CN108803606A - A kind of driving automatic dispatching system and dispatching method - Google Patents
A kind of driving automatic dispatching system and dispatching method Download PDFInfo
- Publication number
- CN108803606A CN108803606A CN201810590035.3A CN201810590035A CN108803606A CN 108803606 A CN108803606 A CN 108803606A CN 201810590035 A CN201810590035 A CN 201810590035A CN 108803606 A CN108803606 A CN 108803606A
- Authority
- CN
- China
- Prior art keywords
- driving
- operating path
- dispatching system
- isolated area
- subregion
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000002955 isolation Methods 0.000 claims abstract description 3
- 238000012550 audit Methods 0.000 claims description 16
- 230000001815 facial effect Effects 0.000 claims description 15
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of driving automatic dispatching system and dispatching methods, including driving, safety door, safe fence and master control set, the driving region of driving is divided into several sub-regions by safe fence, end per sub-regions is separately installed with safety door, and safety door is used to be isolated the subregion corresponding to it and the connection between the external world；It can be carried out wireless communication between master control set and driving.The advantages of the present invention are：Workshop of being expert at is realized to the automation control of driving, reduces the input of cost of labor, improves the dispatching efficiency of cargo；Avoid the risk that external irrelevant personnel arbitrarily enters driving region；Driving and the isolation effect of staff are realized, therefore ensure that the personal safety of staff；It not only ensure that the personal safety of staff, it is ensured that the operational efficiency between driving.
Description
Technical field
The present invention relates to Intelligent logistics field, more particularly to a kind of driving automatic dispatching system and dispatching method.
Background technology
Currently, with industrial intelligent main trend, the even unmanned logistics workshop of few peopleization is gradually paid attention to by enterprise, together
When, driving is that one kind being mounted on workshop top, and the crane that can be moved on workshop top crossbeam, because its is easy to operate, is risen
It is strong to hang ability, and is widely used in logistics workshop；
As gradually gradually high, production safety problem country also increasingly pays close attention to row domestic human cost, therefore, in object between driving
Popular using and developing and obtained the extensive attention of enterprise in the industry；However the scheduling of existing automatic traveling crane can only dispatch driving from
Starting point is to target point, and once having personnel to walk about below transfer route article pendant occurs for left unguarded when automatic traveling crane operation
Extremely serious peril can be caused when falling.
Invention content
To solve the above-mentioned problems, a kind of driving automatic dispatching system of present invention offer and dispatching method.Wherein, it drives a vehicle
Region is located in driving, and the technical program passes through driving, safety door, safe fence and the master for being equipped with sacurity dispatching system
Device is controlled, and carries out driving flow, flow of marching into the arena and evacuation flow using sacurity dispatching system, to be carried out to driving and safety door
Control；
By driving a vehicle, flow realizes workshop of being expert to the automation control of driving, reduces the input of cost of labor, carries
The high dispatching efficiency of cargo；
The audit effect to staff is realized by flow of marching into the arena, therefore avoids external irrelevant personnel and arbitrarily enters
The risk in driving region, ensure that the safety between driving；Meanwhile using flow of marching into the arena also avoid driving in being currently running with
The case where staff meets, therefore ensure that the personal safety of staff；
So that the operating path of driving is avoided isolated area by avoiding flow, running driving is carried out with staff
Isolation, therefore, evacuation flow can not only make staff carry out the work in isolated area, also ensure that the cargo of driving as possible
The normal development for dispensing work, not only ensure that the personal safety of staff, it is ensured that the operational efficiency between driving.
A kind of driving automatic dispatching system in the present invention, including driving, safety door, safe fence and master control set,
The driving region of the driving is divided into several sub-regions by the safe fence, and the end per sub-regions is separately installed with
The safety door, the safety door are used to be isolated the subregion corresponding to it and the connection between the external world；The master control set with
It can be carried out wireless communication between driving.
In said program, the driving can pass through two adjacent sub-regions from the space above safe fence, driving
The orientation of moving direction and all subregion is mutually parallel；The safety door include electrically operated gate, controller, Fingerprint Identification Unit,
Facial-recognition security systems, encryption device and input unit；The Fingerprint Identification Unit, facial-recognition security systems, encryption device and input dress
It sets and is connect respectively with the controller, Fingerprint Identification Unit, facial-recognition security systems, encryption device and input unit are separately fixed at institute
Electrically operated gate is stated on the side of the subregion；It is connected with each other between the controller and master control set；
Sacurity dispatching system is installed, the sacurity dispatching system is for controlling driving in region of driving a vehicle in master control set
All subregion in operating path, and the position of driving is positioned in real time；The sacurity dispatching system is additionally operable to control
The current state of all subregion in driving region.
In said program, there are one the driving at least tools；Intelligent control board, running fix mould are installed in the driving
Block and radio transmitting device, the intelligent control board, mobile position-fixed module and radio transmitting device are separately fixed at the driving
On, the intelligent control board is connected with the mobile position-fixed module, radio transmitting device and driving respectively；In the master control set
With wireless antenna, the master control set realizes the wireless communication between driving by wireless antenna and radio transmitting device.
A kind of driving automatic dispatching method, using a kind of above-mentioned driving automatic dispatching system, including driving flow, into
Field flow journey and evacuation flow, interior formulate of sacurity dispatching system have isolated area list；If list is empty for isolated area, the sacurity dispatching
System executes driving flow；If isolated area list is not sky, the sacurity dispatching system executes evacuation flow；If staff needs
To enter subregion, the sacurity dispatching system executes flow of marching into the arena.
In said program, the driving flow includes the following steps：
X1. sacurity dispatching system exports operating path to driving, each son driven a vehicle according to operating path in region of driving a vehicle
It is travelled in region；
X2. the driving in real time positions the current location of the driving by mobile position-fixed module, and obtains position
It is sent to intelligent control board after confidence breath；The intelligent control board is by radio transmitting device to master control set carry-out bit confidence
Breath；
X3. the intelligent control board is also according to the implementation progress driven a vehicle described in the location information real-time update, if described
The location information of driving and the terminal point coordinate of operating path are inconsistent, the intelligent control board will continue to control the driving according to
Operating path moves；If the location information of the driving is consistent with the terminal point coordinate of operating path, the intelligent control board will be controlled
The driving is made to stop；
X4. the sacurity dispatching system judges whether the driving has completed operation road according to the location information of driving
Diameter；If the location information of the driving and the terminal point coordinate of operating path are inconsistent, the driving current state is set as work
State；If the location information of the driving is consistent with the terminal point coordinate of operating path, the driving current state is set to be standby
State.
In said program, in the X1, sacurity dispatching system is exported to radio transmitting device by wireless antenna and is run
Path, the radio transmitting device export operating path to intelligent control board, and the intelligent control board is according to operating path control
System driving starts, and controls the direction of motion of the driving；
In said program, the flow of marching into the arena includes the following steps：
J1. staff will input Shen of marching into the arena before entering any subregion to the safety door corresponding to the subregion
Please；Safety door reception is marched into the arena after application, will be audited to staff；When to staff after the approval, safety door
Audit will be generated and pass through information；
J2. safety door will be audited and be exported to master control set by information, and the sacurity dispatching system receives audit and passes through
The current state of the driving is inquired after information；
If the driving current state is in working condition, the sacurity dispatching system is exported by master control set to safety door
Instruction is waited for, when driving completion operating path and when entering standby mode, the sacurity dispatching system is by the safety
Subregion corresponding to door is set as isolated area；
If the current state of the driving is standby mode, the sacurity dispatching system directly will be corresponding to the safety door
Subregion be set as isolated area；
J3. the sacurity dispatching system is to the subarea number for being set as isolated area to be entered into isolated area list, together
When, sacurity dispatching system also exports open signal to the controller of safety door, and the controller controls electronic according to open signal
Door is opened, and makes staff that can be entered in isolated area by electrically operated gate；
J4. the safety door will be operated after staff leaves out of isolated area makes electrically operated gate close, the safety door
After closing, the controller will export to the master control set and leave signal；Letter is left when the sacurity dispatching system receives
After number, the sacurity dispatching system, which will delete to send in isolated area list, leaves the subregion corresponding to the safety door of signal
Number.
In said program, in the J1, staff inputs application of marching into the arena by input equipment, and the input equipment will
March into the arena application output to the controller, the controller receive march into the arena application after will control Fingerprint Identification Unit, face recognition
System and encryption device start；
It includes the following contents to carry out audit to staff in the J1：
S1. the finger print information of staff is stored in the Fingerprint Identification Unit, fingerprint is fitted in fingerprint by staff
On identifier, Fingerprint Identification Unit is by the finger print data of collecting work personnel；If the finger print data is matched with finger print information, institute
Fingerprint matching data will be exported to controller by stating Fingerprint Identification Unit；If finger print data is mismatched with finger print information, the fingerprint
Identifier will be stopped；
S2. the facial information of staff is stored in the facial-recognition security systems, the facial-recognition security systems scan work
The face for making personnel, with the face data of collecting work personnel, the facial-recognition security systems are also to facial information and face data
It is compared；If the facial information is matched with face data, the facial-recognition security systems will be to the controller output face
Portion's matched data；If the facial information is mismatched with face data, the facial-recognition security systems will be stopped；
S3. password of marching into the arena is stored in the encryption device, staff will operate and input login password to encryption device；
If the password of marching into the arena is consistent with login password, the encryption device will be to controller output password matched data；If described
When password of marching into the arena is inconsistent with login password, the encryption device will be stopped；
After the controller receives fingerprint matching data, facial match data and password match data, the control
Device will regard as staff's audit and pass through, and the controller passes through information by audit is generated at this time；
In the J4, staff can input application of leaving the theatre to input unit, and the input unit will be according to Shen of leaving the theatre
Shutdown signal please is exported to the controller, the controller controls the electrically operated gate according to the shutdown signal and closes.
In said program, the evacuation flow includes the following steps：
B1. sacurity dispatching system exports operating path to driving, each son driven a vehicle according to operating path in region of driving a vehicle
It is travelled in region；Wherein, the operating path will avoid the isolated area in the isolated area list；
B2. the driving in real time positions current location by mobile position-fixed module, and is sent out after obtaining location information
It send to intelligent control board；The intelligent control board is by radio transmitting device to master control set output position information；
B3. the intelligent control board is also according to the implementation progress driven a vehicle described in the location information real-time update, if described
The location information of driving and the terminal point coordinate of operating path are inconsistent, the intelligent control board will continue to control the driving according to
Operating path moves；If the location information of the driving is consistent with the terminal point coordinate of operating path, the intelligent control board will be controlled
The driving is made to stop；
B4. the sacurity dispatching system judges whether the driving has completed operation road according to the location information of driving
Diameter；If the location information of the driving and the terminal point coordinate of operating path are inconsistent, the driving current state is set as work
State；If the location information of the driving is consistent with the terminal point coordinate of operating path, the driving current state is set to be standby
State.
In said program, in the X1, sacurity dispatching Installed System Memory has the coordinate information of each point of all subregion, peace
Full scheduling system exports operating path by wireless antenna to radio transmitting device, and the radio transmitting device is defeated by operating path
Go out to intelligent control board, the intelligent control board controls driving according to operating path and starts, and controls the movement of the driving
Direction；
In the X1, sacurity dispatching system avoids the operating path of the isolated area in isolated area list to driving output
Operation includes the following steps：
M1. behind the sacurity dispatching system generating run path, the operating path and isolated area list are compared,
And it determines each coordinate on the operating path whether all subregion number is corresponding not in the isolated area list
In the range of isolated area；
If M11. not in the isolated area list, all subregion number institute is right for each coordinate on the operating path
In the range of the isolated area answered, the sacurity dispatching system will export operating path by wireless antenna to radio transmitting device；
If M12. it is right to be located at any subarea number institute in the isolated area list for any coordinate on the operating path
In the range of the isolated area answered, then the sacurity dispatching system will stop exporting operating path to driving；
M2. the son for sending and leaving corresponding to the safety door of signal is deleted in isolated area list when the sacurity dispatching system
The number in region, the sacurity dispatching system will execute the M1 again.
The advantages of the present invention are：A kind of driving automatic dispatching system of present invention offer and dispatching party
Method realizes workshop of being expert to the automation control of driving, reduces the input of cost of labor, improves the dispatching effect of cargo
Rate；The risk that external irrelevant personnel arbitrarily enters driving region is avoided, ensure that the safety between driving；Also avoid fortune simultaneously
The case where driving in row is met with staff, therefore ensure that the personal safety of staff；It can not only make work people
Member carries out the work in isolated area, also ensure that the normal development of the goods delivery work of driving as possible, not only ensure that work
The personal safety of personnel, it is ensured that the operational efficiency between driving.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic block diagram of driving automatic dispatching system of the present invention；
Fig. 2 is the structural schematic diagram of safety door in a kind of driving automatic dispatching system of the present invention.
In figure：1, driving 2, safety door 3, safe fence 4, master control set
5, driving region 11, intelligent control board 12, mobile position-fixed module
13, radio transmitting device 21, electrically operated gate 22, controller
23, Fingerprint Identification Unit 24, facial-recognition security systems 25, encryption device
26, input unit 41, wireless antenna 51, subregion
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is further described.Following embodiment is only
For clearly illustrating technical scheme of the present invention, and not intended to limit the protection scope of the present invention.
As depicted in figs. 1 and 2, the present invention is a kind of driving automatic dispatching system, including driving 1, safety door 2, safety
Fence 3 and master control set 4, will the drive a vehicle 1 driving region 5 of safe fence 3 is divided into several sub-regions 51, per sub-regions 51
End be separately installed with safety door 2, safety door 2 is used to be isolated the subregion 51 corresponding to it and the connection between the external world；It is main
It can be carried out wireless communication between control device 4 and driving 1.
Specifically, driving 1 can pass through two adjacent sub-regions 51 from the space above safe fence 3, drive a vehicle 1 movement
Direction and the orientation of all subregion 51 are mutually parallel；Safety door 2 include electrically operated gate 21, controller 22, Fingerprint Identification Unit 23,
Facial-recognition security systems 24, encryption device 25 and input unit 26；Fingerprint Identification Unit 23, facial-recognition security systems 24, encryption device 25
It is connect respectively with controller 22 with input unit 26, Fingerprint Identification Unit 23, facial-recognition security systems 24, encryption device 25 and input dress
It sets 26 and is separately fixed at electrically operated gate 21 on the side of subregion 51；It is connected with each other between controller 22 and master control set 4；
Sacurity dispatching system is installed, sacurity dispatching system is for controlling driving 1 in region 5 of driving a vehicle in master control set 4
All subregion 51 in operating path, and to driving 1 position positioned in real time；Sacurity dispatching system is additionally operable to control row
The current state of all subregion 51 in vehicle region 5；Wherein, master control set 4 is integrated circuit.
Specifically, there are one at least tools of driving 1；Intelligent control board 11, mobile position-fixed module 12 and nothing are installed in driving 1
Line transmitting device 13, intelligent control board 11, mobile position-fixed module 12 and radio transmitting device 13 are separately fixed in driving 1, intelligence
Energy control panel 11 is connect with mobile position-fixed module 12, radio transmitting device 13 and driving 1 respectively；Have in master control set 4 wireless
Antenna 41, master control set 4 realize the wireless communication between driving 1 by wireless antenna 41 and radio transmitting device 13；Its
In, intelligent control board 11 is integrated circuit.
A kind of driving automatic dispatching method, using a kind of above-mentioned driving automatic dispatching system, including driving flow, into
Field flow journey and evacuation flow, interior formulate of sacurity dispatching system have isolated area list；If list is empty for isolated area, sacurity dispatching system
Execute driving flow；If isolated area list is not sky, sacurity dispatching system executes evacuation flow；If staff needs to enter son
Region 51, sacurity dispatching system execute flow of marching into the arena.
Specifically, driving flow includes the following steps：
X1. for sacurity dispatching system to 1 output operating path of driving, driving 1 is each in region 5 of driving a vehicle according to operating path
Traveling in subregion 51；
X2. driving 1 in real time positions the current location of driving 1 by mobile position-fixed module 12, and obtains position letter
Intelligent control board 11 is sent to after breath；Intelligent control board 11 is by radio transmitting device 13 to 4 output position information of master control set；
X3. the implementation progress that intelligent control board 11 is driven a vehicle also according to location information real-time update, if the location information of driving 1
Inconsistent with the terminal point coordinate of operating path, intelligent control board 11 will continue control driving 1 and be moved according to operating path；If driving
1 location information is consistent with the terminal point coordinate of operating path, and intelligent control board 11 stops control driving 1；
X4. sacurity dispatching system judges whether driving 1 has completed operating path according to the location information of driving 1；If row
The location information of vehicle 1 and the terminal point coordinate of operating path are inconsistent, then set 1 current state of driving and be in working condition；If row
The location information of vehicle 1 is consistent with the terminal point coordinate of operating path, then sets 1 current state of driving as standby mode.
Wherein, operating path includes the 1 another subregion 51 being moved to from a certain subregion 51 in driving region 5 of driving a vehicle
All processes.
Preferably, in X1, sacurity dispatching system exports operating path by wireless antenna 41 to radio transmitting device 13,
Radio transmitting device 13 exports operating path to intelligent control board 11, and intelligent control board 11 is according to operating path control driving 1
Start, and controls the direction of motion of driving 1；
Specifically, flow of marching into the arena includes the following steps：
J1. staff is before entering any subregion 51, to be inputted to the safety door 2 corresponding to the subregion 51 into
Field application；The reception of safety door 2 is marched into the arena after application, will be audited to staff；When to staff after the approval, peace
Air cock 2 passes through information by audit is generated；
J2. safety door 2 will be audited and be exported to master control set 4 by information, and sacurity dispatching system receives audit and passes through letter
The current state of inquiry driving 1 after breath；
If 1 current state of driving is in working condition, sacurity dispatching system is exported to safety door 2 by master control set 4 and is waited for
Instruction, when the 1 completion operating path and when entering standby mode of driving a vehicle, sacurity dispatching system is by the sub-district corresponding to safety door 2
Domain 51 is set as isolated area；
If the current state of driving 1 is standby mode, sacurity dispatching system is directly by the subregion 51 corresponding to safety door 2
It is set as isolated area；
J3. sacurity dispatching system is entered into numbering the subregion 51 for being set as isolated area in isolated area list, meanwhile,
Sacurity dispatching system also exports open signal to the controller 22 of safety door 2, and controller 22 controls electrically operated gate according to open signal
21 open, and make staff that can be entered in isolated area by electrically operated gate 21；
J4. electrically operated gate 21 is made to close at safe operation door 2 after staff leaves out of isolated area, safety door 2 is closed
Afterwards, controller 22 will export to master control set 4 and leave signal；After sacurity dispatching system, which receives, leaves signal, sacurity dispatching
System will delete in isolated area list and send the number for leaving the subregion 51 corresponding to the safety door 2 of signal.
Preferably, in J1, staff inputs application of marching into the arena by input equipment, and input equipment, which will march into the arena, applies for output
To controller 22, controller 22 receives march into the arena application after control Fingerprint Identification Unit 23, facial-recognition security systems 24 and password are set
Standby 25 start；
It includes the following contents to carry out audit to staff in J1：
S1. the finger print information of staff is stored in Fingerprint Identification Unit 23, fingerprint is fitted in fingerprint and known by staff
On other device 23, Fingerprint Identification Unit 23 is by the finger print data of collecting work personnel；If finger print data is matched with finger print information, fingerprint
Identifier 23 will export fingerprint matching data to controller 22；If finger print data is mismatched with finger print information, Fingerprint Identification Unit
23 will be stopped；
S2. the facial information of staff, 24 scanning work people of facial-recognition security systems are stored in facial-recognition security systems 24
The face of member, with the face data of collecting work personnel, facial-recognition security systems 24 also carry out pair facial information and face data
Than；If facial information is matched with face data, facial-recognition security systems 24 will export facial matched data to controller 22；If face
When portion's information is mismatched with face data, facial-recognition security systems 24 will be stopped；
S3. password of marching into the arena is stored in encryption device 25, staff will operate and input login password to encryption device 25；
If password of marching into the arena is consistent with login password, encryption device 25 will be to 22 output password matched data of controller；If marching into the arena password
When inconsistent with login password, encryption device 25 will be stopped；
After controller 22 receives fingerprint matching data, facial match data and password match data, controller 22 will
It regards as staff's audit to pass through, controller 22 passes through information by audit is generated at this time；
In J4, staff can input to input unit 26 and leave the theatre apply, input unit 26 will according to leave the theatre apply to
Controller 22 exports shutdown signal, and controller 22 controls electrically operated gate 21 according to shutdown signal and closes.
Specifically, evacuation flow includes the following steps：
B1. for sacurity dispatching system to 1 output operating path of driving, driving 1 is each in region 5 of driving a vehicle according to operating path
Traveling in subregion 51；Wherein, operating path will avoid the isolated area in isolated area list；
B2. driving 1 in real time positions current location by mobile position-fixed module 12, and is sent after obtaining location information
To intelligent control board 11；Intelligent control board 11 is by radio transmitting device 13 to 4 output position information of master control set；
B3. the implementation progress that intelligent control board 11 is driven a vehicle also according to location information real-time update, if the location information of driving 1
Inconsistent with the terminal point coordinate of operating path, intelligent control board 11 will continue control driving 1 and be moved according to operating path；If driving
1 location information is consistent with the terminal point coordinate of operating path, and intelligent control board 11 stops control driving 1；
B4. sacurity dispatching system judges whether driving 1 has completed operating path according to the location information of driving 1；If row
The location information of vehicle 1 and the terminal point coordinate of operating path are inconsistent, then set 1 current state of driving and be in working condition；If row
The location information of vehicle 1 is consistent with the terminal point coordinate of operating path, then sets 1 current state of driving as standby mode.
Wherein, operating path includes that driving 1 is moved to from a certain subregion 51 in operation area 6 in driving region 5
The all processes of another subregion 51.
Preferably, in X1, sacurity dispatching Installed System Memory has the coordinate information of each point of all subregion 51, therefore, peace
Each coordinate on operating path can be numbered corresponding be isolated by full scheduling system with any subregion 51 in isolated area list
Each coordinate in area is compared；
Sacurity dispatching system exports operating path, radio transmitting device 13 by wireless antenna 41 to radio transmitting device 13
Operating path is exported to intelligent control board 11, intelligent control board 11 starts according to operating path control driving 1, and controls row
The direction of motion of vehicle 1；
In X1, sacurity dispatching system avoids the behaviour of the operating path of the isolated area in isolated area list to 1 output of driving
Work includes the following steps：
M1. behind sacurity dispatching system generating run path, operating path and isolated area list are compared, and determine fortune
Each coordinate on walking along the street diameter is in the range of whether not in isolated area list, all subregion 51 numbers corresponding isolated area；
If each coordinate all subregion 51 not in isolated area list M11. on operating path number it is corresponding every
In the range of area, sacurity dispatching system will export operating path by wireless antenna 41 to radio transmitting device 13；
If any coordinate M122. on operating path be located at any subregion 51 in isolated area list number it is corresponding every
In the range of area, then sacurity dispatching system will stop to 1 output operating path of driving；
M2. the sub-district for sending and leaving corresponding to the safety door 2 of signal is deleted in isolated area list when sacurity dispatching system
The number in domain 51, sacurity dispatching system will execute M1 again.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (10)
1. a kind of driving automatic dispatching system, which is characterized in that including driving, safety door, safe fence and master control set, institute
It states safe fence and the driving region of the driving is divided into several sub-regions, the end per sub-regions is separately installed with institute
Safety door is stated, the safety door is used to be isolated the subregion corresponding to it and the connection between the external world；The master control set and row
It can be carried out wireless communication between vehicle.
2. a kind of driving automatic dispatching system according to claim 1, which is characterized in that the driving can be enclosed from safety
Two adjacent sub-regions are passed through in space above column, and the orientation of the moving direction and all subregion of driving is mutually parallel；
The safety door includes electrically operated gate, controller, Fingerprint Identification Unit, facial-recognition security systems, encryption device and input unit；The finger
Line identifier, facial-recognition security systems, encryption device and input unit are connect with the controller respectively, Fingerprint Identification Unit, face
Identifying system, encryption device and input unit are separately fixed at the electrically operated gate on the side of the subregion；The control
It is connected with each other between device and master control set processed；
Sacurity dispatching system is installed, the sacurity dispatching system is each in region of driving a vehicle for controlling driving in master control set
Operating path in subregion, and the position of driving is positioned in real time；The sacurity dispatching system is additionally operable to control driving
The current state of all subregion in region.
3. a kind of driving automatic dispatching system according to claim 1, which is characterized in that the driving at least has one
It is a；Intelligent control board, mobile position-fixed module and radio transmitting device, the intelligent control board, movement are installed in the driving
Locating module and radio transmitting device are separately fixed in the driving, the intelligent control board respectively with the running fix mould
Block, radio transmitting device and driving connection；There is wireless antenna, the master control set to pass through wireless antenna in the master control set
And radio transmitting device, realize the wireless communication between driving.
4. a kind of driving automatic dispatching method utilizes any a kind of driving automatic dispatching system in claim 1-3
System, which is characterized in that including driving flow, flow of marching into the arena and evacuation flow, being formulated in sacurity dispatching system has isolated area list；
If list is empty for isolated area, the sacurity dispatching system executes driving flow；If isolated area list is not sky, the sacurity dispatching
System executes evacuation flow；If staff needs to enter subregion, the sacurity dispatching system executes flow of marching into the arena.
5. a kind of driving automatic dispatching method according to claim 4, which is characterized in that the driving flow include with
Lower step：
X1. sacurity dispatching system exports operating path to driving, all subregion driven a vehicle according to operating path in region of driving a vehicle
Interior traveling；
X2. the driving in real time positions the current location of the driving by mobile position-fixed module, and obtains position letter
Intelligent control board is sent to after breath；The intelligent control board is by radio transmitting device to master control set output position information；
X3. the intelligent control board is also according to the implementation progress driven a vehicle described in the location information real-time update, if the driving
Location information and operating path terminal point coordinate it is inconsistent, the intelligent control board will continue to control the driving according to operation
It moves in path；If the location information of the driving is consistent with the terminal point coordinate of operating path, the intelligent control board will control institute
Driving is stated to stop；
X4. the sacurity dispatching system judges whether the driving has completed operating path according to the location information of driving；If
The location information of the driving and the terminal point coordinate of operating path are inconsistent, then set the driving current state and be in working condition；
If the location information of the driving is consistent with the terminal point coordinate of operating path, the driving current state is set as standby mode.
6. a kind of driving automatic dispatching method according to claim 5, which is characterized in that in the X1, safety is adjusted
Degree system by wireless antenna to radio transmitting device export operating path, the radio transmitting device by operating path export to
Intelligent control board, the intelligent control board controls driving according to operating path and starts, and controls the direction of motion of the driving.
7. a kind of driving automatic dispatching method according to claim 5, which is characterized in that the flow of marching into the arena include with
Lower step：
J1. staff will input application of marching into the arena before entering any subregion to the safety door corresponding to the subregion；Peace
Air cock reception is marched into the arena after application, will be audited to staff；When to staff, after the approval, safety door will generate
Audit passes through information；
J2. safety door will be audited and be exported to master control set by information, and the sacurity dispatching system receives audit and passes through information
The current state of the driving is inquired afterwards；
If the driving current state is in working condition, the sacurity dispatching system is exported to safety door by master control set and is waited for
Instruction, when driving completion operating path and when entering standby mode, the sacurity dispatching system is by the safety door institute
Corresponding subregion is set as isolated area；
If the current state of the driving is standby mode, the sacurity dispatching system is directly by the son corresponding to the safety door
Region is set as isolated area；
J3. the sacurity dispatching system is to the subarea number for being set as isolated area to be entered into isolated area list, meanwhile, peace
Full scheduling system also exports open signal to the controller of safety door, and the controller controls electrically operated gate according to open signal and opens
It opens, makes staff that can be entered in isolated area by electrically operated gate；
J4. the safety door will be operated after staff leaves out of isolated area makes electrically operated gate close, and the safety door is closed
Afterwards, the controller will export to the master control set and leave signal；After the sacurity dispatching system, which receives, leaves signal,
The sacurity dispatching system will delete in isolated area list and send the number for leaving the subregion corresponding to the safety door of signal.
8. a kind of driving automatic dispatching method according to claim 7, which is characterized in that in the J1, work people
Member inputs application of marching into the arena by input equipment, and the input equipment, which will march into the arena, applies output to the controller, the controller
It receives and starts control Fingerprint Identification Unit, facial-recognition security systems and encryption device after marching into the arena application；
It includes the following contents to carry out audit to staff in the J1：
S1. the finger print information of staff is stored in the Fingerprint Identification Unit, fingerprint is fitted in fingerprint recognition by staff
On device, Fingerprint Identification Unit is by the finger print data of collecting work personnel；If the finger print data is matched with finger print information, the finger
Line identifier will export fingerprint matching data to controller；If finger print data is mismatched with finger print information, the fingerprint recognition
Device will be stopped；
S2. the facial information of staff, the facial-recognition security systems scanning work people are stored in the facial-recognition security systems
The face of member, with the face data of collecting work personnel, the facial-recognition security systems also carry out facial information and face data
Comparison；If the facial information is matched with face data, the facial-recognition security systems will export face to the controller
With data；If the facial information is mismatched with face data, the facial-recognition security systems will be stopped；
S3. password of marching into the arena is stored in the encryption device, staff will operate and input login password to encryption device；If institute
State password of marching into the arena it is consistent with login password when, the encryption device will be to controller output password matched data；If described march into the arena
When password is inconsistent with login password, the encryption device will be stopped；
After the controller receives fingerprint matching data, facial match data and password match data, the controller will
It regards as staff's audit to pass through, the controller passes through information by audit is generated at this time；
In the J4, staff can input to input unit and leave the theatre apply, the input unit will according to leave the theatre apply to
The controller exports shutdown signal, and the controller controls the electrically operated gate according to the shutdown signal and closes.
9. a kind of driving automatic dispatching method according to claim 7, which is characterized in that the evacuation flow include with
Lower step：
B1. sacurity dispatching system exports operating path to driving, all subregion driven a vehicle according to operating path in region of driving a vehicle
Interior traveling；Wherein, the operating path will avoid the isolated area in the isolated area list；
B2. the driving in real time positions current location by mobile position-fixed module, and is sent to after obtaining location information
Intelligent control board；The intelligent control board is by radio transmitting device to master control set output position information；
B3. the intelligent control board is also according to the implementation progress driven a vehicle described in the location information real-time update, if the driving
Location information and operating path terminal point coordinate it is inconsistent, the intelligent control board will continue to control the driving according to operation
It moves in path；If the location information of the driving is consistent with the terminal point coordinate of operating path, the intelligent control board will control institute
Driving is stated to stop；
B4. the sacurity dispatching system judges whether the driving has completed operating path according to the location information of driving；If
The location information of the driving and the terminal point coordinate of operating path are inconsistent, then set the driving current state and be in working condition；
If the location information of the driving is consistent with the terminal point coordinate of operating path, the driving current state is set as standby mode.
10. a kind of driving automatic dispatching method according to claim 9, which is characterized in that in the X1, safety is adjusted
Degree Installed System Memory has the coordinate information of each point of all subregion, and sacurity dispatching system is by wireless antenna to radio transmitting device
Operating path is exported, the radio transmitting device exports operating path to intelligent control board, and the intelligent control board is according to fortune
The driving of row path clustering starts, and controls the direction of motion of the driving；
In the X1, sacurity dispatching system avoids the operation of the operating path of the isolated area in isolated area list to driving output
Include the following steps：
M1. behind the sacurity dispatching system generating run path, the operating path and isolated area list are compared, and really
Whether not in the isolated area list, all subregion numbers corresponding isolation to each coordinate on the fixed operating path
In the range of area；
If M11. each coordinate on the operating path all subregion number not in the isolated area list is corresponding
In the range of isolated area, the sacurity dispatching system will export operating path by wireless antenna to radio transmitting device；
If M12. any coordinate on the operating path is located in the isolated area list corresponding to any subarea number
In the range of isolated area, then the sacurity dispatching system will stop exporting operating path to driving；
M2. the subregion for sending and leaving corresponding to the safety door of signal is deleted in isolated area list when the sacurity dispatching system
Number, the sacurity dispatching system will execute the M1 again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810590035.3A CN108803606B (en) | 2018-06-08 | 2018-06-08 | Automatic driving scheduling system and scheduling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810590035.3A CN108803606B (en) | 2018-06-08 | 2018-06-08 | Automatic driving scheduling system and scheduling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108803606A true CN108803606A (en) | 2018-11-13 |
| CN108803606B CN108803606B (en) | 2021-07-06 |
Family
ID=64088834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810590035.3A Active CN108803606B (en) | 2018-06-08 | 2018-06-08 | Automatic driving scheduling system and scheduling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108803606B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114038157A (en) * | 2021-11-02 | 2022-02-11 | 莱芜钢铁集团电子有限公司 | Unmanned driving ground safety management device and method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4456132A (en) * | 1980-12-08 | 1984-06-26 | Par Systems Corp. | Control system for automatic material handling crane |
| CN201359699Y (en) * | 2009-02-27 | 2009-12-09 | 岳阳千盟电子有限公司 | Control system for overhead traveling crane positioning and location management |
| CN202125228U (en) * | 2011-06-22 | 2012-01-25 | 魏圣军 | Remote control rolling door system |
| GB2504818A (en) * | 2012-06-07 | 2014-02-12 | Jaguar Land Rover Ltd | Personnel sensing to inhibit crane operation |
| CN104183037A (en) * | 2014-07-18 | 2014-12-03 | 合肥鹏圣机电工程有限公司 | Novel automatic security and protection system |
| CN205540884U (en) * | 2015-11-10 | 2016-08-31 | 湖南千盟物联信息技术有限公司 | Steelmaking station recommended system |
| US20160293468A1 (en) * | 2015-04-06 | 2016-10-06 | Daifuku Co., Ltd. | Article Transport Facility |
| CN205880955U (en) * | 2016-06-30 | 2017-01-11 | 广州市番禺科腾工业有限公司 | Intelligent security protector |
| CN106495005A (en) * | 2016-12-23 | 2017-03-15 | 大连华锐重工起重机有限公司 | A kind of crane collision resistant detecting and controlling system |
| CN106909991A (en) * | 2017-03-02 | 2017-06-30 | 北京紫东科技有限公司 | Digital plant management method, device and system |
-
2018
- 2018-06-08 CN CN201810590035.3A patent/CN108803606B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4456132A (en) * | 1980-12-08 | 1984-06-26 | Par Systems Corp. | Control system for automatic material handling crane |
| CN201359699Y (en) * | 2009-02-27 | 2009-12-09 | 岳阳千盟电子有限公司 | Control system for overhead traveling crane positioning and location management |
| CN202125228U (en) * | 2011-06-22 | 2012-01-25 | 魏圣军 | Remote control rolling door system |
| GB2504818A (en) * | 2012-06-07 | 2014-02-12 | Jaguar Land Rover Ltd | Personnel sensing to inhibit crane operation |
| CN104183037A (en) * | 2014-07-18 | 2014-12-03 | 合肥鹏圣机电工程有限公司 | Novel automatic security and protection system |
| US20160293468A1 (en) * | 2015-04-06 | 2016-10-06 | Daifuku Co., Ltd. | Article Transport Facility |
| CN205540884U (en) * | 2015-11-10 | 2016-08-31 | 湖南千盟物联信息技术有限公司 | Steelmaking station recommended system |
| CN205880955U (en) * | 2016-06-30 | 2017-01-11 | 广州市番禺科腾工业有限公司 | Intelligent security protector |
| CN106495005A (en) * | 2016-12-23 | 2017-03-15 | 大连华锐重工起重机有限公司 | A kind of crane collision resistant detecting and controlling system |
| CN106909991A (en) * | 2017-03-02 | 2017-06-30 | 北京紫东科技有限公司 | Digital plant management method, device and system |
Non-Patent Citations (2)
| Title |
|---|
| 刘炳伟，蒋林森，张博文，李光新: "智能天车控制系统", 《黑龙江科学》 * |
| 张红: "智能天车物流管理系统的设计", 《湖南理工学院学报(自然科学版) 》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114038157A (en) * | 2021-11-02 | 2022-02-11 | 莱芜钢铁集团电子有限公司 | Unmanned driving ground safety management device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108803606B (en) | 2021-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210824958U (en) | Robot remote elevator interaction system | |
| CN106337622B (en) | A kind of automatic door unit based on Internet of Things | |
| CN109081028A (en) | A kind of article delivery method and system based on robot | |
| CN106217411A (en) | A kind of delivery service robot device and allocator thereof | |
| CN107476630A (en) | Vehicle storage method and vehicle Input System based on multi-storied garage | |
| CN105894630A (en) | Automobile access management system and entrance guard control method | |
| CN111445721B (en) | Novel vehicle management method and system | |
| CN106251416A (en) | The wagon control turnover system of customizable rule | |
| CN106949890A (en) | A kind of blind person's indoor wireless navigation system | |
| CN107608349A (en) | Scenic spot service robot system | |
| CN109147379A (en) | Garage parking intelligently guiding terminal and its control method | |
| CN108803606A (en) | A kind of driving automatic dispatching system and dispatching method | |
| EP3005262A1 (en) | Remote control and payment transactioning system using natural language, vehicle information, and spatio-temporal cues | |
| CN103839316A (en) | System for realizing automatic control of barrier gates and entrance guards based on mobile communication terminal, satellite positioning device and mobile communication technology | |
| CN111145588B (en) | Novel vehicle management method and system | |
| CN212276460U (en) | Lane charging system | |
| CN101357730B (en) | Elevator control method | |
| CN207457830U (en) | A kind of regulator control system for carrying automated guided vehicle | |
| WO2023116250A1 (en) | Vehicle maintenance method and system | |
| CN106131058A (en) | On-line authentication system and method towards offline authentication equipment | |
| CN106204836A (en) | Remote door access Internet of things device | |
| CN104751546A (en) | Intelligent access control safety management system and method for bus station | |
| CN106652134A (en) | Vehicle identification and control system and method of bus station | |
| CN108022351A (en) | A kind of guest machine | |
| KR101557156B1 (en) | Management of gates using FRID system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |