CN110018685A - Transport vehicle control method, device and its system - Google Patents
Transport vehicle control method, device and its system Download PDFInfo
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- CN110018685A CN110018685A CN201910215491.4A CN201910215491A CN110018685A CN 110018685 A CN110018685 A CN 110018685A CN 201910215491 A CN201910215491 A CN 201910215491A CN 110018685 A CN110018685 A CN 110018685A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 176
- 238000012545 processing Methods 0.000 claims description 12
- 230000032258 transport Effects 0.000 description 294
- 238000010586 diagram Methods 0.000 description 9
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000002452 interceptive effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 241000256844 Apis mellifera Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
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- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of transport vehicle control method, device and its system, wirelessly communicates this method comprises: establishing with communication device, wherein the communication device is set to transport vehicle to obtain the real time status information of the transport vehicle；It generates control instruction and is sent to the communication device, so that the communication device provides the real time status information according to the control instruction；Dispatch command is generated according to the real time status information and is sent to the transport vehicle, so that the transport vehicle executes corresponding scheduling according to the dispatch command；Wherein, the quantity of the transport vehicle is two or two or more, and the dispatch command can be transmitted at least transport vehicle.The present invention actively provides the real time status information of itself without transport vehicle, but actively inquire communication device to obtain the real time status information of transport vehicle by transport vehicle controller, therefore, when transport vehicle breaks down, transport vehicle controller can receive the real-time status of transport vehicle in time and make corresponding operating.
Description
Technical field
The present invention relates to navigation equipment technical field more particularly to a kind of transport vehicle control methods and its system.
Background technique
Currently, the material carrying in most of enterprise workshop is realized by artificial or fixed conveying equipment.Make
Manually carrying existing main problem is great work intensity, and error rate is high, difficult management, and cost of labor have it is higher and higher
Trend；Fixed equipment is such as used, for complicated operating condition, more, the transport road path length etc. of point is such as carried, there will be number of devices
The problem of more, device category is more, and area occupied is big, and construction is complicated, long construction period, and that there are system flexibilities is poor, it is expansible
The problems such as property is poor, and maintenance cost is high.
Automated guided vehicle (Automated Guided Vehicle, abbreviation AGV) system, refers to and is equipped with by multiple
Electricity magnetically or optically waits homing guidance transportation system composed by the trolley of guide devices, and AGV trolley can be along the guiding road of setting
Diameter traveling, has safeguard protection and various transfer functions, can preferably solve the above problems.
However, existing AGV trolley navigation mode flexibility is poor, when the quantity of AGV trolley is multiple, if AGV trolley
Guide path on there are one of them in roadblock or multiple AGV trolleies there are when failure, AGV system can not timely basis
Roadblock information or fault message dispatch AGV trolley.
Therefore, it is necessary to a kind of novel transport vehicle control method and its system be designed, to overcome drawbacks described above.
Summary of the invention
The purpose of the present invention is to provide a kind of transport vehicle control method, device and its systems, can be according to transport vehicle
Real-time status adjustment is scheduled to it in time.
In order to achieve the above objectives, the present invention provides a kind of transport vehicle control methods, this method comprises: building with communication device
Vertical wireless communication, wherein the communication device is set to transport vehicle to obtain the real time status information of the transport vehicle；Control is generated to refer to
The communication device is enabled and is sent to, so that the communication device provides the real time status information according to the control instruction；According to the reality
When status information generate dispatch command and be sent to the transport vehicle so that the transport vehicle executes corresponding adjust according to the dispatch command
Degree；Wherein, the quantity of the transport vehicle is two or two or more, and the dispatch command can be transmitted at least transport vehicle.
Preferably, the communication device includes passive sensor, and the communication device is arranged in a one-to-one correspondence with the transport vehicle.
Preferably, " establish and wirelessly communicate with communication device " specifically includes: periodically being established with the communication device
Communication connection is to be sent to the communication device for the control instruction.
Preferably, " generate dispatch command according to the real time status information and be sent to the transport vehicle " specifically includes:
The real time status information is compared with pre-existing state information, to generate dispatch command and be sent to this at least one transport
Vehicle；Wherein, which includes at least one of following information: the real-time travel speed of the transport vehicle, real-time row
Path, real-time position information and real-time battery capacity are walked, which includes at least one of following information: the fortune
Defeated vehicle prestores travel speed, prestores walking path, pre-stored location information and prestore power threshold.
A kind of transport vehicle controller, the device include: communication module, are wirelessly communicated to establish with communication device,
In, which is set to transport vehicle to obtain the real time status information of the transport vehicle；And processing module, it is coupled to the communication
Module, to generate control instruction and be sent to the transport vehicle so that the communication device provides the real-time shape according to the control instruction
State information, and dispatch command is generated according to the real time status information；Wherein, the communication module also to send the dispatch command with
The transport vehicle is set to execute corresponding scheduling according to the dispatch command.
Preferably, the communication module further include: the first communication unit, to the side for passing through radio frequency identification with the communication device
Formula carries out wireless communication；And second communication unit, to pass through any in wireless network, bluetooth and ZigBee protocol with the transport vehicle
Kind carries out wireless communication.
Preferably, the communication module establishes communication connection with the communication device periodically the control instruction to be sent to
The communication device.
Preferably, the processing module further include: storage unit, to store the pre-existing state information of the transport vehicle；And place
Unit is managed, the storage unit is coupled to, the real time status information to be compared with pre-existing state information, to generate scheduling
It instructs and is sent to an at least transport vehicle；Wherein, which includes at least one of following information: the fortune
Real-time travel speed, real-time walking path, real-time position information and the real-time battery capacity of defeated vehicle, the pre-existing state information include
At least one of following information: the transport vehicle prestores travel speed, prestores walking path, pre-stored location information and prestore electricity
Measure threshold value.
In addition, the system includes: transport vehicle, the quantity of the transport vehicle the present invention also provides a kind of transport vehicle control
It is two or two or more；Communication device is coupled to the transport vehicle, to obtain the real time status information of the transport vehicle；As above
The transport vehicle controller, the transport vehicle controller are coupled to the transport vehicle and the communication device.
Preferably, the communication device includes passive sensor, and the communication device is arranged in a one-to-one correspondence with the transport vehicle.
Compared with prior art, transport vehicle control method, device and its system provided by the invention are obtained by communication device
The real time status information of transport vehicle is taken, communication device believes real-time status according to transport vehicle controller control instruction generated
Breath is provided to transport vehicle controller, so that transport vehicle controller can make in time transport vehicle by above-mentioned real time status information
It adjusts out.To sum up, the present invention actively provides the real time status information of itself without transport vehicle, but passes through transport vehicle controller
Inquire communication device actively to obtain the real time status information of transport vehicle, therefore, when transport vehicle breaks down, transport vehicle is controlled
Device can receive the real-time status of transport vehicle in time and make corresponding operating.Further, since the present invention is periodically led without transport vehicle
It is dynamic that itself real-time status is provided, the operating power consumption of transport vehicle is effectively reduced with this, is conducive to the cruising ability for improving transport vehicle.
Detailed description of the invention
Fig. 1 is the block diagram of transport vehicle control provided in an embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provides transport vehicle control block diagram；
Interaction schematic diagram between Fig. 3 communication device provided in an embodiment of the present invention and transport vehicle controller；
Fig. 4 be another embodiment of the present invention provides transport vehicle control block diagram；
Fig. 5 is the flow diagram of transport vehicle control method provided in an embodiment of the present invention
Specific embodiment
To make to have further understanding to the purpose of the present invention, construction, feature and its function, hereby cooperate embodiment specifically
It is bright as follows.
Some vocabulary is used in specification and claims to censure specific element.Have in fields
Usual skill is, it is to be appreciated that manufacturer may call the same element with different nouns.This specification and right are wanted
Ask book not in such a way that the difference of title is as element is distinguished, but with the difference of element functionally as differentiation
Criterion.Mentioned " comprising " is open term throughout the specification and claims, therefore should be construed to " including but
It is not limited to ".
Referring to Figure 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 1 are the box of transport vehicle control 10 provided in an embodiment of the present invention
Figure, Fig. 2 be another embodiment of the present invention provides transport vehicle control 10 block diagram, Fig. 3 provides for the embodiment of the present invention
Communication device 200 and transport vehicle controller 100 between interaction schematic diagram, Fig. 4 be another embodiment of the present invention provides
Transport the block diagram of vehicle control 10.As shown in Figure 1, transport vehicle control 10 includes transport vehicle 300, communication device 200
And transport vehicle controller 100.In this present embodiment, the quantity of transport vehicle 300 is two or two or more, communication device
200 are coupled on transport vehicle 300, and to get the real time status information of transport vehicle 300, transport vehicle controller 100 is coupled to
Above-mentioned transport vehicle 300 and communication device 200, to obtain real time status information with above-mentioned according to real time status information scheduling controlling
At least one in two or two or more transport vehicles 300, above-mentioned real time status information includes the real-time traveling speed of transport vehicle 300
At least one of real time information such as degree, real-time walking path, real-time position information and real time electrical quantity value.Wherein, such as Fig. 2 institute
Show, transport vehicle 300 may include the first transport vehicle 301 and the second transport vehicle 302, and communication device 200 includes first communication device
201 and secondary communication device 202, first communication device 201 is set to the first transport vehicle 301, and secondary communication device 202 is arranged
In the second transport vehicle 302, it should be noted that, the quantity of transport vehicle 300 and communication device 200 is visually actually needed and is arranged, and
It need to ensure that transport vehicle 300 and communication device 200 correspond.Further, the above-mentioned transport vehicle 300 being previously mentioned is specially automatic
Guide transport lorry (Automated Guided Vehicle, AGV) carries out homing guidance, communication dress by magnetic navigation mode
200 are set to preferably include without the i.e. operable passive sensor of external power supply, passive sensor be coupled to transport vehicle 300 with
Carry out data transmission, so that real time status information is transmitted to communication device 200 by the onboard system of transport vehicle 300, should be noted
It is that, when communication device 200 includes passive sensor, passive sensor is generally configured with data storage function, to obtain
Its real time status information is cached after to the real time status information of transport vehicle 300；In addition, communication device 200 is also possible to actively obtain
Real time status information provided by 300 onboard system of transport vehicle is taken, the present invention is not limited thereto.Transport vehicle controller 100
It may include the upper-level control system of transport vehicle 300, transport vehicle controller 300 controls more transport vehicles by upper-level control system
300 and task distribution is carried out to it, such as: upper-level control system controls the walking path of transport vehicle 300, walking by dispatch command
The operation such as process, tripping action and switching on and shutting down, transport vehicle 300 run work according to the dispatch command of transport vehicle controller 100
Make.
As shown in figure 3, preferably passing through the communication party of radio frequency identification between communication device 200 and transport vehicle controller 100
Formula interacts communication, i.e., using transport vehicle controller 100 as radio frequency identification (Radio Frequency
Identification, RFID) identification end, then transport vehicle controller 110 include RFID identification device (also referred to as reader), and
It includes RFID label tag to carry out telecommunication with transport vehicle controller 100 that communication device 200 is then corresponding.It should be noted that logical
It can also be interacted by way of other short-distance wireless communications between T unit 200 and transport vehicle controller 100, as long as
It can satisfy same interactive function, the present invention is not limited thereto.It is understood that the quantity of communication device 200
It is correspondingly arranged with the quantity of transport vehicle 300, to ensure to be each equipped with communication device 200 on each transport vehicle 300.Therefore, on
Stating passive sensor and can also be other includes passive RFID tags and the element for having data storage function, need to only ensure its energy
Enough reach identical effect, the present invention is not limited thereto.
As above-described embodiment is previously mentioned, when communication device 200 is passive sensor, the side of self energizing can be passed through
Formula works, and communication device 200 and 300 data connection of transport vehicle are believed to obtain and cache the real-time status of transport vehicle 300
Breath, real time status information include at least real-time travel speed, real-time walking path, real-time position information and the reality of transport vehicle 300
When one of charge value.In addition, being controlled in the interactive process of transport vehicle controller 100 and communication device 200 by transport vehicle
Device 100 establishes wireless communication with communication device 200 periodically to send the communication in control instruction to every transport vehicle 300
Device 200, wherein transport vehicle controller 100 can be while send similarly to communication device 200 set by every trolley
Control instruction provides its real time status information cached to control communication device 200, alternatively, its transport vehicle controller 100
Its control instruction is sent to above-mentioned communication device 200 with being also possible to successive different order, as long as it can be realized identical mesh
, the present invention is not limited thereto.Then, communication device 200 is after receiving control instruction, the reality that it is currently saved
When the information such as status information namely current travel speed, the walking path of transport vehicle 300 corresponding to it be provided to transport vehicle control
Device 100 processed.
Specifically, being provided when the communication device 200 being installed on transport vehicle 300 is in transport vehicle controller 100
Magnetic field in when, communication device 200 after receiving the radiofrequency signal that transport vehicle controller 100 is issued, to the radio frequency believe
It number is identified, if including control instruction in radiofrequency signal, the RFID label tag in communication device 200 relies on induced current institute
The energy of acquisition sends out cached real time status information, alternatively, the present invention is also possible to by set in communication device 200
Initiatively periodicity sending real time status information is to transport vehicle controller 100 for RFID label tag, and the present invention is not limited thereto.
Further, transport vehicle controller 100 is also stored with pre-existing state information, and pre-existing state information may include transport
Vehicle 300 at least one of prestores travel speed, prestores walking path, pre-stored location information and prestore power threshold, wherein
Above-mentioned pre-existing state information can be the default information as set by user, for transport vehicle controller 100 by its with it is real-time
Status information is compared, and transport vehicle controller 100 can generate corresponding dispatch command according to comparison result and be sent to more
At least one in transport vehicle 300 is to dispatch an at least transport vehicle 300, alternatively, transport vehicle controller 100 can also basis
Comparison result makes corresponding prompt to prompt user, and the present invention is not limited thereto.In addition, receiving the real-time of transport vehicle 300
After status information, transport vehicle controller 100 can also will be received by the real time status information currently received and a upper period
Real time status information be compared.In order to achieve the above objectives, transport vehicle controller 100 can periodically or selectively
Store real time status information.For example, the transport vehicle that transport vehicle controller 100 is provided with 200 period 1 of communication device
300 real time status information is as pre-existing state information, and 100 second round of transport vehicle controller receives transport vehicle 300
After real time status information, the real-time status that real time status information and above-mentioned period 1 that second round is received are received is believed
Breath is compared, if comparison result meets expection, the real time status information that second round is received is updated to pre-existing state
Information is compared for next period, on the contrary, adjusting if comparison result does not meet expected results to transport vehicle 300
Degree, or prompt is issued to remove barriers as early as possible to user.
As shown in figure 4, in order to achieve the above objectives, transport vehicle controller 100 provided by the present invention includes communication module
101 and processing module 102, module for reading and writing 101 be coupled to processing module 102 to carry out data transmission.Wherein, module for reading and writing 101
Including the first communication unit 1011 and the second communication unit 1012, the first communication unit 1011 with communication device 200 to pass through
The communication mode of radio frequency identification interacts communication, and the second communication unit 1012 is to carry out data communication with transport vehicle 300,
It can be communicated by WLAN (Wi-Fi) between second communication unit 1012 and transport vehicle 300, bluetooth (Bluetooth) is led to
Other communications such as letter or purple honeybee (ZigBee) protocol communication carry out remote interaction, and the present invention is not limited thereto.
Processing module 102 includes storage unit 1021 and processing unit 1022, and storage unit 1021 is coupled to processing unit 1022.Specifically
Ground, storage unit 1021 can be storage chip, and to store the pre-existing state information of transport vehicle 300, processing unit 1022 can
Think processing chip, accordingly result is compared and obtained with pre-existing state information by real time status information, such as: generating and adjust
Degree instructs and is sent to transport vehicle.
In this present embodiment, transport vehicle controller 100 generates dispatch command according to comparison result, more to scheduling controlling
At least one in platform transport vehicle 300.For example, when the first transport vehicle 301 generates failure or encountering roadblock can not advance,
The real-time travel speed that the first communication device 201 configured on first transport vehicle 301 gets the first transport vehicle 301 is 0m/
S, transport vehicle controller 100 receive real time status information provided by first communication device 201 after issuing control instruction, transport
The real time status information of first transport vehicle 301 and its corresponding pre-existing state information are compared defeated truck control device 100, into
And at least one in more transport vehicles 300 is sent to according to comparison result generation dispatch command, other transport vehicles are controlled with this
300 execute the task of the first transport vehicle 301, and the traveling of remaining transport vehicle 300 is updated according to the real time position of remaining transport vehicle
Path with avoid generate abnormal conditions the first transport vehicle 301, meanwhile, transport vehicle controller 100 can also pass through display information
(such as: showing related prompt text, pattern) or acoustic information (such as: passing through loudspeaker and issue voice prompt) to user into
Row prompt, to remind user to carry out solving the failure of the first transport vehicle 301 as early as possible or in time remove obstacles.Similarly, when above-mentioned first
Real-time walking path, real-time position information and the real-time battery capacity of transport vehicle 301 are deposited when abnormal, such as: the first transport vehicle 301
Deviation planning path and/or battery capacity are relatively low etc., and transport vehicle controller 100 is mentioned according to first communication device 201 in turn
The real time status information of confession is compared with pre-existing state information, to plan the walking path of the first transport vehicle 301 again in time.
It is understood that real time status information may also include other real-time parameters of transport vehicle 300, accordingly, pre-existing state information
It may also comprise the other of transport vehicle 300 and prestore parameter, so that transport vehicle controller 100 can be according to two groups of parameters to transport vehicle
300 make corresponding scheduling controlling and/or directly remind user, it should be noted that, it is dispatched and is transported by transport vehicle controller 100
Defeated vehicle 300 and/or prompting user have been the prior art, and details are not described herein again.
In one embodiment, when communication device 200 includes passive sensor, if the passive sensor is motion-sensing
Device, communication device 200 can also directly be acquired the information such as the travel speed of transport vehicle 300 by the passive sensor and according to controls
Instruction is provided to transport vehicle controller 100.For example, the first communication device configured on the first transport vehicle 301
201 collect the real-time travel speed of the first transport vehicle 301 by passive sensor as 0m/s, and transport vehicle controller 100 is sent out
Receive real time status information provided by first communication device 201 after control instruction out, transport vehicle controller 100 is by first
The real time status information of transport vehicle 301 and its corresponding pre-existing state information are compared, and then are generated and adjusted according to comparison result
Degree instructs at least one be sent in more transport vehicles 300.The real time status information of transport vehicle 300 is acquired through the above way
It can avoid real time status information provided by communication device 200 and more have real-time, enable transport vehicle controller 100
Counter-measure is made in time.
Transport vehicle controller 100 provided by the invention and its system 10 can obtain transport vehicle by communication device 200
Real time status information, communication device 200 is according to the control instruction generated of transport vehicle controller 100 by real time status information
It is provided to transport vehicle controller 100, so that transport vehicle controller 100 can be by above-mentioned real time status information to transport vehicle
300 adjust in time.To sum up, the present invention actively provides the real time status information of itself without transport vehicle 300, but passes through fortune
Defeated truck control device 100 actively inquires that communication device 200 to obtain the real time status information of transport vehicle 300, therefore, works as transport vehicle
300 when breaking down, and transport vehicle controller 100 can receive the real-time status of transport vehicle in time and make corresponding operating.In addition,
Since the present invention periodically actively provides itself real-time status without transport vehicle 300, the work of transport vehicle 300 is effectively reduced with this
Energy consumption is conducive to the cruising ability for improving transport vehicle 300.
In addition, referring to Fig. 5 it is a further object of the present invention to provide a kind of 300 control method of transport vehicle, Fig. 5 is this hair
The flow diagram for 300 control method of transport vehicle that bright embodiment provides.300 control method of transport vehicle as described in Figure 5, application
In above-mentioned transport vehicle control 10, this method comprises:
S100 is established with communication device 200 and is wirelessly communicated, wherein the communication device 200 is set to transport vehicle 300 to obtain
Take the real time status information of the transport vehicle 300.
S200 generates control instruction and is sent to the communication device 200, so that the communication device 200 refers to according to the control
It enables and the real time status information is provided.
S300 generates dispatch command according to the real time status information and is sent to the transport vehicle 300, so that the transport vehicle
300 execute corresponding scheduling according to the dispatch command.
Wherein, the quantity of the transport vehicle 300 is two or two or more, which can be transmitted at least fortune
Defeated vehicle 300.
Specifically, in step S100, communication device 200 is provided and is positioned in two or two or more transports
Each in vehicle 300, and establish and wirelessly communicate with communication device 200, each fortune is obtained by communication device 200 to reach
The purpose of the real time status information of defeated vehicle 300.Then, in step S200, transport vehicle controller 100 generates control instruction hair
It send to communication device 200, so that real time status information is provided to transport vehicle controller according to control instruction by communication device 200
100.It should be noted that in this present embodiment, communication device 200 preferably provides its real-time status cached according to control instruction
Information is also possible to initiatively periodically provide its real time status information cached, and the present invention is not limited thereto.Most
Afterwards, in step S300, transport vehicle controller 100 according to real time status information generate dispatch command with scheduling controlling two or
At least one in two or more transport vehicles 300, it is to be understood that transport vehicle controller 100 can be every according to being set to
Real time status information provided by communication device 200 on platform transport vehicle 300 is scheduled a wherein at least transport vehicle 300
Control, such as: travel path, the travel speed of at least one transport vehicle 300 are adjusted by dispatch command.Wherein, above-mentioned to be mentioned
The transport vehicle 300 arrived is specially automated guided vehicle, carries out homing guidance by magnetic navigation mode, communication device 200 is excellent
Choosing includes the passive sensor i.e. operable without external power supply, and passive sensor is coupled to transport vehicle 300 to be counted
According to transmission, so that real time status information is transmitted to communication device 200 by the onboard system of transport vehicle 300, it should be noted that, when logical
When T unit 200 includes passive sensor, passive sensor is generally configured with data storage function, to get transport vehicle
Its real time status information is cached after 300 real time status information；In addition, communication device 200 is also possible to actively obtain transport vehicle
Real time status information provided by 300 onboard systems, the present invention is not limited thereto.Transport vehicle controller 100 may include fortune
The upper-level control system of defeated vehicle 300, transport vehicle controller 300 control more transport vehicles 300 and right by upper-level control system
It carries out task distribution, such as: upper-level control system controls walking path, walking process, the dress of transport vehicle 300 by dispatch command
The operation such as movement and switching on and shutting down is unloaded, transport vehicle 300 runs work according to the dispatch command of transport vehicle controller 100.
Before step S200, transport vehicle controller 100 is periodically wirelessly communicated and is generated with communication device 200 and controlled
System instruction is to be sent to communication device 200, so that communication device 200 provides real time status information to transport vehicle according to control instruction
Control device 100.Specifically, preferably passing through the communication of radio frequency identification between communication device 200 and transport vehicle controller 100
Mode interacts communication, i.e. the identification end using transport vehicle controller 100 as radio frequency identification, then transport vehicle controller
110 include RFID identification device (also referred to as reader), and it includes that RFID label tag is filled with controlling with transport vehicle that communication device 200 is then corresponding
100 are set to carry out telecommunication.It should be noted that can also be by other between communication device 200 and transport vehicle controller 100
The mode of short-distance wireless communication interacts, as long as can satisfy same interactive function, the present invention is not limited thereto.
It is understood that the quantity of communication device 200 and the quantity of transport vehicle 300 are correspondingly arranged, to ensure each transport vehicle 300
On be each equipped with communication device 200.
Above-mentioned communication device 200 is worked by way of self energizing, is obtained with 300 data connection of transport vehicle
And the real time status information of transport vehicle 300 is cached, real time status information includes at least real-time travel speed, the reality of transport vehicle 300
When one of walking path, real-time position information and real time electrical quantity value.In addition, transport vehicle controller 100 and communication device
In 200 interactive process, is periodically wirelessly communicated with communication device 200 by transport vehicle controller 100 and referred to sending control
It enables to the communication device 200 on every transport vehicle 300, wherein transport vehicle controller 100 can be while to every trolley institute
If communication device 200 send same control instruction to control communication device 200 and provide its real time status information for being cached,
Refer to alternatively, its transport vehicle controller 100 sends its control to above-mentioned communication device 200 with being also possible to successive different order
It enables, as long as it can be realized identical purpose, the present invention is not limited thereto.Then, communication device 200 is receiving control
After system instruction, the real time status information that it is currently saved namely the current travel speed of the transport vehicle 300 corresponding to it, row
It walks the information such as path and is provided to transport vehicle controller 100.
Specifically, being provided when the communication device 200 being installed on transport vehicle 300 is in transport vehicle controller 100
Magnetic field in when, communication device 200 after receiving the radiofrequency signal that transport vehicle controller 100 is issued, to the radio frequency believe
It number is identified, if including control instruction in radiofrequency signal, the RFID label tag in communication device 200 relies on induced current institute
The energy of acquisition sends out cached real time status information, alternatively, the present invention is also possible to by set in communication device 200
Initiatively periodicity sending real time status information is to transport vehicle controller 100 for RFID label tag, and the present invention is not limited thereto.
In one embodiment, step S300 is specifically included: transport vehicle controller 100 is by real time status information and prestores shape
State information is compared to generate dispatch command and be sent to an at least transport vehicle 300；Wherein, transport vehicle controller
100 are stored with pre-existing state information, pre-existing state information may include transport vehicle 300 prestore travel speed, prestore walking path,
Pre-stored location information and at least one of prestore power threshold, wherein above-mentioned pre-existing state information can be for as set by user
The default information set, so that it is compared by transport vehicle controller 100 with real time status information, transport vehicle controller
100 can generate corresponding dispatch command according to comparison result is sent at least one in more transport vehicles 300 to dispatch this extremely
A few transport vehicle 300 accordingly prompts alternatively, transport vehicle controller 100 can also be made according to comparison result to prompt user,
The present invention is not limited thereto.In addition, transport vehicle controller 100 may be used also after the real time status information for receiving transport vehicle 300
The real time status information currently received was compared with real time status information received by a upper period.It is above-mentioned to reach
Purpose, transport vehicle controller 100 can periodically or selectively store real time status information.For example, transport vehicle
The real time status information of control device 100 using the transport vehicle 300 that 200 period 1 of communication device provides is believed as pre-existing state
Breath, and after 100 second round of transport vehicle controller receives the real time status information of transport vehicle 300, second round is received
The real time status information that is received with the above-mentioned period 1 of real time status information be compared, if comparison result meets expection,
The real time status information that then second round is received is updated to pre-existing state information so that next period is compared, on the contrary
Ground is scheduled transport vehicle 300 if comparison result does not meet expected results, or issues prompt to user to exclude as early as possible
Obstacle.
Further, transport vehicle controller 100 generates dispatch command according to comparison result, transports to scheduling controlling more
At least one in defeated vehicle 300.For example, when the first transport vehicle 301 generates failure or encountering roadblock can not advance, first
The real-time travel speed that the first communication device 201 configured on transport vehicle 301 gets the first transport vehicle 301 is 0m/s, fortune
Defeated truck control device 100 receives real time status information provided by first communication device 201, transport vehicle after issuing control instruction
The real time status information of first transport vehicle 301 and its corresponding pre-existing state information are compared control device 100, Jin Ergen
At least one that dispatch command is sent in more transport vehicles 300 is generated according to comparison result, other transport vehicles 300 are controlled with this and are held
The task of the first transport vehicle of row 301, and according to the real time position of remaining transport vehicle update the travel path of remaining transport vehicle 300 with
Avoid generating the first transport vehicle 301 of abnormal conditions, meanwhile, transport vehicle controller 100 can also be by display information (such as: aobvious
Show related prompt text, pattern etc.) or acoustic information (such as: by loudspeaker issue voice prompt) user is mentioned
Show, to remind user to carry out solving the failure of the first transport vehicle 301 as early as possible or in time remove obstacles.Similarly, when above-mentioned first transport
Real-time walking path, real-time position information and the real-time battery capacity of vehicle 301 are deposited when abnormal, such as: the first transport vehicle 301 deviates
Planning path and/or battery capacity are relatively low etc., and transport vehicle controller 100 is in turn according to provided by first communication device 201
Real time status information is compared with pre-existing state information, to plan the walking path of the first transport vehicle 301 again in time.It can be with
Understand, real time status information may also include other real-time parameters of transport vehicle 300, and accordingly, pre-existing state information can also
Other including transport vehicle 300 prestore parameter, so that transport vehicle controller 100 can be according to two groups of parameters to transport vehicle 300
It makes corresponding scheduling controlling and/or directly reminds user, it should be noted that, pass through 100 scheduling transportation of transport vehicle controller
Vehicle 300 and/or prompting user have been the prior art, and details are not described herein again.
In one embodiment, when communication device 200 includes passive sensor, if the passive sensor is motion-sensing
Device, communication device 200 can also directly be acquired the information such as the travel speed of transport vehicle 300 by the passive sensor and according to controls
Instruction is provided to transport vehicle controller 100.For example, the first communication device configured on the first transport vehicle 301
201 collect the real-time travel speed of the first transport vehicle 301 by passive sensor as 0m/s, and transport vehicle controller 100 is sent out
Receive real time status information provided by first communication device 201 after control instruction out, transport vehicle controller 100 is by first
The real time status information of transport vehicle 301 and its corresponding pre-existing state information are compared, and then are generated and adjusted according to comparison result
Degree instructs at least one be sent in more transport vehicles 300.The real time status information of transport vehicle 300 is acquired through the above way
It can avoid real time status information provided by communication device 200 and more have real-time, enable transport vehicle controller 100
Counter-measure is made in time.
It should be noted that the specific embodiment of 300 control method of transport vehicle of the invention is as described above, no longer superfluous herein
It states.In addition, the various pieces or function in the control logic of 300 control method of transport vehicle shown in fig. 5 can all pass through software and hardware
Combination realize.
In conclusion the present invention actively inquires by transport vehicle controller 100 and obtains what communication device 200 was stored
The real time status information of transport vehicle 300, so that transport vehicle controller 100 can dispatch more transports according to real time status information
At least one in vehicle 300, therefore, the present invention provides oneself state without transport vehicle 300, ensures transport vehicle control dress with this
Set 100 can the real time status information according to provided by communication device 200 transport vehicle 300 is scheduled in time.In addition, of the invention
The real time status information of transport vehicle 300 is provided by passive sensor, effectively reduces the operating power consumption of transport vehicle 300, effectively
System availability is improved, while being conducive to the long-term continuation of the journey of transport vehicle 300.
The present invention is described by above-mentioned related embodiment, however above-described embodiment is only to implement example of the invention.
It must be noted that the embodiment disclosed is not limiting as the scope of the present invention.On the contrary, do not depart from spirit of the invention and
It is changed and retouched made by range, belongs to scope of patent protection of the invention.
Claims (10)
1. a kind of transport vehicle control method, which is characterized in that this method comprises:
It establishes and wirelessly communicates with communication device, wherein the communication device is set to transport vehicle to obtain the real-time shape of the transport vehicle
State information；
It generates control instruction and is sent to the communication device, so that the communication device provides the real-time status according to the control instruction
Information；
Dispatch command is generated according to the real time status information and is sent to the transport vehicle, so that the transport vehicle is according to the dispatch command
Execute corresponding scheduling；
Wherein, the quantity of the transport vehicle is two or two or more, and the dispatch command can be transmitted at least transport vehicle.
2. transport vehicle control method as described in claim 1, which is characterized in that the communication device includes passive sensor, and
The communication device is arranged in a one-to-one correspondence with the transport vehicle.
3. transport vehicle control method as described in claim 1, which is characterized in that described " establish and wirelessly communicate with communication device "
It specifically includes:
Communication connection is established with the communication device periodically the control instruction is sent to the communication device.
4. transport vehicle control method as described in claim 1, which is characterized in that described " to be generated according to the real time status information
Dispatch command is simultaneously sent to the transport vehicle " it specifically includes:
The real time status information is compared with pre-existing state information, to generate dispatch command and be sent to this at least one fortune
Defeated vehicle；
Wherein, which includes at least one of following information: the real-time travel speed of the transport vehicle, real-time row
Path, real-time position information and real-time battery capacity are walked, which includes at least one of following information: the fortune
Defeated vehicle prestores travel speed, prestores walking path, pre-stored location information and prestore power threshold.
5. a kind of transport vehicle controller, which is characterized in that the device includes:
Communication module wirelessly communicates, wherein the communication device is set to transport vehicle to obtain the fortune to establish with communication device
The real time status information of defeated vehicle；And
Processing module is coupled to the communication module, to generate control instruction and be sent to the transport vehicle so that the communication device
The real time status information is provided according to the control instruction, and dispatch command is generated according to the real time status information；
Wherein, the communication module is also to send the dispatch command so that the transport vehicle executes corresponding adjust according to the dispatch command
Degree.
6. transport vehicle controller as claimed in claim 5, which is characterized in that the communication module further include:
First communication unit, to be carried out wireless communication by way of radio frequency identification with the communication device；And
Second communication unit, to carry out channel radio by any one of wireless network, bluetooth and ZigBee protocol with the transport vehicle
Letter.
7. transport vehicle controller as claimed in claim 5, which is characterized in that the communication module is periodically filled with the communication
Vertical communication connection is set up so that the control instruction is sent to the communication device.
8. transport vehicle controller as claimed in claim 5, which is characterized in that the processing module further include:
Storage unit, to store the pre-existing state information of the transport vehicle；And
Processing unit is coupled to the storage unit, the real time status information to be compared with pre-existing state information, with life
At dispatch command and it is sent to an at least transport vehicle；
Wherein, which includes at least one of following information: the real-time travel speed of the transport vehicle, real-time row
Path, real-time position information and real-time battery capacity are walked, which includes at least one of following information: the fortune
Defeated vehicle prestores travel speed, prestores walking path, pre-stored location information and prestore power threshold.
9. a kind of transport vehicle control, which is characterized in that the system includes:
Transport vehicle, the quantity of the transport vehicle are two or two or more；
Communication device is coupled to the transport vehicle, to obtain the real time status information of the transport vehicle；
Claim 5 to claim 8 it is any as described in transport vehicle controller, which is coupled to the fortune
Defeated vehicle and the communication device.
10. transport vehicle control as claimed in claim 9, which is characterized in that the communication device includes passive sensor, and
The communication device is arranged in a one-to-one correspondence with the transport vehicle.
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| CN201910215491.4A CN110018685A (en) | 2019-03-21 | 2019-03-21 | Transport vehicle control method, device and its system |
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| CN201910215491.4A CN110018685A (en) | 2019-03-21 | 2019-03-21 | Transport vehicle control method, device and its system |
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Application publication date: 20190716 |