diagram.
图2-2为通信服务功能图。 Figure 2-2 is a communication service function diagram.
图2-3为客户端服务功能图。 Figure 2-3 is the client service function diagram.
图2-4为数据库服务功能图。 Figure 2-4 is a functional diagram of the database service.
图2-5为网页服务功能图。 Figure 2-5 is a functional diagram of the web page service.
图2-6为实时定位功能图。 Figure 2-6 is a real-time positioning function diagram.
图3为智能小车核心程序流程图。 Figure 3 is the flow chart of the core program of the smart car.
具体实施方式 detailed description
下面结合附图和实施例对本发明作进一步的说明。 The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1-3所示。 As shown in Figure 1-3.
一种基于UWB的车间物料配送控制与管理平台,总体架构如图1所示,系统功能图如图2所示,它包括: A UWB-based workshop material distribution control and management platform, the overall architecture is shown in Figure 1, and the system function diagram is shown in Figure 2, which includes:
—智能后台控制,它包括核心路由1、通讯服务2、实时定位3。核心路由1提供封装的跨模块调用接口,完成数据源与目标组间的数据路由,简化数据交叉传送复杂性;通讯服务2封装通讯协议与数据交换功能,实现平台与小车双向通信,并将平台控制数据和小车运行状态监测数据发送至核心路由1,通过其转发将数据发送至数据库服务模块5与客户端服务模块6;实时定位3引擎将定位数据发送至核心路由1,通过其转发将位置信息发送至通讯服务模块2、数据库服务模块5与客户端服务模块6; —Intelligent background control, which includes core routing1, communication service2, real-time positioning3. Core routing 1 provides an encapsulated cross-module call interface, completes data routing between data sources and target groups, and simplifies the complexity of data cross-transmission; communication service 2 encapsulates communication protocols and data exchange functions, realizes two-way communication between the platform and the car, and integrates the platform The control data and the car running status monitoring data are sent to the core route 1, and the data is sent to the database service module 5 and the client service module 6 through its forwarding; the real-time positioning 3 engine sends the positioning data to the core route 1, and through its forwarding, the position The information is sent to the communication service module 2, the database service module 5 and the client service module 6;
—自动化管理包括网页服务4、数据库服务5、客户端服务6。网页服务4实现PC端、移动端的界面化的人机交互,提供数据分析、图表生成支持;数据库服务5提供定位数据、小车控制数据、小车运行状态监测数据的保存,并对网页服务4提供数据处理支持;客户端服务6实现PC客户端下的用户接入,提供全局状态实时显示、配送控制和平台管理。 —Automatic management includes web page service 4, database service 5, and client service 6. Webpage service 4 realizes interface-based human-computer interaction on PC and mobile terminals, and provides support for data analysis and chart generation; database service 5 provides storage of positioning data, car control data, and car running status monitoring data, and provides data for webpage service 4 Processing support; client service 6 realizes user access under the PC client, provides real-time display of global status, delivery control and platform management.
详述如下: The details are as follows:
图1是本发明基于UWB的车间物料配送与控制平台的系统框架图,其包括核心路由、通讯服务、实时定位、网页服务、数据库服务和客户端服务。 Fig. 1 is a system frame diagram of the UWB-based workshop material distribution and control platform of the present invention, which includes core routing, communication services, real-time positioning, web page services, database services and client services.
参照附图2,图2共有6个部分组成,分别与核心路由1、通讯服务2、实时定位3、网页服务4、数据库服务5和客户端服务6对应。 Referring to accompanying drawing 2, there are 6 parts in Fig. 2, corresponding to core routing 1, communication service 2, real-time positioning 3, web service 4, database service 5 and client service 6 respectively.
图2-1为核心路由,主要有任务调制和数据调制两部分构成,分别处理任务请求和数据派发,其中任务调制包括任务分解、任务分配和跨模块执行;数据调制包括:数据订阅、数据提交和数据分发,同时还有模块控制与平台监测用以对其它模块进行相关控制,监测平台运行状态。任务分解的意思是提交的请求需要多模块的执行结果,因而需要对请求本身进行任务分解,然后将分解后的任务分配至对应模块,并等待获取返回的结果,可能出现的情况还包括分解的请求需要某个模块多次执行分解后的任务。数据订阅概念类似于报纸订阅,模块将自己感兴趣的内容告知核心路由,从数据源方考虑,它需要将自己的获得的数据提交至路由,路由会根据自身内建的订阅表将数据分发;而数据获取方则只要在数据送达的时候提取数据就行。实际使用中,数据传输还是比较频繁的。 Figure 2-1 shows the core routing, which mainly consists of two parts: task modulation and data modulation, which process task requests and data dispatch respectively. Task modulation includes task decomposition, task assignment, and cross-module execution; data modulation includes: data subscription, data submission and data distribution, as well as module control and platform monitoring to control other modules and monitor the operating status of the platform. Task decomposition means that the submitted request requires the execution results of multiple modules, so it is necessary to decompose the request itself, and then assign the decomposed tasks to the corresponding modules, and wait for the returned results. The possible situation also includes the decomposed The request requires a module to perform the decomposed task multiple times. The concept of data subscription is similar to newspaper subscription. The module informs the core routing of the content it is interested in. From the perspective of the data source, it needs to submit the data it obtains to the routing, and the routing will distribute the data according to its own built-in subscription table; The data acquirer only needs to extract the data when the data is delivered. In actual use, data transmission is quite frequent.
图2-2为通讯服务,主要由缓存堆、数据发送器、接收响应检测器和数据转换协议组成,提供配送小车与平台的通讯,连接方式为Wi-Fi,基于TCP协议的Socket通信模式。其中缓存堆由消息生成组件、消息验证组件、垃圾信息剔除组件、数据提取组件、连接性检测器组件以及内存维护组件构成;以数据包为基本单元,同时附加识别码对应参数数据。数据发送器基于事务发送器执行,通过使用10ms的时钟、线程池和独立线程对发送数据进行延时到达性检测;为了提升灵敏度,降低响应时间,嵌套接收反馈标识近通道,绑定对象与数据包,建立它们之间的映射关系。事务执行器从闲时到工作最大启动时间为10ms。 Figure 2-2 is the communication service, which is mainly composed of a cache, a data transmitter, a receiving response detector and a data conversion protocol. It provides communication between the delivery car and the platform. The connection method is Wi-Fi, and the Socket communication mode based on the TCP protocol. The cache heap is composed of a message generation component, a message verification component, a spam removal component, a data extraction component, a connectivity detector component, and a memory maintenance component; the data packet is used as the basic unit, and the corresponding parameter data of the identification code is added. The data sender is executed based on the transaction sender. By using the 10ms clock, thread pool and independent thread, the delay arrival detection of the sent data is performed; in order to improve the sensitivity and reduce the response time, the nested receiving feedback identifies the near channel, and binds the object with the Data packets, and establish the mapping relationship between them. The maximum startup time of the transaction executor from idle time to work is 10ms.
图2-3为实时定位,主要由引擎管理、缓存堆以及数据处理组成。通过引擎控制组件初始化配置,启动硬件,再将接收到的数据通过数据转换协议发送至缓存堆;自适应滤波结合中值滤波与底层滤波算法,根据追踪对象类型进行针对性滤波实现位置自矫正,并将数据进一步规则化处理。 Figure 2-3 shows real-time positioning, mainly composed of engine management, cache heap, and data processing. Initialize the configuration through the engine control component, start the hardware, and then send the received data to the cache stack through the data conversion protocol; adaptive filtering combines median filtering and underlying filtering algorithms, and performs targeted filtering according to the type of tracking object to achieve position self-correction. and further regularize the data.
图2-4为网页服务,主要由脚本生成和界面生成两部分组成。针对提交的请求,脚本组件进行SQLServer脚本生成,并通过核心路由提交执行;针对不同设备的显示分辨率,进行可视化图形交互显示。 Figure 2-4 is a webpage service, mainly composed of two parts: script generation and interface generation. For the submitted request, the script component generates the SQLServer script and submits it for execution through the core routing; it performs interactive display of visual graphics according to the display resolution of different devices.
图2-5为数据库服务,主要由本地服务器和网络服务器组成。其中本地服务器为SQLite轻量级服务器,主要对本地数据进行短时间缓存,同时针对定位数据进行强位置筛选以生成历史数据,针对平台操作生成日志,针对运行状态进行性能监测记录;网络服务器为SQLServer2008R2,通过数据迁移组件,可将SQLite处理后数据转移到网络服务器,同时通过软、硬件提供命令脚本运行、调用接口支持和数据维护功能。 Figure 2-5 shows the database service, mainly composed of local server and network server. Among them, the local server is a lightweight SQLite server, which mainly caches local data for a short period of time, and at the same time performs strong location screening for positioning data to generate historical data, generates logs for platform operations, and performs performance monitoring records for running status; the network server is SQLServer2008R2 , through the data migration component, the data processed by SQLite can be transferred to the network server, and at the same time, it can provide command script operation, call interface support and data maintenance functions through software and hardware.
图2-6为客户端服务,主要由缓存堆栈和其它功能组成。根据登录用户、登录方式的不同区分用户群,并提供不同的权限功能;针对PC端普通用户,提供用户追踪对象位置刷新、任务提交、实时显示等功能;针对PC管理用户,提供在途配送车管理、目标访问、全局追中对象定位刷新、用户管理、数据分析等功能;针对手持看板用户,提供简版配送状态显示、一键式配送车接入认证等功能。 Figure 2-6 shows the client service, which is mainly composed of cache stack and other functions. Differentiate user groups according to different login users and login methods, and provide different permission functions; for ordinary users on the PC side, provide functions such as user tracking object location refresh, task submission, real-time display, etc.; for PC management users, provide in-transit delivery vehicle management , target access, global catch-up object positioning refresh, user management, data analysis and other functions; for handheld kanban users, it provides a simplified version of the delivery status display, one-click delivery vehicle access authentication and other functions.
图3为与平台配套的配送小车控制程序流程图。在开始配送前,平台将一组配送任务发送至小车中。小车完成任务组信息确认后,通过循环控制依次完成每一个配送任务,直到所有任务都被完成,然后等待新的配送任务下达。在配送过程中,小车根据任务详情、定位数据和传感器数据对当前运行姿态进行计算,与目标姿态进行比较并进行轨迹修正。 Figure 3 is a flow chart of the control program of the distribution car matched with the platform. Before starting the delivery, the platform sends a set of delivery tasks to the car. After the car completes the task group information confirmation, it completes each delivery task in turn through loop control until all tasks are completed, and then waits for a new delivery task to be issued. During the distribution process, the car calculates the current running attitude according to the task details, positioning data and sensor data, compares it with the target attitude and performs trajectory correction.
本发明未涉及部分均与现有技术相同或可采用现有技术加以实现。 The parts not involved in the present invention are the same as the prior art or can be realized by adopting the prior art.
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