CN109137796A - Automatic dock self-navigation sweeper, cleaning method and system - Google Patents
Automatic dock self-navigation sweeper, cleaning method and system Download PDFInfo
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- CN109137796A CN109137796A CN201811172875.4A CN201811172875A CN109137796A CN 109137796 A CN109137796 A CN 109137796A CN 201811172875 A CN201811172875 A CN 201811172875A CN 109137796 A CN109137796 A CN 109137796A
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- Prior art keywords
- cleaning
- navigation
- module
- main body
- cleaning work
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
Abstract
The invention discloses a kind of automatic dock self-navigation sweeper, cleaning method and system, self-navigation sweeper includes cleaning vehicle main body, communication module, navigation module, control module and cleaning module；Communication module is used to receive the cleaning work instruction of pier facilities management system transmission；Navigation module includes positioning antenna and positioning unit, and positioning antenna is used to instruct the label for reading and being laid on setting path based on cleaning work；Positioning unit is used for the location information for being included based on label and positions to vehicle main body is cleaned；Control module is used to clean module based on location information control executes cleaning work on setting path.This cleaning work can carry out while production operation, without manually accessing, pier facilities management system can distribute cleaning work instruction according to the job state and busy degree in place, normal production operation is not interfered, both the cleaning that ensure that AGV automatic running area place in turn avoids interference of the cleaning work to production.
Description
Technical field
The invention belongs to automatic dock technical fields, specifically, being that be related to a kind of automatic dock self-navigation clear
Sweep vehicle, cleaning method and system.
Background technique
Container terminal horizontal transport region refers to the preceding sideline in stockyard to the region between the line of wharf apron, and function is
Serve harbour gantry crane dress ship-discharging operation and container disengaging storage yard operation, the harbour forward operation in container design
The arrangement of band is extremely crucial, decides the operation efficiency of harbour.In the stockyard sea side of full-automatic container terminal, generally pass through
AGV(Automated Guided Vehicle, automatic guide vehicle) realize that the automated job between harbour and stockyard joins.
Full-automatic container terminal, the usual Operational Zone AGV are automatic running region, and the prolonged automatic running of AGV is made
It is gathered for a long time at tire powder, ground cement powder and the sundries fallen down from container etc., generally requires and utilize ship
When operation gap regularly cleans the Operational Zone AGV or even ship is intensive, it is clear to need to occupy certain activity duration progress
It sweeps, brings certain influence to harbour production and the safe operation of equipment.
Existing sweeper is pilot steering, usually at production operation gap, the Operational Zone locking all or part AGV
Domain is cleaned, time-consuming and laborious, and when chance production operation is busy, AGV operation place usually cannot timely be cleared up.
Summary of the invention
This application provides a kind of automatic dock self-navigation sweeper, cleaning method and systems, solve existing automatic
Changing between the cleaning of harbour automatic running area place and AGV hauling operation there is technical issues that operation.
In order to solve the above technical problems, the application is achieved using following technical scheme:
It is proposed a kind of automatic dock self-navigation sweeper, including clean vehicle main body, further include communication module, navigation module,
Control module and cleaning module；The communication module, for receiving the cleaning work instruction of pier facilities management system transmission；Institute
Stating navigation module includes positioning antenna and positioning unit；The positioning antenna is set for being read based on cleaning work instruction
The label being laid on fixed line；The positioning unit, the location information for being included based on the label is to the sweeper
Main body is positioned；The control module is held on the setting path for controlling the cleaning module based on location information
Row cleaning work.
Further, the navigation module further includes gyroscope and encoder；The gyroscope and encoder are used for
The positioning antenna carries out relative position reckoning when not reading label.
Further, the automatic dock self-navigation sweeper further includes obstacle avoidance module；The obstacle avoidance module, is used for
Obstacle information is detected, so that the control module, which is based on the obstacle information, controls the cleaning vehicle main body sending report
Alert, deceleration or braking.
Further, the communication module includes several car antennas and antenna switching unit；Several car antennas
It is respectively arranged on several positions for cleaning vehicle main body；The antenna switching unit is used in any car antenna and leads to
News base station link switches the use of other car antennas when interrupting.
Further, the cleaning module includes brush and the rubbish storage device for being installed on the sweeper bottom part body；
The rubbish storage device is equipped with fully loaded detection sensor, for detecting whether the rubbish storage device is fully loaded with, and in full load
Full signal is issued to the control module.
It proposes a kind of automatic dock self-navigation cleaning method, is cleaned applied to above-mentioned automatic dock self-navigation
Che Zhong, which comprises receive the cleaning work instruction that pier facilities management system is sent；It is instructed based on the cleaning work
The label being laid on setting path is read, and the location information for being included based on the label is implemented to determine to the cleaning vehicle main body
Position；Cleaning vehicle main body, which is controlled, based on location information executes cleaning work on the setting path.
Further, vehicle main body is being cleaned when executing cleaning work on the setting path based on location information control,
The method also includes: it receives and the obstacle information detected based on obstacle avoidance module judges whether the cleaning vehicle main body encounters barrier
Hinder, if so, the control cleaning vehicle main body issues alarm, slows down or brake.
Further, vehicle main body is being cleaned when executing cleaning work on the setting path based on location information control,
The method also includes: the control forbidden locking region for cleaning vehicle main body and forbidding entering the automatic dock；And sentence
Whether the cleaning vehicle main body of breaking enters the forbidden locking region, if so, control stops executing cleaning work.
Further, before receiving the cleaning work instruction that pier facilities management system is sent, the method also includes:
The pier facilities management system judges whether required purging zone belongs to AGV operation close quarters；If so, reducing the cleaning
The priority level of operation issues the cleaning work instruction when the AGV operation closeness of the purging zone is less than setting value.
A kind of automatic dock self-navigation purging system is proposed, including pier facilities management system and upper automation code
Head self-navigation sweeper.
Compared with prior art, the advantages of the application and good effect is: the automatic dock that the application proposes is led automatically
In sweeper, cleaning method and the system of navigating, it has been laid with largely such as based on the ground in automatic dock AGV automatic running area
The fact that the label of the types such as magnetic nail, each tag memory has stored up the absolute location information locating for it, the application proposes automatic
Change navigation sweeper setting navigation module and read label information, the location information for including according to label is determined vehicle main body is cleaned
Position, so as to realize that self-navigation sweeper executes cleaning work, this cleaning work in the AGV automatic running area of harbour
It can be carried out while production operation, without artificial access, pier facilities management system can be according to the job state in place
Cleaning work instruction is distributed with busy degree, normal production operation is not interfered, both ensure that the clear of AGV automatic running area place
It sweeps, in turn avoids interference of the cleaning work to production, the handling production efficiency to the safe operation and automatic dock that improve AGV
Provide guarantee, solve existing automatic dock automatic running area place clean and AGV hauling operation between there are operation lances
The technical issues of shield.
After the detailed description of the application embodiment is read in conjunction with the figure, other features and advantages of the application will become more
Add clear.
Detailed description of the invention
Fig. 1 is the system architecture diagram for the automatic dock self-navigation purging system that the application proposes；
Fig. 2 is the method flow diagram for the automatic dock self-navigation cleaning method that the application proposes.
Specific embodiment
The specific embodiment of the application is described in more detail with reference to the accompanying drawing.
The application propose automatic dock self-navigation sweeper, Terminal Operating System issue clean instruction after,
Pier facilities management system can give cleaning work instruction according to cleaning situation and AGV handling situations in the operation area AGV,
Cleaning task is automatically performed by self-navigation sweeper, guarantees the cleaning in AGV operation place and the safe operation of AGV.Specifically
, as shown in Figure 1, the automatic dock self-navigation sweeper that the application proposes includes cleaning vehicle main body 1, clean vehicle main body 1
It is upper to be configured with communication module 2, navigation module 3, control module 4 and clean module 5；Communication module 2 is for receiving pier facilities pipe
The cleaning work instruction that reason system 10 is sent；Navigation module 3 includes positioning antenna 31 and positioning unit 32；Positioning antenna 31 is used for
The label for reading and being laid on setting path is instructed based on cleaning work；Positioning unit 32 is used for the position for being included based on label letter
Breath is positioned to vehicle main body is cleaned；Control module 4 is used to clean module 5 based on location information control and execute on setting path
Cleaning work.
Specifically, communication module 2 includes several car antennas 21 and antenna switching unit 22；Several car antennas 21 are distinguished
It is installed on several positions for cleaning vehicle main body, such as is symmetrically mounted on the quadrangle for cleaning vehicle main body, can access simultaneously wireless
Communication base station receives the signal of pier facilities management system；Antenna switching unit 22 is used in any car antenna 21 and communication
Base station link switches the use of other car antennas when interrupting, the network that will not influence sweeper and pier facilities management system is logical
Letter.
In the embodiment of the present application, positioning antenna 31 is RFID antenna, respectively installs one before and after cleaning vehicle main body 1, is led to
It crosses RFID antenna and reads the label being embedded on the ground of the operation area AGV according to setting path, setting rule, each time front and back
After RFID antenna reads label simultaneously, the position of 32 pairs of positioning unit cleaning vehicle main bodies carries out an absolute position correction；It leads
Model plane block 3 further includes gyroscope 33 and encoder 34；Gyroscope 333 and encoder 34 are used to not read in positioning antenna 31
Relative position reckoning is carried out when label, after front and back RFID antenna reads label simultaneously next time, positioning unit 32 is another
The correction of secondary progress absolute position, it is ensured that navigator fix deviation controls within an acceptable range；Here relative position calculates
Method using it is existing it is any using gyroscope and encoder realize its mounting body relative position calculate method, this Shen
It please be not specifically limited.
In the embodiment of the present application, automatic dock self-navigation sweeper further includes obstacle avoidance module 6；Obstacle avoidance module is by laser
Sensor realizes that the headstock and parking stall for cleaning vehicle main body respectively install one, for detecting obstacle information, such as barrier
The information such as volume size, distance, direction, and control module 4 is transmitted to so that control module 4 is based on obstacle information control cleaning
Vehicle main body 1 issues alarm, implements to slow down or brake etc..
Cleaning module 5 includes being installed on the brush 51 for cleaning 1 bottom of vehicle main body and rubbish storage device 52；Rubbish storage device 52
Fully loaded detection sensor is installed, for detecting whether rubbish storage device is fully loaded with, and issues and is fully loaded with to control module in full load
Signal；In practical application, control module 4 by a drive module 7 driving clean module 5 execute cleaning work, drive module 7 by
Driver and hydraulic control composition, driving clean the walking and braking of vehicle main body.
Based on automatic dock self-navigation sweeper set forth above, the application proposes that a kind of automatic dock is led automatically
Navigate cleaning method, applied in automatic dock self-navigation sweeper set forth above, as shown in Fig. 2, including the following steps:
Step S21: the cleaning work instruction that pier facilities management system is sent is received.
After pier facilities management system receives the cleaning instruction of Terminal Operating System, the cleaning in place is run according to AGV
Situation and AGV handling situations (closeness, busy degree etc.) issue cleaning work instruction, include certainly in cleaning work instruction
Dynamic navigation sweeper executes the information such as the setting path of cleaning work.
Step S22: the label for reading and being laid on setting path, and the position for being included based on label are instructed based on cleaning work
Confidence breath implements positioning to vehicle main body is cleaned.
Self-navigation sweeper is receiving the cleaning work instruction that pier facilities management system issues by car antenna
Afterwards, the validity for first verifying that cleaning work instruction confirms itself by state self-test after judging cleaning work instruction effectively
Whether the condition of cleaning work is had, and state self-test here includes sweeper fuel or battery capacity, rubbish storage device state
Etc., it when having cleaning work condition, may be selected to execute or do not execute, if executing, position antenna and read setting path
The label of upper laying, the location information that positioning unit is then included based on label implement positioning to vehicle main body is cleaned.
Step S23: cleaning vehicle main body is controlled based on location information and executes cleaning work on setting path.
Control module is based on location information control cleaning vehicle main body and executes cleaning work on setting path.
Step S24: receiving and the obstacle information based on obstacle avoidance module detection judges to clean whether vehicle main body encounters obstacle,
If so, step S25: control cleans vehicle main body and issues alarm, deceleration or braking.
During control module executes cleaning work on setting path based on location information control cleaning vehicle main body, avoidance
Module detects obstacle information, and control module is then based on obstacle information and judges to clean whether vehicle main body encounters barrier, meeting
When to barrier, control cleans vehicle main body and issues alarm, and implements to slow down or brake, and collides to avoid with barrier.
In the embodiment of the present application, self-navigation sweeper is equal to operation AGV and equally receives pier facilities management system
Control and scheduling, also in compliance with the forbidden lockout zone strategy of pier facilities management system, that is, being cleaned based on location information control
During vehicle main body executes cleaning work on setting path, step S26: control cleans vehicle main body and is prohibited from entering automatic dock
Forbidden locking region；And step S27: judging to clean whether vehicle main body enters forbidden locking region, is cleaning vehicle main body
When into forbidden locking region, step S28: control stops executing cleaning work.
As previously mentioned, self-navigation sweeper receive pier facilities management system send cleaning work instruction before,
Pier facilities management system should follow the interference principle for reducing self-navigation sweeper to the greatest extent to AGV production operation, first determine whether
Whether required purging zone belongs to AGV operation close quarters；If so, the priority level of cleaning work is reduced, in purging zone
AGV operation closeness be less than setting value when issue cleaning work instruction.
It is above-mentioned as it can be seen that automatic dock self-navigation sweeper and cleaning method that the application proposes and in, based on automatic
Change the label that the ground in harbour AGV automatic running area has been laid with the types such as a large amount of magnetic nail, each tag memory stores up
The fact that absolute location information locating for it, the automation navigation sweeper setting navigation module that the application proposes read label letter
Breath, the location information for including according to label is positioned to vehicle main body is cleaned, so as to realize self-navigation sweeper in code
Cleaning work is executed in the AGV automatic running area of head, this cleaning work can carry out while production operation, without artificial
Access, pier facilities management system can distribute cleaning work instruction according to the job state and busy degree in place, not interfere just
Normal production operation both ensure that the cleaning in AGV automatic running area place, in turn avoid interference of the cleaning work to production, right
The handling production efficiency of the safe operation and automatic dock that improve AGV provides guarantee, solves existing automatic dock certainly
Dynamic Operational Zone place, which is cleaned, there is technical issues that operation between AGV hauling operation.
The application proposes automatic dock self-navigation sweeper and cleans aspect, is based on automatic dock self-navigation
What purging system was realized, as shown in Figure 1, the system includes Terminal Operating System 20, pier facilities management system 10 and automation
Harbour self-navigation sweeper.Terminal Operating System 20 issues cleaning work and instructs to pier facilities management system 10, and harbour is set
Standby management system 10 then issues cleaning work instruction by the job state to AGV operation place, self-navigation sweeper then base
Automatic cleaning operation is realized based on self-navigation in cleaning work instruction, has been effectively relieved in automatic dock AGV operation place
The contradiction between AGV operation is cleaned, automation and intelligence that AGV operation place cleans are realized.
It should be noted that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (10)
1. automatic dock self-navigation sweeper, including clean vehicle main body, which is characterized in that it further include communication module, navigation
Module, control module and cleaning module；
The communication module, for receiving the cleaning work instruction of pier facilities management system transmission；
The navigation module includes positioning antenna and positioning unit；The positioning antenna, for being instructed based on the cleaning work
Read the label being laid on setting path；The positioning unit, the location information for being included based on the label is to described
Vehicle main body is cleaned to be positioned；
The control module executes cleaning work for controlling the cleaning module based on location information on the setting path
Industry.
2. automatic dock self-navigation sweeper according to claim 1, which is characterized in that the navigation module is also
Including gyroscope and encoder；The gyroscope and encoder, in the positioning antenna when progress that do not read label
Relative position calculates.
3. automatic dock self-navigation sweeper according to claim 1, which is characterized in that the automatic dock is certainly
Dynamic navigation sweeper further includes obstacle avoidance module；The obstacle avoidance module, for detecting obstacle information, so that the control module
The cleaning vehicle main body, which is controlled, based on the obstacle information issues alarm, deceleration or braking.
4. automatic dock self-navigation sweeper according to claim 1, which is characterized in that the communication module includes
Several car antennas and antenna switching unit；Several car antennas are respectively arranged in several positions for cleaning vehicle main body
On；The antenna switching unit makes for switching other car antennas when any car antenna is with communication base station link down
With.
5. automatic dock self-navigation sweeper according to claim 1, which is characterized in that the cleaning module includes
It is installed on brush and the rubbish storage device of the sweeper bottom part body；The rubbish storage device is equipped with fully loaded detection sensing
Device issues full signal to the control module for detecting whether the rubbish storage device is fully loaded with, and in full load.
6. automatic dock self-navigation cleaning method is applied to automatic dock as described in any one in claim 1-5 certainly
In dynamic navigation sweeper, which is characterized in that the described method includes:
Receive the cleaning work instruction that pier facilities management system is sent；
The label for reading and being laid on setting path, and the position letter for being included based on the label are instructed based on the cleaning work
Breath is implemented to position to the cleaning vehicle main body；
Cleaning vehicle main body, which is controlled, based on location information executes cleaning work on the setting path.
7. automatic dock self-navigation cleaning method according to claim 6, which is characterized in that be based on location information
Control cleans vehicle main body when executing cleaning work on the setting path, the method also includes:
It receives and the obstacle information based on obstacle avoidance module detection judges whether the cleaning vehicle main body encounters obstacle, if so, control
The cleaning vehicle main body is made to issue alarm, slow down or brake.
8. automatic dock self-navigation cleaning method according to claim 6, which is characterized in that be based on location information
Control cleans vehicle main body when executing cleaning work on the setting path, the method also includes:
It controls the cleaning vehicle main body and forbids the forbidden locking region for entering the automatic dock；And judge the cleaning
Whether vehicle main body enters the forbidden locking region, if so, control stops executing cleaning work.
9. automatic dock self-navigation cleaning method according to claim 6, which is characterized in that receiving pier facilities
Before the cleaning work instruction that management system is sent, the method also includes:
The pier facilities management system judges whether required purging zone belongs to AGV operation close quarters；If so, described in reducing
The priority level of cleaning work issues the cleaning work when the AGV operation closeness of the purging zone is less than setting value
Instruction.
10. automatic dock self-navigation purging system, which is characterized in that including pier facilities management system and such as claim
The described in any item automatic dock self-navigation sweepers of 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811172875.4A CN109137796A (en) | 2018-10-09 | 2018-10-09 | Automatic dock self-navigation sweeper, cleaning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811172875.4A CN109137796A (en) | 2018-10-09 | 2018-10-09 | Automatic dock self-navigation sweeper, cleaning method and system |
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| Publication Number | Publication Date |
|---|---|
| CN109137796A true CN109137796A (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811172875.4A Pending CN109137796A (en) | 2018-10-09 | 2018-10-09 | Automatic dock self-navigation sweeper, cleaning method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800895A (en) * | 2021-01-29 | 2022-07-29 | 广东博智林机器人有限公司 | Roughening device, roughening control method thereof, and roughening control device |
-
2018
- 2018-10-09 CN CN201811172875.4A patent/CN109137796A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800895A (en) * | 2021-01-29 | 2022-07-29 | 广东博智林机器人有限公司 | Roughening device, roughening control method thereof, and roughening control device |
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Address after: No.12 Jingba Road, Huangdao District, Qingdao City, Shandong Province Applicant after: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant after: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. Address before: The city of north port green road 266011 Shandong city of Qingdao province No. 6 Applicant before: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant before: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. |